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Sample records for multiple grounded actuators

  1. Cryogenic actuator testing for the SAFARI ground calibration setup

    de Jonge, C.; Eggens, M.; Nieuwenhuizen, A. C. T.; Detrain, A.; Smit, H.; Dieleman, P.

    2012-09-01

    For the on-ground calibration setup of the SAFARI instrument cryogenic mechanisms are being developed at SRON Netherlands Institute for Space Research, including a filter wheel, XYZ-scanner and a flipmirror mechanism. Due to the extremely low background radiation requirement of the SAFARI instrument, all of these mechanisms will have to perform their work at 4.5 Kelvin and low-dissipative cryogenic actuators are required to drive these mechanisms. In this paper, the performance of stepper motors, piezoelectric actuators and brushless DC-motors as cryogenic actuators are compared. We tested stepper motor mechanical performance and electrical dissipation at 4K. The actuator requirements, test setup and test results are presented. Furthermore, design considerations and early performance tests of the flipmirror mechanism are discussed. This flipmirror features a 102 x 72 mm aluminum mirror that can be rotated 45°. A Phytron stepper motor with reduction gearbox has been chosen to drive the flipmirror. Testing showed that this motor has a dissipation of 49mW at 4K with a torque of 60Nmm at 100rpm. Thermal modeling of the flipmirror mechanism predicts that with proper thermal strapping the peak temperature of the flipmirror after a single action will be within the background level requirements of the SAFARI instrument. Early tests confirm this result. For low-duty cycle operations commercial stepper motors appear suitable as actuators for test equipment in the SAFARI on ground calibration setup.

  2. Active joint mechanism driven by multiple actuators made of flexible bags: a proposal of dual structural actuator.

    Kimura, Hitoshi; Matsuzaki, Takuya; Kataoka, Mokutaro; Inou, Norio

    2013-01-01

    An actuator is required to change its speed and force depending on the situation. Using multiple actuators for one driving axis is one of the possible solutions; however, there is an associated problem of output power matching. This study proposes a new active joint mechanism using multiple actuators. Because the actuator is made of a flexible bag, it does not interfere with other actuators when it is depressurized. The proposed joint achieved coordinated motion of multiple actuators. This report also discusses a new actuator which has dual cylindrical structure. The cylinders are composed of flexible bags with different diameters. The joint torque is estimated based on the following factors: empirical formula for the flexible actuator torque, geometric relationship between the joint and the actuator, and the principle of virtual work. The prototype joint mechanism achieves coordinated motion of multiple actuators for one axis. With this motion, small inner actuator contributes high speed motion, whereas large outer actuator generates high torque. The performance of the prototype joint is examined by speed and torque measurements. The joint showed about 30% efficiency at 2.0 Nm load torque under 0.15 MPa air input.

  3. Surgery for Pulmonary Multiple Ground Glass Opacities

    Qun WANG

    2016-06-01

    Full Text Available The incidence of pulmonary ground glass opacity (GGO has been increasing in recent years, with a great number of patients having multiple GGOs. Unfortunately, the management of multiple GGOs is still controversial. Pulmonary GGO is a radiological term, consisting of different pathological types. Some of the GGOs are early-staged lung cancer. GGO is an indolent nodule, only a small proportion of GGOs change during observation, which does not influence the efficacy of surgery. . The timing of surgery for multiple GGOs mainly depends on the predominant nodule and surgery is recommended if the solid component of the predominant nodule >5 mm. Either lobectomy or sub-lobectomy is feasible. GGOs other than the predominant nodule can be left unresected. Multiple GGOs with high risk factors need mediastinal lymph node dissection or sampling.

  4. A pulse coding and decoding strategy to perform Lamb wave inspections using simultaneously multiple actuators

    De Marchi, Luca; Marzani, Alessandro; Moll, Jochen; Kudela, Paweł; Radzieński, Maciej; Ostachowicz, Wiesław

    2017-07-01

    The performance of Lamb wave based monitoring systems, both in terms of diagnosis time and data complexity, can be enhanced by increasing the number of transducers used to actuate simultaneously the guided waves in the inspected medium. However, in case of multiple simultaneously-operated actuators the interference among the excited wave modes within the acquired signals has to be considered for the further processing. To this aim, in this work a code division strategy based on the Warped Frequency Transform is presented. At first, the proposed procedure encodes actuation pulses using Gold sequences. Next, for each considered actuator the acquired signals are compensated from dispersion by cross correlating the warped version of the actuated and received signals. Compensated signals form the base for a final wavenumber imaging meant at emphasizing defects and or anomalies by removing incident wavefield and edge reflections. The proposed strategy is tested numerically, and validated through an experiment in which guided waves are actuated in a plate by four piezoelectric transducers operating simultaneously.

  5. Magnetic Actuator with Multiple Vibration Components Arranged at Eccentric Positions for Use in Complex Piping

    Hiroyuki Yaguchi

    2016-06-01

    Full Text Available This paper proposes a magnetic actuator using multiple vibration components to perform locomotion in a complex pipe with a 25 mm inner diameter. Due to the desire to increase the turning moment in a T-junction pipe, two vibration components were attached off-center to an acrylic plate with an eccentricity of 2 mm. The experimental results show that the magnetic actuator was able to move at 40.6 mm/s while pulling a load mass of 20 g in a pipe with an inner diameter of 25 mm. In addition, this magnetic actuator was able to move stably in U-junction and T-junction pipes. If a micro-camera is implemented in the future, the inspection of small complex pipes can be enabled. The possibility of inspection in pipes with a 25 mm inner diameter was shown by equipping the pipe with a micro-camera.

  6. An under-actuated origami gripper with adjustable stiffness joints for multiple grasp modes

    Firouzeh, Amir; Paik, Jamie

    2017-05-01

    Under-actuated robots offer multiple degrees of freedom without much added complexity to the actuation and control. Utilizing adjustable stiffness joints in these robots allows us to control their stable configurations and their mode of interaction with the environment. In this paper, we present the design of tendon-driven robotic origami (robogami) joints with adjustable stiffness. The proposed designs allow us to place joints along any direction in the plane of the robot and in the normal direction to the plane. The layer-by-layer manufacturing of robogamis facilitates the design and manufacturing of robots with different arrangement of joints for different applications. We use thermally activated shape memory polymer to control the joint stiffness. The manufacturing of the polymer layer is compatible with the layer-by-layer manufacturing process of the robogamis which results in scalable and customizable robots. To demonstrate, we prototyped an under-actuated gripper with three fingers and only one input actuation. The grasp mode of the gripper is set by adjusting the configuration of the locked joints and modulating the stiffness of the active joints. We present a model to estimate the configuration and the contact forces of the gripper at different settings that will assist us in design and control of future generation of under-actuated robogamis.

  7. A small graphene oxide sheet/polyvinylidene fluoride bilayer actuator with large and rapid responses to multiple stimuli.

    Xu, Guochuang; Zhang, Miao; Zhou, Qinqin; Chen, Hongwu; Gao, Tiantian; Li, Chun; Shi, Gaoquan

    2017-11-16

    A high-performance actuator should be able to deliver large-shape deformations, fast actuations and sensitive responses to multiple stimuli. Here, we report such an actuator constructed from one layer of polyvinylidene fluoride (PVDF) with a high coefficient of thermal expansion (CTE), and another layer of small sheets of graphene oxide (SGO) with a negative CTE. The opposite deformations of both actuation layers make the SGO/PVDF bilayer actuator highly sensitive to the temperature stimulus with a large bending sensitivity of 1.5 cm -1 °C -1 . Upon irradiation with 60 mW cm -2 infrared light, this SGO/PVDF bilayer actuator displayed an extremely rapid tip displacement rate of 140 mm s -1 . Furthermore, this actuator can also sensitively respond to moisture because of its SGO layer, showing a curvature change from -22 to 13 cm -1 upon changing the relative humidity (RH) from 11% to 86%. This actuator can generate a contractile or relaxed stress 18 times that of mammalian skeletal muscle, under light irradiation or moisture with a response time as short as 1 s, being capable of lifting an object with a weight 80 times that of itself. Furthermore, it also showed excellent stability and repeatability.

  8. Development of a solenoid actuated planar valveless micropump with single and multiple inlet-outlet arrangements

    Kumar, N.; George, D.; Sajeesh, P.; Manivannan, P. V.; Sen, A. K.

    2016-07-01

    We report a planar solenoid actuated valveless micropump with multiple inlet-outlet configurations. The self-priming characteristics of the multiple inlet-multiple outlet micropump are studied. The filling dynamics of the micropump chamber during start-up and the effects of fluid viscosity, voltage and frequency on the dynamics are investigated. Numerical simulations for multiple inlet-multiple outlet micropumps are carried out using fluid structure algorithm. With DI water and at 5.0 Vp-p, 20 Hz frequency, the two inlet-two outlet micropump provides a maximum flow rate of 336 μl min-1 and maximum back pressure of 441 Pa. Performance characteristics of the two inlet-two outlet micropump are studied for aqueous fluids of different viscosity. Transport of biological cell lines and diluted blood samples are demonstrated; the flow rate-frequency characteristics are studied. Viability of cells during pumping with multiple inlet multiple outlet configuration is also studied in this work, which shows 100% of cells are viable. Application of the proposed micropump for simultaneous pumping, mixing and distribution of fluids is demonstrated. The proposed integrated, standalone and portable micropump is suitable for drug delivery, lab-on-chip and micro-total-analysis applications.

  9. Smart Control of Multiple Evaporator Systems with Wireless Sensor and Actuator Networks

    Apolinar González-Potes

    2016-02-01

    Full Text Available This paper describes the complete integration of a fuzzy control of multiple evaporator systems with the IEEE 802.15.4 standard, in which we study several important aspects for this kind of system, like a detailed analysis of the end-to-end real-time flows over wireless sensor and actuator networks (WSAN, a real-time kernel with an earliest deadline first (EDF scheduler, periodic and aperiodic tasking models for the nodes, lightweight and flexible compensation-based control algorithms for WSAN that exhibit packet dropouts, an event-triggered sampling scheme and design methodologies. We address the control problem of the multi-evaporators with the presence of uncertainties, which was tackled through a wireless fuzzy control approach, showing the advantages of this concept where it can easily perform the optimization for a set of multiple evaporators controlled by the same smart controller, which should have an intelligent and flexible architecture based on multi-agent systems (MAS that allows one to add or remove new evaporators online, without the need for reconfiguring, while maintaining temporal and functional restrictions in the system. We show clearly how we can get a greater scalability, the self-configuration of the network and the least overhead with a non-beacon or unslotted mode of the IEEE 802.15.4 protocol, as well as wireless communications and distributed architectures, which could be extremely helpful in the development process of networked control systems in large spatially-distributed plants, which involve many sensors and actuators. For this purpose, a fuzzy scheme is used to control a set of parallel evaporator air-conditioning systems, with temperature and relative humidity control as a multi-input and multi-output closed loop system; in addition, a general architecture is presented, which implements multiple control loops closed over a communication network, integrating the analysis and validation method for multi

  10. Numerical analysis of propeller induced ground vortices by actuator disk model

    Yang, Y.; Veldhuis, L.L.M.; Eitelberg, G.

    2017-01-01

    Abstract: During the ground operation of aircraft, the interaction between the propulsor-induced flow field and the ground may lead to the generation of ground vortices. Utilizing numerical approaches, the source of vorticity entering ground vortices is investigated. The results show that the

  11. A multiple-shape memory polymer-metal composite actuator capable of programmable control, creating complex 3D motion of bending, twisting, and oscillation

    Shen, Qi; Trabia, Sarah; Stalbaum, Tyler; Palmre, Viljar; Kim, Kwang; Oh, Il-Kwon

    2016-04-01

    Development of biomimetic actuators has been an essential motivation in the study of smart materials. However, few materials are capable of controlling complex twisting and bending deformations simultaneously or separately using a dynamic control system. Here, we report an ionic polymer-metal composite actuator having multiple-shape memory effect, and is able to perform complex motion by two external inputs, electrical and thermal. Prior to the development of this type of actuator, this capability only could be realized with existing actuator technologies by using multiple actuators or another robotic system. This paper introduces a soft multiple-shape-memory polymer-metal composite (MSMPMC) actuator having multiple degrees-of-freedom that demonstrates high maneuverability when controlled by two external inputs, electrical and thermal. These multiple inputs allow for complex motions that are routine in nature, but that would be otherwise difficult to obtain with a single actuator. To the best of the authors’ knowledge, this MSMPMC actuator is the first solitary actuator capable of multiple-input control and the resulting deformability and maneuverability.

  12. A multiple-shape memory polymer-metal composite actuator capable of programmable control, creating complex 3D motion of bending, twisting, and oscillation.

    Shen, Qi; Trabia, Sarah; Stalbaum, Tyler; Palmre, Viljar; Kim, Kwang; Oh, Il-Kwon

    2016-04-15

    Development of biomimetic actuators has been an essential motivation in the study of smart materials. However, few materials are capable of controlling complex twisting and bending deformations simultaneously or separately using a dynamic control system. Here, we report an ionic polymer-metal composite actuator having multiple-shape memory effect, and is able to perform complex motion by two external inputs, electrical and thermal. Prior to the development of this type of actuator, this capability only could be realized with existing actuator technologies by using multiple actuators or another robotic system. This paper introduces a soft multiple-shape-memory polymer-metal composite (MSMPMC) actuator having multiple degrees-of-freedom that demonstrates high maneuverability when controlled by two external inputs, electrical and thermal. These multiple inputs allow for complex motions that are routine in nature, but that would be otherwise difficult to obtain with a single actuator. To the best of the authors' knowledge, this MSMPMC actuator is the first solitary actuator capable of multiple-input control and the resulting deformability and maneuverability.

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

    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.

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

    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

  15. Motion Control of Four-Wheel Independently Actuated Electric Ground Vehicles considering Tire Force Saturations

    Rongrong Wang

    2013-01-01

    Full Text Available A vehicle stability control approach for four-wheel independently actuated (FWIA electric vehicles is presented. The proposed control method consists of a higher-level controller and a lower-level controller. An adaptive control-based higher-level controller is designed to yield the vehicle virtual control efforts to track the desired vehicle motions due to the possible modeling inaccuracies and parametric uncertainties. The lower-level controller considering tire force saturation is given to allocate the required control efforts to the four in-wheel motors for providing the desired tire forces. An analytic method is given to distribute the high-level control efforts, without using the numerical-optimization-based control allocation algorithms. Simulations based on a high-fidelity, CarSim, and full-vehicle model show the effectiveness of the control approach.

  16. Synchronization of multiple 3-DOF helicopters under actuator faults and saturations with prescribed performance.

    Yang, Huiliao; Jiang, Bin; Yang, Hao; Liu, Hugh H T

    2018-04-01

    The distributed cooperative control strategy is proposed to make the networked nonlinear 3-DOF helicopters achieve the attitude synchronization in the presence of actuator faults and saturations. Based on robust adaptive control, the proposed control method can both compensate the uncertain partial loss of control effectiveness and deal with the system uncertainties. To address actuator saturation problem, the control scheme is designed to ensure that the saturation constraint on the actuation will not be violated during the operation in spite of the actuator faults. It is shown that with the proposed control strategy, both the tracking errors of the leading helicopter and the attitude synchronization errors of each following helicopter are bounded in the existence of faulty actuators and actuator saturations. Moreover, the state responses of the entire group would not exceed the predesigned performance functions which are totally independent from the underlaying interaction topology. Simulation results illustrate the effectiveness of the proposed control scheme. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

  17. Dynamic modeling and hierarchical compound control of a novel 2-DOF flexible parallel manipulator with multiple actuation modes

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

    2018-03-01

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

  18. Experimental Investigation on the Detection of Multiple Surface Cracks Using Vibrothermography with a Low-Power Piezoceramic Actuator.

    Xu, Changhang; Xie, Jing; Zhang, Wuyang; Kong, Qingzhao; Chen, Guoming; Song, Gangbing

    2017-11-23

    Vibrothermography often employs a high-power actuator to generate heat on a specimen to reveal damage, however, the high-power actuator brings inconvenience to the application and possibly introduces additional damage to the inspected objects. This study uses a low-power piezoceramic transducer as the actuator of vibrothermography and explores its ability to detect multiple surface cracks in a metal part. Experiments were conducted on a thin aluminum beam with three cracks in different orientations. Detailed analyses of both thermograms and temperature data are presented to validate the proposed vibrothermography method. To further investigate the performance of the proposed vibrothermography method, we experimentally studied the effects of several critical factors, including the amplitude of excitation signal, specimen constraints, relative position between the transducer and cracks (the transducer is mounted on the same or the opposite side with the cracks). The results demonstrate that all cracks can be detected conveniently and simultaneously by using the proposed low-power vibrothermography. We also found that the magnitude of excitation signal and the specimen constraints have a great influence on detection results. Combined with effective data processing methods, such as Fourier transformation employed in this study, the proposed method provides a promising potential to detect multiple cracks on a metal surface in a safe and effective manner.

  19. Design of a Soft Robot with Multiple Motion Patterns Using Soft Pneumatic Actuators

    Miao, Yu; Dong, Wei; Du, Zhijiang

    2017-11-01

    Soft robots are made of soft materials and have good flexibility and infinite degrees of freedom in theory. These properties enable soft robots to work in narrow space and adapt to external environment. In this paper, a 2-DOF soft pneumatic actuator is introduced, with two chambers symmetrically distributed on both sides and a jamming cylinder along the axis. Fibers are used to constrain the expansion of the soft actuator. Experiments are carried out to test the performance of the soft actuator, including bending and elongation characteristics. A soft robot is designed and fabricated by connecting four soft pneumatic actuators to a 3D-printed board. The soft robotic system is then established. The pneumatic circuit is built by pumps and solenoid valves. The control system is based on the control board Arduino Mega 2560. Relay modules are used to control valves and pressure sensors are used to measure pressure in the pneumatic circuit. Experiments are conducted to test the performance of the proposed soft robot.

  20. Increasing the Performance of a Sliding Discharge Actuator Through the Application of Multiple Potentials

    2011-09-01

    particle image velocimetry (PIV). In probe measurement techniques a probe, either a pitot static probe or a CTA hot wire probe, is inserted into the flow...and pitot probes and noted the differences that resulted between the probe results and the PIV results by seeding material type [20]. The PIV setup...Barrier Discharge Aerodynamic Actuator,” AIAA Paper 2009–4285, 2009. 188 41. Humble, R., Henry , G., and Larson, W., Space Propulsion Analysis and Design

  1. NRC Information No. 88-86: Operating with multiple grounds in direct current distribution systems

    Rossi, C.E.

    1992-01-01

    During recent NRC maintenance inspections at Quad Cities, Oconee, and D.C. Cook power reactor facilities, it was found that plants had been operating with multiple grounds in the dc distribution systems for extended periods. Specific examples are described. Most nuclear power plant dc systems are two-wire ungrounded, combination battery/charger systems equipped with ground detection. Typical ground detection system features include a remote annunciator and a local indicator and/or recorder. Ground detectors are incorporated in the dc system so that if a single ground point does occur, immediate steps can be taken to clear the ground fault from the system. Failure to respond to a single ground will mask subsequent grounds. Multiple grounds can cause the indiscriminate operation of equipment, which may have safety consequences. Grounds can cause control circuit fuses to fail and can render important safety equipment inoperable as previously described. Furthermore, batteries have a designed capacity to supply power during a station blackout condition, and this capacity can be affected by the presence of unanalyzed loads in the form of multiple grounds. It is recognized that troubleshooting and finding grounds on a dc system are difficult tasks that may affect plant operation. The licensees previously mentioned have reviewed their designs and conditions for potential impact on safety system operability and have taken corrective actions to minimize the effect of grounds

  2. Soft Robotic Actuators

    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.

  3. Multi-Feature Based Multiple Landmine Detection Using Ground Penetration Radar

    S. Park

    2014-06-01

    Full Text Available This paper presents a novel method for detection of multiple landmines using a ground penetrating radar (GPR. Conventional algorithms mainly focus on detection of a single landmine, which cannot linearly extend to the multiple landmine case. The proposed algorithm is composed of four steps; estimation of the number of multiple objects buried in the ground, isolation of each object, feature extraction and detection of landmines. The number of objects in the GPR signal is estimated by using the energy projection method. Then signals for the objects are extracted by using the symmetry filtering method. Each signal is then processed for features, which are given as input to the support vector machine (SVM for landmine detection. Three landmines buried in various ground conditions are considered for the test of the proposed method. They demonstrate that the proposed method can successfully detect multiple landmines.

  4. EPA True NO2 ground site measurements – multiple sites, TCEQ ground site measurements of meteorological and air pollution parameters – multiple sites ,GeoTASO NO2 Vertical Column

    U.S. Environmental Protection Agency — EPA True NO2 ground site measurements – multiple sites - http://www-air.larc.nasa.gov/cgi-bin/ArcView/discover-aq.tx-2013; TCEQ ground site measurements of...

  5. A case study of lightning attachment to flat ground showing multiple unconnected upward leaders

    Cummins, Kenneth L.; Krider, E. Philip; Olbinski, Mike; Holle, Ronald L.

    2018-04-01

    On 10 July 2015, a cloud-to-ground (CG) lightning flash that produced two ground terminations was photographed from inside the safety of a truck in southern New Mexico. An analysis of archived NLDN data verified that this was a two-stroke flash, and a close-up view of the first stroke shows that it also initiated at least 12 unconnected, upward leaders (or "streamers") near the ground termination. No unconnected upward leaders were seen near the second ground attachment. After combining an analysis of the photograph with information provided by the NLDN, we infer that the first stroke was of negative (normal) polarity, had modest peak current, and struck about 460 m (± 24%) from the camera. Attachment occurred when an upward-propagating positive leader reached an inferred height of about 21 m above local ground. The second stroke struck ground about 740 m from the camera, and the height of its attachment leader is estimated to be 15 m. The estimated lengths of the unconnected upward leaders in the two-dimensional (2-D) plane of the first stroke range from 2 to 8 m, and all appear to be located within 15 m (2-D) of the main ground termination, with 24% uncertainty. Many of the unconnected upward leaders (inferred to be positive) exhibit multiple upward branches, and most of those branches have upward-directed forks or splits at their ends. This is the first report showing such extensive branching for positive upward leaders in natural lightning strikes to ground. None of the upward leaders can be seen to emanate from the tops of tall, isolated, or pointed objects on the ground, but they likely begin on small plants and rocks, or flat ground. In terms of lightning safety, this photo demonstrates that numerous upward leaders can be produced near a lightning strike point and have the potential to damage or cause injury at more than one specific point on the ground.

  6. Cylindrical Piezoelectric Fiber Composite Actuators

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

    2008-01-01

    The use of piezoelectric devices has become widespread since Pierre and Jacques Curie discovered the piezoelectric effect in 1880. Examples of current applications of piezoelectric devices include ultrasonic transducers, micro-positioning devices, buzzers, strain sensors, and clocks. The invention of such lightweight, relatively inexpensive piezoceramic-fiber-composite actuators as macro fiber composite (MFC) actuators has made it possible to obtain strains and displacements greater than those that could be generated by prior actuators based on monolithic piezoceramic sheet materials. MFC actuators are flat, flexible actuators designed for bonding to structures to apply or detect strains. Bonding multiple layers of MFC actuators together could increase force capability, but not strain or displacement capability. Cylindrical piezoelectric fiber composite (CPFC) actuators have been invented as alternatives to MFC actuators for applications in which greater forces and/or strains or displacements may be required. In essence, a CPFC actuator is an MFC or other piezoceramic fiber composite actuator fabricated in a cylindrical instead of its conventional flat shape. Cylindrical is used here in the general sense, encompassing shapes that can have circular, elliptical, rectangular or other cross-sectional shapes in the planes perpendicular to their longitudinal axes.

  7. Multiple cues add up in defining a figure on a ground.

    Devinck, Frédéric; Spillmann, Lothar

    2013-01-25

    We studied the contribution of multiple cues to figure-ground segregation. Convexity, symmetry, and top-down polarity (henceforth called wide base) were used as cues. Single-cue displays as well as ambiguous stimulus patterns containing two or three cues were presented. Error rate (defined by responses to uncued stimuli) and reaction time were used to quantify the figural strength of a given cue. In the first experiment, observers were asked to report which of two regions, left or right, appeared as foreground figure. Error rate did not benefit from adding additional cues if convexity was present, suggesting that responses were based on convexity as the predominant figural determinant. However, reaction time became shorter with additional cues even if convexity was present. For example, when symmetry and wide base were added, figure-ground segregation was facilitated. In a second experiment, stimulus patterns were exposed for 150ms to rule out eye movements. Results were similar to those found in the first experiment. Both experiments suggest that under the conditions of our experiment figure-ground segregation is perceived more readily, when several cues cooperate in defining the figure. Copyright © 2012 Elsevier Ltd. All rights reserved.

  8. Electron pumping of the ground state of 21Ne. Transfers and multiple diffusion processes

    Stoeckel, F.; Lombardi, M.

    1978-01-01

    The electron-pumping process of the ground state of 21 Ne has been studied. It is demonstrated how in a neon cell at a pressure of 10 -4 to 10 -2 torr, a high frequency discharge can create a nuclear spin alignment in the fundamental level (I=3/2) when the excited levels are themselves aligned. The nuclear alignment is observed by monitoring the change of the linear polarization of several optical transitions during the magnetic resonance of the fundamental level. Various transfers of the alignments are investigated and a detailed study of the influence of the multiple diffusion is carried out. The multiple diffusion produces a depolarization and a relaxation of the nuclear spin. A theoretical calculation has been made for a two-level system with a J=1 radiative level and a J=0 ground state. Experimentally a relaxation time of the nuclear alignment varying from 37 ms to 240 ms is observed when the neon pressure decreases from 10 -2 to 10 -4 torr [fr

  9. Schedule Optimization of Imaging Missions for Multiple Satellites and Ground Stations Using Genetic Algorithm

    Lee, Junghyun; Kim, Heewon; Chung, Hyun; Kim, Haedong; Choi, Sujin; Jung, Okchul; Chung, Daewon; Ko, Kwanghee

    2018-04-01

    In this paper, we propose a method that uses a genetic algorithm for the dynamic schedule optimization of imaging missions for multiple satellites and ground systems. In particular, the visibility conflicts of communication and mission operation using satellite resources (electric power and onboard memory) are integrated in sequence. Resource consumption and restoration are considered in the optimization process. Image acquisition is an essential part of satellite missions and is performed via a series of subtasks such as command uplink, image capturing, image storing, and image downlink. An objective function for optimization is designed to maximize the usability by considering the following components: user-assigned priority, resource consumption, and image-acquisition time. For the simulation, a series of hypothetical imaging missions are allocated to a multi-satellite control system comprising five satellites and three ground stations having S- and X-band antennas. To demonstrate the performance of the proposed method, simulations are performed via three operation modes: general, commercial, and tactical.

  10. Application Actuation Trade Study

    1982-01-01

    32 RCA PRICE-L Podel Calculated 0 & S Values 138 33 RCA PRICE LCC Summery - Typical LRU 139 34 Airplane Actuation Trade Study LCC Summary 140 35...results achieved can be duplicated by a user. The RCA PRICE Podel calculates the RDTSE. Production cost, and creates the YiDF file for use in the PCA...PR ICE L). Some of the basic program ground rules for this study were as follows: RCA - PRICE Cost Podel RCA - PRICE L Model Prototype Hardware 10

  11. Actuators for smart applications

    Paternoster, Alexandre; de Boer, Andries; Loendersloot, Richard; Akkerman, Remko; D. Brei,; M. Frecker,

    2010-01-01

    Actuator manufacturers are developing promising technologies which meet high requirements in performance, weight and power consumption. Conventionally, actuators are characterized by their displacement and load performance. This hides the dynamic aspects of those actuation solutions. Work per weight

  12. Wideband simulation of earthquake ground motion by a spectrum-matching, multiple-pulse technique

    Gusev, A.; Pavlov, V.

    2006-04-01

    To simulate earthquake ground motion, we combine a multiple-point stochastic earthquake fault model and a suite of Green functions. Conceptually, our source model generalizes the classic one of Haskell (1966). At any time instant, slip occurs over a narrow strip that sweeps the fault area at a (spatially variable) velocity. This behavior defines seismic signals at lower frequencies (LF), and describes directivity effects. High-frequency (HF) behavior of source signal is defined by local slip history, assumed to be a short segment of pulsed noise. For calculations, this model is discretized as a grid of point subsources. Subsource moment rate time histories, in their LF part, are smooth pulses whose duration equals to the rise time. In their HF part, they are segments of non-Gaussian noise of similar duration. The spectral content of subsource time histories is adjusted so that the summary far-field signal follows certain predetermined spectral scaling law. The results of simulation depend on random seeds, and on particular values of such parameters as: stress drop; average and dispersion parameter for rupture velocity; rupture nucleation point; slip zone width/rise time, wavenumber-spectrum parameter defining final slip function; the degrees of non-Gaussianity for random slip rate in time, and for random final slip in space, and more. To calculate ground motion at a site, Green functions are calculated for each subsource-site pair, then convolved with subsource time functions and at last summed over subsources. The original Green function calculator for layered weakly inelastic medium is of discrete wavenumber kind, with no intrinsic limitations with respect to layer thickness or bandwidth. The simulation package can generate example motions, or used to study uncertainties of the predicted motion. As a test, realistic analogues of recorded motions in the epicentral zone of the 1994 Northridge, California earthquake were synthesized, and related uncertainties were

  13. Neural Networks for Segregation of Multiple Objects: Visual Figure-Ground Separation and Auditory Pitch Perception.

    Wyse, Lonce

    An important component of perceptual object recognition is the segmentation into coherent perceptual units of the "blooming buzzing confusion" that bombards the senses. The work presented herein develops neural network models of some key processes of pre-attentive vision and audition that serve this goal. A neural network model, called an FBF (Feature -Boundary-Feature) network, is proposed for automatic parallel separation of multiple figures from each other and their backgrounds in noisy images. Figure-ground separation is accomplished by iterating operations of a Boundary Contour System (BCS) that generates a boundary segmentation of a scene, and a Feature Contour System (FCS) that compensates for variable illumination and fills-in surface properties using boundary signals. A key new feature is the use of the FBF filling-in process for the figure-ground separation of connected regions, which are subsequently more easily recognized. The new CORT-X 2 model is a feed-forward version of the BCS that is designed to detect, regularize, and complete boundaries in up to 50 percent noise. It also exploits the complementary properties of on-cells and off -cells to generate boundary segmentations and to compensate for boundary gaps during filling-in. In the realm of audition, many sounds are dominated by energy at integer multiples, or "harmonics", of a fundamental frequency. For such sounds (e.g., vowels in speech), the individual frequency components fuse, so that they are perceived as one sound source with a pitch at the fundamental frequency. Pitch is integral to separating auditory sources, as well as to speaker identification and speech understanding. A neural network model of pitch perception called SPINET (SPatial PItch NETwork) is developed and used to simulate a broader range of perceptual data than previous spectral models. The model employs a bank of narrowband filters as a simple model of basilar membrane mechanics, spectral on-center off-surround competitive

  14. Ground and satellite observations of multiple sun-aligned auroral arcs on the duskside

    Hosokawa, K.; Maggiolo, R.; Zhang, Y.; Fear, R. C.; Fontaine, D.; Cumnock, J. A.; Kullen, A.; Milan, S. E.; Kozlovsky, A.; Echim, M.; Shiokawa, K.

    2014-12-01

    Sun-aligned auroral arcs (SAAs) are one of the outstanding phenomena in the high-latitude region during periods of northward interplanetary magnetic field (IMF). Smaller scale SAAs tend to occur either in the duskside or dawnside of the polar cap and are known to drift in the dawn-dusk direction depending on the sign of the IMF By. Studies of SAAs are of particular importance because they represent dynamical characteristics of their source plasma in the magnetosphere, for example in the interaction region between the solar wind and magnetosphere or in the boundary between the plasma sheet and tail lobe. To date, however, very little has been known about the spatial structure and/or temporal evolution of the magnetospheric counterpart of SAAs. In order to gain more comprehensive understanding of the field-aligned plasma transport in the vicinity of SAAs, we have investigated an event of SAAs on November 10, 2005, during which multiple SAAs were detected by a ground-based all-sky camera at Resolute Bay, Canada. During this interval, several SAAs were detached from the duskside oval and moved poleward. The large-scale structure of these arcs was visualized by space-based imagers of TIMED/GUVI and DMSP/SSUSI. In addition to these optical observations, we employ the Cluster satellites to reveal the high-altitude particle signature corresponding to the small-scale SAAs. The ionospheric footprints of the 4 Cluster satellites encountered the SAAs sequentially and observed well correlated enhancements of electron fluxes at weak energies (SAAs. This implies that these ions and electrons were accelerated upward by a quasi-stationary electric field existing in the vicinity of the SAAs and constitute a current system in the magnetosphere-ionosphere coupling system. Ionospheric convection measurement from one of the SuperDARN radars shows an indication that the SAAs are embedded in the lobe cell during northward IMF conditions. In the presentation, we will show the results of

  15. Flight control actuation system

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

    2006-01-01

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

  16. Modeling multiple time series annotations as noisy distortions of the ground truth: An Expectation-Maximization approach.

    Gupta, Rahul; Audhkhasi, Kartik; Jacokes, Zach; Rozga, Agata; Narayanan, Shrikanth

    2018-01-01

    Studies of time-continuous human behavioral phenomena often rely on ratings from multiple annotators. Since the ground truth of the target construct is often latent, the standard practice is to use ad-hoc metrics (such as averaging annotator ratings). Despite being easy to compute, such metrics may not provide accurate representations of the underlying construct. In this paper, we present a novel method for modeling multiple time series annotations over a continuous variable that computes the ground truth by modeling annotator specific distortions. We condition the ground truth on a set of features extracted from the data and further assume that the annotators provide their ratings as modification of the ground truth, with each annotator having specific distortion tendencies. We train the model using an Expectation-Maximization based algorithm and evaluate it on a study involving natural interaction between a child and a psychologist, to predict confidence ratings of the children's smiles. We compare and analyze the model against two baselines where: (i) the ground truth in considered to be framewise mean of ratings from various annotators and, (ii) each annotator is assumed to bear a distinct time delay in annotation and their annotations are aligned before computing the framewise mean.

  17. Degenerate ground states and multiple bifurcations in a two-dimensional q-state quantum Potts model.

    Dai, Yan-Wei; Cho, Sam Young; Batchelor, Murray T; Zhou, Huan-Qiang

    2014-06-01

    We numerically investigate the two-dimensional q-state quantum Potts model on the infinite square lattice by using the infinite projected entangled-pair state (iPEPS) algorithm. We show that the quantum fidelity, defined as an overlap measurement between an arbitrary reference state and the iPEPS ground state of the system, can detect q-fold degenerate ground states for the Z_{q} broken-symmetry phase. Accordingly, a multiple bifurcation of the quantum ground-state fidelity is shown to occur as the transverse magnetic field varies from the symmetry phase to the broken-symmetry phase, which means that a multiple-bifurcation point corresponds to a critical point. A (dis)continuous behavior of quantum fidelity at phase transition points characterizes a (dis)continuous phase transition. Similar to the characteristic behavior of the quantum fidelity, the magnetizations, as order parameters, obtained from the degenerate ground states exhibit multiple bifurcation at critical points. Each order parameter is also explicitly demonstrated to transform under the Z_{q} subgroup of the symmetry group of the Hamiltonian. We find that the q-state quantum Potts model on the square lattice undergoes a discontinuous (first-order) phase transition for q=3 and q=4 and a continuous phase transition for q=2 (the two-dimensional quantum transverse Ising model).

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

    Keiji Ozaki

    2008-01-01

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

  19. Pneumatic Variable Series Elastic Actuator.

    Zheng, Hao; Wu, Molei; Shen, Xiangrong

    2016-08-01

    Inspired by human motor control theory, stiffness control is highly effective in manipulation and human-interactive tasks. The implementation of stiffness control in robotic systems, however, has largely been limited to closed-loop control, and suffers from multiple issues such as limited frequency range, potential instability, and lack of contribution to energy efficiency. Variable-stiffness actuator represents a better solution, but the current designs are complex, heavy, and bulky. The approach in this paper seeks to address these issues by using pneumatic actuator as a variable series elastic actuator (VSEA), leveraging the compressibility of the working fluid. In this work, a pneumatic actuator is modeled as an elastic element with controllable stiffness and equilibrium point, both of which are functions of air masses in the two chambers. As such, for the implementation of stiffness control in a robotic system, the desired stiffness/equilibrium point can be converted to the desired chamber air masses, and a predictive pressure control approach is developed to control the timing of valve switching to obtain the desired air mass while minimizing control action. Experimental results showed that the new approach in this paper requires less expensive hardware (on-off valve instead of proportional valve), causes less control action in implementation, and provides good control performance by leveraging the inherent dynamics of the actuator.

  20. Preservation of Multiple Mammalian Tissues to Maximize Science Return from Ground Based and Spaceflight Experiments.

    Choi, Sungshin; Ray, Hami E; Lai, San-Huei; Alwood, Joshua S; Globus, Ruth K

    2016-01-01

    Even with recent scientific advancements, challenges posed by limited resources and capabilities at the time of sample dissection continue to limit the collection of high quality tissues from experiments that can be conducted only infrequently and at high cost, such as in space. The resources and time it takes to harvest tissues post-euthanasia, and the methods and duration of long duration storage, potentially have negative impacts on sample quantity and quality, thereby limiting the scientific outcome that can be achieved. The goals of this study were to optimize methods for both sample recovery and science return from rodent experiments, with possible relevance to both ground based and spaceflight studies. The first objective was to determine the impacts of tissue harvest time post-euthanasia, preservation methods, and storage duration, focusing on RNA quality and enzyme activities in liver and spleen as indices of sample quality. The second objective was to develop methods that will maximize science return by dissecting multiple tissues after long duration storage in situ at -80°C. Tissues of C57Bl/6J mice were dissected and preserved at various time points post-euthanasia and stored at -80°C for up to 11 months. In some experiments, tissues were recovered from frozen carcasses which had been stored at -80°C up to 7 months. RNA quantity and quality was assessed by measuring RNA Integrity Number (RIN) values using an Agilent Bioanalyzer. Additionally, the quality of tissues was assessed by measuring activities of hepatic enzymes (catalase, glutathione reductase and GAPDH). Fresh tissues were collected up to one hour post-euthanasia, and stored up to 11 months at -80°C, with minimal adverse effects on the RNA quality of either livers or RNAlater-preserved spleens. Liver enzyme activities were similar to those of positive controls, with no significant effect observed at any time point. Tissues dissected from frozen carcasses that had been stored for up to 7

  1. 35 Hz shape memory alloy actuator with bending-twisting mode

    Song, Sung-Hyuk; Lee, Jang-Yeob; Rodrigue, Hugo; Choi, Ik-Seong; Kang, Yeon June; Ahn, Sung-Hoon

    2016-01-01

    Shape Memory Alloy (SMA) materials are widely used as an actuating source for bending actuators due to their high power density. However, due to the slow actuation speed of SMAs, there are limitations in their range of possible applications. This paper proposes a smart soft composite (SSC) actuator capable of fast bending actuation with large deformations. To increase the actuation speed of SMA actuator, multiple thin SMA wires are used to increase the heat dissipation for faster cooling. The actuation characteristics of the actuator at different frequencies are measured with different actuator lengths and results show that resonance can be used to realize large deformations up to 35 Hz. The actuation characteristics of the actuator can be modified by changing the design of the layered reinforcement structure embedded in the actuator, thus the natural frequency and length of an actuator can be optimized for a specific actuation speed. A model is used to compare with the experimental results of actuators with different layered reinforcement structure designs. Also, a bend-twist coupled motion using an anisotropic layered reinforcement structure at a speed of 10 Hz is also realized. By increasing their range of actuation characteristics, the proposed actuator extends the range of application of SMA bending actuators. PMID:26892438

  2. 35 Hz shape memory alloy actuator with bending-twisting mode.

    Song, Sung-Hyuk; Lee, Jang-Yeob; Rodrigue, Hugo; Choi, Ik-Seong; Kang, Yeon June; Ahn, Sung-Hoon

    2016-02-19

    Shape Memory Alloy (SMA) materials are widely used as an actuating source for bending actuators due to their high power density. However, due to the slow actuation speed of SMAs, there are limitations in their range of possible applications. This paper proposes a smart soft composite (SSC) actuator capable of fast bending actuation with large deformations. To increase the actuation speed of SMA actuator, multiple thin SMA wires are used to increase the heat dissipation for faster cooling. The actuation characteristics of the actuator at different frequencies are measured with different actuator lengths and results show that resonance can be used to realize large deformations up to 35 Hz. The actuation characteristics of the actuator can be modified by changing the design of the layered reinforcement structure embedded in the actuator, thus the natural frequency and length of an actuator can be optimized for a specific actuation speed. A model is used to compare with the experimental results of actuators with different layered reinforcement structure designs. Also, a bend-twist coupled motion using an anisotropic layered reinforcement structure at a speed of 10 Hz is also realized. By increasing their range of actuation characteristics, the proposed actuator extends the range of application of SMA bending actuators.

  3. Plasma actuators for bluff body flow control

    Kozlov, Alexey V.

    noise. A tandem cylinder configuration with the plasma actuation on the upstream cylinder is investigated using surface dynamic pressure sensors. As a result of the plasma actuation, the surface pressure fluctuations on the downstream cylinder are reduced by about two times at the free-stream velocity of 40 m/s (ReD = 164,000). In addition, this study presents the results of a parametric experimental investigation aimed at optimizing the body force produced by single dielectric barrier discharge (SDBD) plasma actuators used for aerodynamic flow control. A primary goal of the study is the improvement of actuator authority for flow control applications at higher Reynolds number than previously possible. The study examines the effects of dielectric material and thickness, applied voltage amplitude and frequency, voltage waveform, exposed electrode geometry, covered electrode width and multiple actuator arrays. The metric used to evaluate the performance of the actuator in each case is the measured actuator-induced thrust which is proportional to the total body force. It is demonstrated that actuators constructed with thick dielectric material of low dielectric constant and operated at low frequency AC voltage produce a body force that is an order of magnitude larger than that obtained by the Kapton-based actuators used in many previous plasma flow control studies. These actuators allow operation at much higher applied voltages without the formation of discrete streamers which lead to body force saturation.

  4. Smart Tendon Actuated Flexible Actuator

    Md. Masum Billah

    2015-01-01

    Full Text Available We investigate the kinematic feasibility of a tendon-based flexible parallel platform actuator. Much of the research on tendon-driven Stewart platforms is devoted either to the completely restrained positioning mechanism (CRPM or to one particular type of the incompletely restrained positioning mechanism (IRPM where the external force is provided by the gravitational pull on the platform such as in cable-suspended Stewart platforms. An IRPM-based platform is proposed which uses the external force provided by a compliant member. The compliant central column allows the configuration to achieve n DOFs with n tendons. In particular, this investigation focuses on the angular deflection of the upper platform with respect to the lower platform. The application here is aimed at developing a linkable module that can be connected to one another so as to form a “snake robot” of sorts. Since locomotion takes precedence over positioning in this application, a 3-DOF Stewart platform is adopted. For an arbitrary angular displace of the end-effector, the corresponding length of each tendon can be determined through inverse kinematics. Mathematical singularities are investigated using the traditional analytical method of defining the Jacobian.

  5. Detecting and Georegistering Moving Ground Targets in Airborne QuickSAR via Keystoning and Multiple-Phase Center Interferometry

    R. P. Perry

    2008-03-01

    Full Text Available SAR images experience significant range walk and, without some form of motion compensation, can be quite blurred. The MITRE-developed Keystone formatting simultaneously and automatically compensates for range walk due to the radial velocity component of each moving target, independent of the number of targets or the value of each target's radial velocity with respect to the ground. Target radial motion also causes moving targets in synthetic aperture radar images to appear at locations offset from their true instantaneous locations on the ground. In a multichannel radar, the interferometric phase values associated with all nonmoving points on the ground appear as a continuum of phase differences while the moving targets appear as interferometric phase discontinuities. By multiple threshold comparisons and grouping of pixels within the intensity and the phase images, we show that it is possible to reliably detect and accurately georegister moving targets within short-duration SAR (QuickSAR images.

  6. 3D printed soft parallel actuator

    Zolfagharian, Ali; Kouzani, Abbas Z.; Khoo, Sui Yang; Noshadi, Amin; Kaynak, Akif

    2018-04-01

    This paper presents a 3-dimensional (3D) printed soft parallel contactless actuator for the first time. The actuator involves an electro-responsive parallel mechanism made of two segments namely active chain and passive chain both 3D printed. The active chain is attached to the ground from one end and constitutes two actuator links made of responsive hydrogel. The passive chain, on the other hand, is attached to the active chain from one end and consists of two rigid links made of polymer. The actuator links are printed using an extrusion-based 3D-Bioplotter with polyelectrolyte hydrogel as printer ink. The rigid links are also printed by a 3D fused deposition modelling (FDM) printer with acrylonitrile butadiene styrene (ABS) as print material. The kinematics model of the soft parallel actuator is derived via transformation matrices notations to simulate and determine the workspace of the actuator. The printed soft parallel actuator is then immersed into NaOH solution with specific voltage applied to it via two contactless electrodes. The experimental data is then collected and used to develop a parametric model to estimate the end-effector position and regulate kinematics model in response to specific input voltage over time. It is observed that the electroactive actuator demonstrates expected behaviour according to the simulation of its kinematics model. The use of 3D printing for the fabrication of parallel soft actuators opens a new chapter in manufacturing sophisticated soft actuators with high dexterity and mechanical robustness for biomedical applications such as cell manipulation and drug release.

  7. Soft, Rotating Pneumatic Actuator.

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

    2017-09-01

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

  8. Numerical Investigation of Multiple-, Interacting-Scale Variable-Density Ground Water Flow Systems

    Cosler, D.; Ibaraki, M.

    2004-12-01

    The goal of our study is to elucidate the nonlinear processes that are important for multiple-, interacting-scale flow and solute transport in subsurface environments. In particular, we are focusing on the influence of small-scale instability development on variable-density ground water flow behavior in large-scale systems. Convective mixing caused by these instabilities may mix the fluids to a greater extent than would be the case with classical, Fickian dispersion. Most current numerical schemes for interpreting field-scale variable-density flow systems do not explicitly account for the complexities caused by small-scale instabilities and treat such processes as "lumped" Fickian dispersive mixing. Such approaches may greatly underestimate the mixing behavior and misrepresent the overall large-scale flow field dynamics. The specific objectives of our study are: (i) to develop an adaptive (spatial and temporal scales) three-dimensional numerical model that is fully capable of simulating field-scale variable-density flow systems with fine resolution (~1 cm); and (ii) to evaluate the importance of scale-dependent process interactions by performing a series of simulations on different problem scales ranging from laboratory experiments to field settings, including an aquifer storage and freshwater recovery (ASR) system similar to those planned for the Florida Everglades and in-situ contaminant remediation systems. We are examining (1) methods to create instabilities in field-scale systems, (2) porous media heterogeneity effects, and (3) the relation between heterogeneity characteristics (e.g., permeability variance and correlation length scales) and the mixing scales that develop for varying degrees of unstable stratification. Applications of our work include the design of new water supply and conservation measures (e.g., ASR systems), assessment of saltwater intrusion problems in coastal aquifers, and the design of in-situ remediation systems for aquifer restoration

  9. Extended DNA Tile Actuators

    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...

  10. Multiple Lightning Discharges in Wind Turbines Associated with Nearby Cloud-to-Ground Lightning

    Candela Garolera, Anna; Cummins, Kenneth L.; Madsen, Søren Find

    2015-01-01

    This paper presents the analysis of five events where simultaneous lightning currents were registered in different wind turbines of a wind farm with lightning monitoring equipment installed. Measurements from current monitoring devices installed at the wind turbines and observations from auto......-triggering video cameras were correlated with data from the U.S. National Lighting Detection Network. In all five events, the correlation showed that a cloud-to-ground (CG) lightning stroke with high peak current struck the ground within 10 km of the affected turbines at the time of the currents in the wind...... by the nearby CG strokes, involving mechanisms that vary depending on the polarity of the associated CG stroke. The analysis also suggests that the event of upward lightning from wind turbines triggered by nearby lightning activity occurs very often and therefore it should be considered carefully...

  11. Ground deformation at collapse calderas: influence of host rock lithology and reservoir multiplicity

    Geyer, A; Gottsmann, J [Department of Earth Sciences, University of Bristol, Wills Memorial Building, Queen' s Road, BS8 1RJ, Bristol (United Kingdom)], E-mail: A.GeverTraver@bristol.ac.uk

    2008-10-01

    A variety of source mechanisms have been proposed to account for observed caldera deformation. Here we present a systematic set of new results from numerical forward modelling using a Finite Element Method. which provides a link between measured ground deformation and the inaccessible deformation source. We simulate surface displacements due to pressure changes in a shallow oblate reservoir overlain by host rock with variable mechanical properties. We find that the amplitude and wavelength of resultant ground deformation is dependent on the distribution of mechanically stiff and soft lithologies and their relative distribution above a reservoir. In addition, we note an influence of layering on the critical ratio of horizontal over vertical displacements, a criterion employed to discriminate between different finite source geometries.

  12. (DCT-FY08) Target Detection Using Multiple Modality Airborne and Ground Based Sensors

    2013-03-01

    resolution SIFT grids in metric-topological SLAM ,” in Proc. of the IEEE Conference on Computer Vision and Pattern Recognition, 2009. [4] M. Bosse and R...single camera SLAM ,” IEEE Trans. Pattern Anal. Mach. Intell., vol. 29, no. 6, pp. 1052–1067, 2007. [7] D. Nister, O. Naroditsky, and J. Bergen...segmentation with ground-based and airborne LIDAR range data,” in Proceedings of the Fourth International Symposium on 3D Data Processing

  13. Cryptosporidium rubeyi n. sp. (Apicomplexa: Cryptosporidiidae in multiple Spermophilus ground squirrel species

    Xunde Li

    2015-12-01

    Full Text Available Previously we reported the unique Cryptosporidium sp. “c” genotype (e.g., Sbey03c, Sbey05c, Sbld05c, Sltl05c from three species of Spermophilus ground squirrel (Spermophilus beecheyi, Spermophilus beldingi, Spermophilus lateralis located throughout California, USA. This follow-up work characterizes the morphology and animal infectivity of this novel genotype as the final step in proposing it as a new species of Cryptosporidium. Analysis of sequences of 18S rRNA, actin, and HSP70 genes of additional Cryptosporidium isolates from recently sampled California ground squirrels (S. beecheyi confirms the presence of the unique Sbey-c genotype in S. beecheyi. Phylogenetic and BLAST analysis indicates that the c-genotype in Spermophilus ground squirrels is distinct from Cryptosporidium species/genotypes from other host species currently available in GenBank. We propose to name this c-genotype found in Spermophilus ground squirrels as Cryptosporidium rubeyi n. sp. The mean size of C. rubeyi n. sp. oocysts is 4.67 (4.4–5.0 μm × 4.34 (4.0–5.0 μm, with a length/width index of 1.08 (n = 220. Oocysts of C. rubeyi n. sp. are not infectious to neonatal BALB/c mice and Holstein calves. GenBank accession numbers for C. rubeyi n. sp. are DQ295012, AY462233, and KM010224 for the 18S rRNA gene, KM010227 for the actin gene, and KM010229 for the HSP70 gene.

  14. MEMS fluidic actuator

    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.

  15. Soft buckling actuators

    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.

  16. Multiple ground-based and satellite observations of global Pi 2 magnetic pulsations

    Yumoto, K.; Takahashi, K.; Sakurai, T.; Sutcliffe, P.R.; Kokubun, S.; Luehr, H.; Saito, T.; Kuwashima, M.; Sato, N.

    1990-01-01

    Four Pi 2 magnetic pulsations, observed on the ground at L = 1.2-6.9 in the interval from 2,300 UT on May 22 to 0300 UT on May 23, 1985, provide new evidence of a global nature of Pi 2 pulsations in the inner (L approx-lt 7) region of the magnetosphere bounded by the plasma sheet during quiet geomagnetic conditions. In the present study, magnetic data have been collected from stations distributed widely both in local time and in latitude, including conjugate stations, and from the AMPTE/CCE spacecraft located in the magnetotail. On the basis of high time resolution magnetic field data, the following characteristics of Pi 2 have been established: horizontal components, H and D, of the Pi 2 oscillate nearly antiphase and in-phase, respectively, between the high- and low-altitude stations in the midnight southern hemisphere. Both the H and D components of the Pi 2 have nearly in-phase relationships between the nightside and the dayside stations at low latitude. The Pi 2 amplitude is larger at the high-latitude station and decreases toward lower latitudes. The dominant periods of the Pi 2 are nearly identical at all stations. Although a direct coincidence between spacecraft-observed and ground-based global Pi 2 events does not exist for these events, the Pi 2 events are believed to be a forced field line oscillation of global scale, coupled with the magnetospheric cavity resonance wave in the inner magnetosphere during the substorm expansive phase

  17. Magnetic actuators and sensors

    Brauer, John R

    2014-01-01

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

  18. Electrostatically Driven Nanoballoon Actuator.

    Barzegar, Hamid Reza; Yan, Aiming; Coh, Sinisa; Gracia-Espino, Eduardo; Dunn, Gabriel; Wågberg, Thomas; Louie, Steven G; Cohen, Marvin L; Zettl, Alex

    2016-11-09

    We demonstrate an inflatable nanoballoon actuator based on geometrical transitions between the inflated (cylindrical) and collapsed (flattened) forms of a carbon nanotube. In situ transmission electron microscopy experiments employing a nanoelectromechanical manipulator show that a collapsed carbon nanotube can be reinflated by electrically charging the nanotube, thus realizing an electrostatically driven nanoballoon actuator. We find that the tube actuator can be reliably cycled with only modest control voltages (few volts) with no apparent wear or fatigue. A complementary theoretical analysis identifies critical parameters for nanotube nanoballoon actuation.

  19. SAR image dataset of military ground targets with multiple poses for ATR

    Belloni, Carole; Balleri, Alessio; Aouf, Nabil; Merlet, Thomas; Le Caillec, Jean-Marc

    2017-10-01

    Automatic Target Recognition (ATR) is the task of automatically detecting and classifying targets. Recognition using Synthetic Aperture Radar (SAR) images is interesting because SAR images can be acquired at night and under any weather conditions, whereas optical sensors operating in the visible band do not have this capability. Existing SAR ATR algorithms have mostly been evaluated using the MSTAR dataset.1 The problem with the MSTAR is that some of the proposed ATR methods have shown good classification performance even when targets were hidden,2 suggesting the presence of a bias in the dataset. Evaluations of SAR ATR techniques are currently challenging due to the lack of publicly available data in the SAR domain. In this paper, we present a high resolution SAR dataset consisting of images of a set of ground military target models taken at various aspect angles, The dataset can be used for a fair evaluation and comparison of SAR ATR algorithms. We applied the Inverse Synthetic Aperture Radar (ISAR) technique to echoes from targets rotating on a turntable and illuminated with a stepped frequency waveform. The targets in the database consist of four variants of two 1.7m-long models of T-64 and T-72 tanks. The gun, the turret position and the depression angle are varied to form 26 different sequences of images. The emitted signal spanned the frequency range from 13 GHz to 18 GHz to achieve a bandwidth of 5 GHz sampled with 4001 frequency points. The resolution obtained with respect to the size of the model targets is comparable to typical values obtained using SAR airborne systems. Single polarized images (Horizontal-Horizontal) are generated using the backprojection algorithm.3 A total of 1480 images are produced using a 20° integration angle. The images in the dataset are organized in a suggested training and testing set to facilitate a standard evaluation of SAR ATR algorithms.

  20. Conjugated Polymers as Actuators: Modes of Actuation

    Skaarup, Steen

    2004-01-01

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

  1. Conjugated polymers as actuators: modes of actuation

    Skaarup, Steen

    2007-01-01

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

  2. Ground Vibration Isolation of Multiple Scattering by Using Rows of Tubular Piles as Barriers

    Miao-miao Sun

    2014-01-01

    Full Text Available A new formal solution for the multiple scattering of plane harmonic waves by a group of arbitrary configuration tubular piles in an elastic total space is derived. Each order of scattering satisfies prescribed boundary conditions at the interface of tubular piles, which is delivered as the sum of incident and scattering waves. The first order performs the scattering wave by each scattered pile and the subsequent orders resulted from the excitation of each pile of first order of scattering from the remaining tubular piles. Advanced scattering orders can be regarded as the same manners. Several series of scattering coefficients are figured out with the aids of addition theorem so that the exact steady-state solution for the scattered displacement and stress is obtained. Particularly, when internal diameter of tubular piles tends to be infinitely small, it degenerates to a solid pile problem. By imposing the normalized displacement amplitudes and transmissibility indices, the influences of specific parameters such as scattering orders, internal and external diameter ratio of piles, pile material rigidity, position and distances between tubular pile and pile rows, and pile numbers are discussed. Certain recommended conclusions have been drawn as the guidelines of practical engineering design for discontinuous barrier of tubular piles.

  3. Fast electrochemical actuator

    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)

  4. ANEMOS: A computer code to estimate air concentrations and ground deposition rates for atmospheric nuclides emitted from multiple operating sources

    Miller, C.W.; Sjoreen, A.L.; Begovich, C.L.; Hermann, O.W.

    1986-11-01

    This code estimates concentrations in air and ground deposition rates for Atmospheric Nuclides Emitted from Multiple Operating Sources. ANEMOS is one component of an integrated Computerized Radiological Risk Investigation System (CRRIS) developed for the US Environmental Protection Agency (EPA) for use in performing radiological assessments and in developing radiation standards. The concentrations and deposition rates calculated by ANEMOS are used in subsequent portions of the CRRIS for estimating doses and risks to man. The calculations made in ANEMOS are based on the use of a straight-line Gaussian plume atmospheric dispersion model with both dry and wet deposition parameter options. The code will accommodate a ground-level or elevated point and area source or windblown source. Adjustments may be made during the calculations for surface roughness, building wake effects, terrain height, wind speed at the height of release, the variation in plume rise as a function of downwind distance, and the in-growth and decay of daughter products in the plume as it travels downwind. ANEMOS can also accommodate multiple particle sizes and clearance classes, and it may be used to calculate the dose from a finite plume of gamma-ray-emitting radionuclides passing overhead. The output of this code is presented for 16 sectors of a circular grid. ANEMOS can calculate both the sector-average concentrations and deposition rates at a given set of downwind distances in each sector and the average of these quantities over an area within each sector bounded by two successive downwind distances. ANEMOS is designed to be used primarily for continuous, long-term radionuclide releases. This report describes the models used in the code, their computer implementation, the uncertainty associated with their use, and the use of ANEMOS in conjunction with other codes in the CRRIS. A listing of the code is included in Appendix C

  5. ANEMOS: A computer code to estimate air concentrations and ground deposition rates for atmospheric nuclides emitted from multiple operating sources

    Miller, C.W.; Sjoreen, A.L.; Begovich, C.L.; Hermann, O.W.

    1986-11-01

    This code estimates concentrations in air and ground deposition rates for Atmospheric Nuclides Emitted from Multiple Operating Sources. ANEMOS is one component of an integrated Computerized Radiological Risk Investigation System (CRRIS) developed for the US Environmental Protection Agency (EPA) for use in performing radiological assessments and in developing radiation standards. The concentrations and deposition rates calculated by ANEMOS are used in subsequent portions of the CRRIS for estimating doses and risks to man. The calculations made in ANEMOS are based on the use of a straight-line Gaussian plume atmospheric dispersion model with both dry and wet deposition parameter options. The code will accommodate a ground-level or elevated point and area source or windblown source. Adjustments may be made during the calculations for surface roughness, building wake effects, terrain height, wind speed at the height of release, the variation in plume rise as a function of downwind distance, and the in-growth and decay of daughter products in the plume as it travels downwind. ANEMOS can also accommodate multiple particle sizes and clearance classes, and it may be used to calculate the dose from a finite plume of gamma-ray-emitting radionuclides passing overhead. The output of this code is presented for 16 sectors of a circular grid. ANEMOS can calculate both the sector-average concentrations and deposition rates at a given set of downwind distances in each sector and the average of these quantities over an area within each sector bounded by two successive downwind distances. ANEMOS is designed to be used primarily for continuous, long-term radionuclide releases. This report describes the models used in the code, their computer implementation, the uncertainty associated with their use, and the use of ANEMOS in conjunction with other codes in the CRRIS. A listing of the code is included in Appendix C.

  6. Assessing the degradation of compliant electrodes for soft actuators

    Rosset, Samuel; de Saint-Aubin, Christine; Poulin, Alexandre; Shea, Herbert R.

    2017-10-01

    We present an automated system to measure the degradation of compliant electrodes used in dielectric elastomer actuators (DEAs) over millions of cycles. Electrodes for DEAs generally experience biaxial linear strains of more than 10%. The decrease in electrode conductivity induced by this repeated fast mechanical deformation impacts the bandwidth of the actuator and its strain homogeneity. Changes in the electrode mechanical properties lead to reduced actuation strain. Rather than using an external actuator to periodically deform the electrodes, our measurement method consists of measuring the properties of an electrode in an expanding circle DEA. A programmable high voltage power supply drives the actuator with a square signal up to 1 kHz, periodically actuating the DEA, and thus stretching the electrodes. The DEA strain is monitored with a universal serial bus camera, while the resistance of the ground electrode is measured with a multimeter. The system can be used for any type of electrode. We validated the test setup by characterising a carbon black/silicone composite that we commonly use as compliant electrode. Although the composite is well-suited for tens of millions of cycles of actuation below 5%, we observe important degradation for higher deformations. When activated at a 20% radial strain, the electrodes suffer from important damage after a few thousand cycles, and an inhomogeneous actuation is observed, with the strain localised in a sub-region of the actuator only.

  7. Recent developments on SMA actuators: predicting the actuation fatigue life for variable loading schemes

    Wheeler, Robert W.; Lagoudas, Dimitris C.

    2017-04-01

    Shape memory alloys (SMAs), due to their ability to repeatably recover substantial deformations under applied mechanical loading, have the potential to impact the aerospace, automotive, biomedical, and energy industries as weight and volume saving replacements for conventional actuators. While numerous applications of SMA actuators have been flight tested and can be found in industrial applications, these actuators are generally limited to non-critical components, are not widely implemented and frequently one-off designs, and are generally overdesigned due to a lack of understanding of the effect of the loading path on the fatigue life and the lack of an accurate method for predicting actuator lifetimes. In recent years, multiple research efforts have increased our understanding of the actuation fatigue process of SMAs. These advances can be utilized to predict the fatigue lives and failure loads in SMA actuators. Additionally, these prediction methods can be implemented in order to intelligently design actuators in accordance with their fatigue and failure limits. In the following paper, both simple and complex thermomechanical loading paths have been considered. Experimental data was utilized from two material systems: equiatomic Nickel-Titanium and Nickelrich Nickel-Titanium.

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

    Navarro, Robert

    1997-01-01

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

  9. Plant-based torsional actuator with memory

    Nayomi Plaza; Samuel L. Zelinka; Don S. Stone; Joseph E. Jakes

    2013-01-01

    A bundle of a few loblolly pine (Pinus taeda) cells are moisture-activated torsional actuators that twist multiple revolutions per cm length in direct proportion to moisture content. The bundles generate 10 N m kg􀀀1 specific torque during both twisting and untwisting, which is higher than an electric motor. Additionally, the bundles exhibit a moisture-...

  10. Pneumatic Muscle Actuator Control

    Lilly, John

    2000-01-01

    This research is relevant to the Air Fore mission because pneumatic muscle actuation devices arc advantageous for certain types of robotics as well as for strength and/or mobility assistance for humans...

  11. Clean room actuators

    Higuchi, Toshiro

    1987-06-01

    This report explains on the present status of the clean room actuators including the author's research results. In a clean room, there exists a possibility of dust generation, even when a direct human work is eliminated by the use of robots or automatic machines, from the machines themselves. For this, it is important to develop such clean robots and transfer/positioning mechanism that do not generate dusts, and to develop an actuator and its control technique. Topics described in the report are as follows: 1. Prevention of dust diffusion by means of sealing. 2. Elimination of mechanical contact (Linear induction motor and pneumatic float, linear motor and magnetic attraction float, linear motor and air bearing, and magnetic bearing). 3. Contactless actuator having a positioning mechanism (Use of linear step motor and rotary contactless actuator). (15 figs, 11 refs)

  12. Tetherless thermobiochemically actuated microgrippers.

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

    2009-01-20

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

  13. Soft actuators and soft actuating devices

    Yang, Dian; Whitesides, George M.

    2017-10-17

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

  14. Compact electrostatic comb actuator

    Rodgers, M. Steven; Burg, Michael S.; Jensen, Brian D.; Miller, Samuel L.; Barnes, Stephen M.

    2000-01-01

    A compact electrostatic comb actuator is disclosed for microelectromechanical (MEM) applications. The actuator is based upon a plurality of meshed electrostatic combs, some of which are stationary and others of which are moveable. One or more restoring springs are fabricated within an outline of the electrostatic combs (i.e. superposed with the moveable electrostatic combs) to considerably reduce the space required for the actuator. Additionally, a truss structure is provided to support the moveable electrostatic combs and prevent bending or distortion of these combs due to unbalanced electrostatic forces or external loading. The truss structure formed about the moveable electrostatic combs allows the spacing between the interdigitated fingers of the combs to be reduced to about one micron or less, thereby substantially increasing the number of active fingers which can be provided in a given area. Finally, electrostatic shields can be used in the actuator to substantially reduce unwanted electrostatic fields to further improve performance of the device. As a result, the compact electrostatic comb actuator of the present invention occupies only a fraction of the space required for conventional electrostatic comb actuators, while providing a substantial increase in the available drive force (up to one-hundred times).

  15. Electromechanical actuation of buckypaper actuator: Material properties and performance relationships

    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

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

    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

  17. Digital Actuator Technology

    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

  18. Multiple glacial refugia of the low-dispersal ground beetle Carabus irregularis: molecular data support predictions of species distribution models.

    Katharina Homburg

    Full Text Available Classical glacial refugia such as the southern European peninsulas were important for species survival during glacial periods and acted as sources of post-glacial colonisation processes. Only recently, some studies have provided evidence for glacial refugia north of the southern European peninsulas. In the present study, we combined species distribution models (SDMs with phylogeographic analyses (using mitochondrial DNA = mtDNA to investigate if the cold-adapted, stenotopic and flightless ground beetle species, Carabus irregularis, survived the Last Glacial Maximum (LGM in classical and/or other refugia. SDMs (for both a western European and for a Carpathian subgroup were calculated with MAXENT on the basis of 645 species records to predict current and past distribution patterns. Two mtDNA loci (CO1 and ND5, concatenated sequence length: 1785 bp were analyzed from 91 C. irregularis specimens to reconstruct the phylogeography of Central and eastern European populations and to estimate divergence times of the given lineages. Strong intra-specific genetic differentiation (inter-clade ΦST values ranged from 0.92 to 0.99 implied long-term isolation of major clades and subsclades. The high divergence between the nominate subspecies and the Carpathian subspecies C. i. montandoni points to two independent species rather than subspecies (K-2P distance 0.042 ± 0.004; supposed divergence of the maternal lineages dated back 1.6 to 2.5 million years BP differing not only morphologically but also genetically and ecologically from each other. The SDMs also inferred classical as well as other refugia for C. irregularis, especially north of the Alps, in southeastern Europe and in the Carpathians. The coincidences between the results of both methods confirm the assumption of multiple glacial refugia for the studied species and the usefulness of combining methodological approaches for the understanding of the history of low-dispersal insect species.

  19. Hydraulically actuated artificial muscles

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

    2012-04-01

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

  20. Optimizing an Actuator Array for the Control of Multi-Frequency Noise in Aircraft Interiors

    Palumbo, D. L.; Padula, S. L.

    1997-01-01

    Techniques developed for selecting an optimized actuator array for interior noise reduction at a single frequency are extended to the multi-frequency case. Transfer functions for 64 actuators were obtained at 5 frequencies from ground testing the rear section of a fully trimmed DC-9 fuselage. A single loudspeaker facing the left side of the aircraft was the primary source. A combinatorial search procedure (tabu search) was employed to find optimum actuator subsets of from 2 to 16 actuators. Noise reduction predictions derived from the transfer functions were used as a basis for evaluating actuator subsets during optimization. Results indicate that it is necessary to constrain actuator forces during optimization. Unconstrained optimizations selected actuators which require unrealistically large forces. Two methods of constraint are evaluated. It is shown that a fast, but approximate, method yields results equivalent to an accurate, but computationally expensive, method.

  1. Actuator with Multi Degrees of Freedom(Actuator)

    矢野, 智昭; Tomoaki, YANO; 産業技術総合研究所

    2006-01-01

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

  2. Interlaboratory study of DNA extraction from multiple ground samples, multiplex real-time PCR, and multiplex qualitative PCR for individual kernel detection system of genetically modified maize.

    Akiyama, Hiroshi; Sakata, Kozue; Makiyma, Daiki; Nakamura, Kosuke; Teshima, Reiko; Nakashima, Akie; Ogawa, Asako; Yamagishi, Toru; Futo, Satoshi; Oguchi, Taichi; Mano, Junichi; Kitta, Kazumi

    2011-01-01

    In many countries, the labeling of grains, feed, and foodstuff is mandatory if the genetically modified (GM) organism content exceeds a certain level of approved GM varieties. We previously developed an individual kernel detection system consisting of grinding individual kernels, DNA extraction from the individually ground kernels, GM detection using multiplex real-time PCR, and GM event detection using multiplex qualitative PCR to analyze the precise commingling level and varieties of GM maize in real sample grains. We performed the interlaboratory study of the DNA extraction with multiple ground samples, multiplex real-time PCR detection, and multiplex qualitative PCR detection to evaluate its applicability, practicality, and ruggedness for the individual kernel detection system of GM maize. DNA extraction with multiple ground samples, multiplex real-time PCR, and multiplex qualitative PCR were evaluated by five laboratories in Japan, and all results from these laboratories were consistent with the expected results in terms of the commingling level and event analysis. Thus, the DNA extraction with multiple ground samples, multiplex real-time PCR, and multiplex qualitative PCR for the individual kernel detection system is applicable and practicable in a laboratory to regulate the commingling level of GM maize grain for GM samples, including stacked GM maize.

  3. The Actuated Guitar

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

    2013-01-01

    Playing a guitar is normally only for people with fully functional hands. In this work we investigate alternative interaction concepts to enable or re-enable people with non-functional right hands or arms to play a guitar via actuated strumming. The functionality and complexity of right hand...... interaction with the guitar is immense. We therefore divided the right hand techniques into three main areas: Strumming, string picking / skipping, and string muting. This paper explores the first stage, strum- ming. We have developed an exploratory platform called the Actuated Guitar that utilizes a normal...

  4. Fault tolerant linear actuator

    Tesar, Delbert

    2004-09-14

    In varying embodiments, the fault tolerant linear actuator of the present invention is a new and improved linear actuator with fault tolerance and positional control that may incorporate velocity summing, force summing, or a combination of the two. In one embodiment, the invention offers a velocity summing arrangement with a differential gear between two prime movers driving a cage, which then drives a linear spindle screw transmission. Other embodiments feature two prime movers driving separate linear spindle screw transmissions, one internal and one external, in a totally concentric and compact integrated module.

  5. Actuator concepts and mechatronics

    Gilbert, Michael G.; Horner, Garnett C.

    1998-06-01

    Mechatronic design implies the consideration of integrated mechanical, electrical, and local control characteristics in electromechanical device design. In this paper, mechatronic development of actuation device concepts for active aircraft aerodynamic flow control are presented and discussed. The devices are intended to be embedded in aircraft aerodynamic surfaces to provide zero-net-momentum jets or additional flow-vorticity to control boundary layers and flow- separation. Two synthetic jet device prototypes and one vorticity-on-demand prototype currently in development are described in the paper. The aspects of actuation materials, design approaches to generating jets and vorticity, and the integration of miniaturized electronics are stressed.

  6. Transitory Control of Unsteady Separation using Pulsed Actuation

    Woo, George T K; Glezer, Ari

    2011-01-01

    The dynamic mechanisms of transitory flow attachment effected by pulsed actuation of the separated flow over a stalled airfoil are investigated experimentally. Actuation is effected by momentary pulsed jets generated by a spanwise array of combustion-based actuators such that the characteristic time of jet duration is nominally an order of magnitude shorter than the flow's convective time scale. The transitory flow field in the cross stream plane above the airfoil and in its near wake is investigated using multiple high-resolution PIV images that are obtained phase-locked to the actuation for continuous tracking of vorticity concentrations. The brief actuation pulse leads to severing of the separated vorticity layer and the subsequent shedding of large-scale vortical structures owing to the collapse of the separated flow domain which is accompanied by strong changes in the circulation about the entire airfoil. By exploiting the disparity between the characteristic times of flow response to actuation and relaxation, it is shown that successive actuation pulses can extend the flow attachment and enhance the global aerodynamic performance. It is also shown that coupling of the actuation to the airfoil's motion during cyclical pitch enhances the effect of transitory flow control and leads to a significant suppression of dynamic stall.

  7. High-Capacity Free-Space Optical Communications Between a Ground Transmitter and a Ground Receiver via a UAV Using Multiplexing of Multiple Orbital-Angular-Momentum Beams.

    Li, Long; Zhang, Runzhou; Zhao, Zhe; Xie, Guodong; Liao, Peicheng; Pang, Kai; Song, Haoqian; Liu, Cong; Ren, Yongxiong; Labroille, Guillaume; Jian, Pu; Starodubov, Dmitry; Lynn, Brittany; Bock, Robert; Tur, Moshe; Willner, Alan E

    2017-12-12

    We explore the use of orbital-angular-momentum (OAM)-multiplexing to increase the capacity of free-space data transmission to moving platforms, with an added potential benefit of decreasing the probability of data intercept. Specifically, we experimentally demonstrate and characterize the performance of an OAM-multiplexed, free-space optical (FSO) communications link between a ground transmitter and a ground receiver via a moving unmanned-aerial-vehicle (UAV). We achieve a total capacity of 80 Gbit/s up to 100-m-roundtrip link by multiplexing 2 OAM beams, each carrying a 40-Gbit/s quadrature-phase-shift-keying (QPSK) signal. Moreover, we investigate for static, hovering, and moving conditions the effects of channel impairments, including: misalignments, propeller-induced airflows, power loss, intermodal crosstalk, and system bit error rate (BER). We find the following: (a) when the UAV hovers in the air, the power on the desired mode fluctuates by 2.1 dB, while the crosstalk to the other mode is -19 dB below the power on the desired mode; and (b) when the UAV moves in the air, the power fluctuation on the desired mode increases to 4.3 dB and the crosstalk to the other mode increases to -10 dB. Furthermore, the channel crosstalk decreases with an increase in OAM mode spacing.

  8. Actuating movement in refined wearables

    Toeters, M.J.; Feijs, L.M.G.

    2014-01-01

    Nowadays it is quite possible to deploy textiles as sensors and avoid traditional hard sensors. Actuation (movement) turns out more difficult. It is advantageous to combine sensing and actuation, similar to ecological perception theory. Although several actuators are known: SMA, voice coil, motors,

  9. Bistable microelectromechanical actuator

    Fleming, James G.

    1999-01-01

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

  10. Airplane Actuation Trade Study

    1983-01-01

    Some of these advancements were high voltage power supplies, permanent magnet motors using rare earth magnets, electronic comnmutation and an...Essentially the inverter chops and pulse width modulates the 270 VDC power supplied by the electrical power system to cause the actuator’s permanent magnet motors to

  11. Thermally Actuated Hydraulic Pumps

    Jones, Jack; Ross, Ronald; Chao, Yi

    2008-01-01

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

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

    2010-01-01

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

  13. Soft Sensors and Actuators based on Nanomaterials

    Yao, Shanshan

    The focus of this research is using novel bottom-up synthesized nanomaterials and structures to build up devices for wearable sensors and soft actuators. The applications of the wearable sensors towards motion detection and health monitoring are investigated. In addition, flexible heaters for bimorph actuators and stretchable patches made of microgel depots containing drug-loaded nanoparticles (NPs) for stretch-triggered wearable drug delivery are studied. Considerable efforts have been made to achieve highly sensitive and wearable sensors that can simultaneously detect multiple stimuli such as stretch, pressure, temperature or touch. Highly stretchable multifunctional sensors that can detect strain (up to 50%), pressure (up to 1 MPa) and finger touch with good sensitivity, fast response time ( 40 ms) and good pressure mapping function were developed. The sensors were demonstrated for several wearable applications including monitoring thumb movements and knee motions, illustrating the potential utilities of such sensors in robotic systems, prosthetics, healthcare and flexible touch panels. In addition to mechanical sensors, a wearable skin hydration sensor made of silver nanowires (AgNWs) in a polydimethylsiloxane (PDMS) matrix was demonstrated based on skin impedance measurement. The hydration sensors were packaged into a flexible wristband for skin hydration monitoring and a chest patch consisting of a strain sensor, three electrocardiogram (ECG) electrodes and a skin hydration sensor for multimodal sensing. The wearable wristband and chest patch may be used for low-cost, wireless and continuous sensing of skin hydration and other health parameters. Two representative applications of the nanomaterials for soft actuators were investigated. In the first application on bimorph actuation, low-voltage and extremely flexible electrothermal bimorph actuators were fabricated in a simple, efficient and scalable process. The bimorph actuators were made of flexible Ag

  14. Dielectric Actuation of Polymers

    Niu, Xiaofan

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

  15. Different scale land subsidence and ground fissure monitoring with multiple InSAR techniques over Fenwei basin, China

    C. Zhao

    2015-11-01

    Full Text Available Fenwei basin, China, composed by several sub-basins, has been suffering severe geo-hazards in last 60 years, including large scale land subsidence and small scale ground fissure, which caused serious infrastructure damages and property losses. In this paper, we apply different InSAR techniques with different SAR data to monitor these hazards. Firstly, combined small baseline subset (SBAS InSAR method and persistent scatterers (PS InSAR method is used to multi-track Envisat ASAR data to retrieve the large scale land subsidence covering entire Fenwei basin, from which different land subsidence magnitudes are analyzed of different sub-basins. Secondly, PS-InSAR method is used to monitor the small scale ground fissure deformation in Yuncheng basin, where different spatial deformation gradient can be clearly discovered. Lastly, different track SAR data are contributed to retrieve two-dimensional deformation in both land subsidence and ground fissure region, Xi'an, China, which can be benefitial to explain the occurrence of ground fissure and the correlation between land subsidence and ground fissure.

  16. Electrical Actuation Technology Bridging

    Hammond, Monica (Compiler); Sharkey, John (Compiler)

    1993-01-01

    This document contains the proceedings of the NASA Electrical Actuation Technology Bridging (ELA-TB) Workshop held in Huntsville, Alabama, September 29-October 1, 1992. The workshop was sponsored by the NASA Office of Space Systems Development and Marshall Space Flight Center (MSFC). The workshop addressed key technologies bridging the entire field of electrical actuation including systems methodology, control electronics, power source systems, reliability, maintainability, and vehicle health management with special emphasis on thrust vector control (TVC) applications on NASA launch vehicles. Speakers were drawn primarily from industry with participation from universities and government. In addition, prototype hardware demonstrations were held at the MSFC Propulsion Laboratory each afternoon. Splinter sessions held on the final day afforded the opportunity to discuss key issues and to provide overall recommendations. Presentations are included in this document.

  17. Thermally actuated linkage arrangement

    Anderson, P.M.

    1981-01-01

    A reusable thermally actuated linkage arrangement includes a first link member having a longitudinal bore therein adapted to receive at least a portion of a second link member therein, the first and second members being sized to effect an interference fit preventing relative movement there-between at a temperature below a predetermined temperature. The link members have different coefficients of thermal expansion so that when the linkage is selectively heated by heating element to a temperature above the predetermined temperature, relative longitudinal and/or rotational movement between the first and second link members is enabled. Two embodiments of a thermally activated linkage are disclosed which find particular application in actuators for a grapple head positioning arm in a nuclear reactor fuel handling mechanism to facilitate back-up safety retraction of the grapple head independently from the primary fuel handling mechanism drive system. (author)

  18. Scissor thrust valve actuator

    DeWall, Kevin G.; Watkins, John C; Nitzel, Michael E.

    2006-08-29

    Apparatus for actuating a valve includes a support frame and at least one valve driving linkage arm, one end of which is rotatably connected to a valve stem of the valve and the other end of which is rotatably connected to a screw block. A motor connected to the frame is operatively connected to a motor driven shaft which is in threaded screw driving relationship with the screw block. The motor rotates the motor driven shaft which drives translational movement of the screw block which drives rotatable movement of the valve driving linkage arm which drives translational movement of the valve stem. The valve actuator may further include a sensory control element disposed in operative relationship with the valve stem, the sensory control element being adapted to provide control over the position of the valve stem by at least sensing the travel and/or position of the valve stem.

  19. Introduction to actuator

    Sung, Rak Jin

    1988-01-01

    This book introduces solenoid as actuator, magnetic attraction of current, a magnetic field generated by coil, calculation of inductance, thinking way of magnetic energy, principle and application of DC motor, basic expression of DC motor, sorts and characteristics of DC motor, electric control of DC motor, exchange operation by electric control, action of free wheeling diodes, principle and characteristic induction motor electric control of induction motor, stepping motor and hysteresis motor and linear motor.

  20. Shape memory alloy actuator

    Varma, Venugopal K.

    2001-01-01

    An actuator for cycling between first and second positions includes a first shaped memory alloy (SMA) leg, a second SMA leg. At least one heating/cooling device is thermally connected to at least one of the legs, each heating/cooling device capable of simultaneously heating one leg while cooling the other leg. The heating/cooling devices can include thermoelectric and/or thermoionic elements.

  1. Linear pneumatic actuator

    Avram Mihai

    2017-01-01

    Full Text Available The paper presents a linear pneumatic actuator with short working stroke. It consists of a pneumatic motor (a simple stroke cylinder or a membrane chamber, two 2/2 pneumatic distributors “all or nothing” electrically commanded for controlling the intake/outtake flow to/from the active chamber of the motor, a position transducer and a microcontroller. There is also presented the theoretical analysis (mathematical modelling and numerical simulation accomplished.

  2. Linear pneumatic actuator

    Avram Mihai; Niţu Constantin; Bucşan Constantin; Grămescu Bogdan

    2017-01-01

    The paper presents a linear pneumatic actuator with short working stroke. It consists of a pneumatic motor (a simple stroke cylinder or a membrane chamber), two 2/2 pneumatic distributors “all or nothing” electrically commanded for controlling the intake/outtake flow to/from the active chamber of the motor, a position transducer and a microcontroller. There is also presented the theoretical analysis (mathematical modelling and numerical simulation) accomplished.

  3. Microelectromechanical (MEM) thermal actuator

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

    2012-07-31

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

  4. Sleeve Muscle Actuator and Its Application in Transtibial Prostheses

    Zheng, Hao; Shen, Xiangrong

    2014-01-01

    This paper describes the concept of a new sleeve muscle actuator, and a transtibial prosthesis design powered by this novel actuator. Inspired by the functioning mechanism of the traditional pneumatic muscle actuator, the sleeve muscle actuator incorporates a cylindrical insert to the center of the pneumatic muscle, which eliminates the central portion of the internal volume. As a result of this change, the sleeve muscle provides multiple advantages over the traditional pneumatic muscle, including the increased force capacity over the entire range of motion, reduced energy consumption, and faster dynamic response. Furthermore, utilizing the load-bearing tube as the insert, the sleeve muscle enables an innovative “actuation-load bearing” structure, which has a potential of generating a highly compact actuation system suitable for prosthetic use. Utilizing this new actuator, the preliminary design of a transtibial prosthesis is presented, which is able to provide sufficient torque output and range of motion for a 75 Kg amputee user in level walking. PMID:24187262

  5. Deformable mirrors : Design fundamentals for force actuation of continuous facesheets

    Ravensbergen, S.K.; Hamelinck, R.F.H.M.; Rosielle, P.C.J.N.; Steinbuch, M.

    2009-01-01

    Adaptive Optics is established as essential technology in current and future ground based (extremely) large telescopes to compensate for atmospheric turbulence. Deformable mirrors for astronomic purposes have a high number of actuators (> 10k), a relatively large stroke (> 10µm) on a small spacing

  6. Failure of cargo aileron’s actuator

    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.

  7. A tubular dielectric elastomer actuator: Fabrication, characterization and active vibration isolation

    Sarban, R.; Jones, R. W.; Mace, B. R.

    2011-01-01

    This contribution reviews the fabrication, characterization and active vibration isolation performance of a core-free rolled tubular dielectric elastomer (DE) actuator, which has been designed and developed by Danfoss PolyPower A/S. PolyPower DE material, PolyPower (TM), is produced in thin sheets...... of 80 mu m thickness with corrugated metallic electrodes on both sides. Tubular actuators are manufactured by rolling the DE sheets in a cylindrical shape. The electromechanical characteristics of such actuators are modeled based on equilibrium pressure equation. The model is validated with experimental...... the dominant dynamic characteristics of the core-free tubular actuator. It has been observed that all actuators have similar dynamic characteristics in a frequency range up to 1 kHz. A tubular actuator is then used to provide active vibration isolation (AVI) of a 250 g mass subject to shaker generated 'ground...

  8. Telescoping cylindrical piezoelectric fiber composite actuator assemblies

    Allison, Sidney G. (Inventor); Shams, Qamar A. (Inventor); Fox, Robert L. (Inventor); Fox, legal representative, Christopher L. (Inventor); Fox Chattin, legal representative, Melanie L. (Inventor)

    2010-01-01

    A telescoping actuator assembly includes a plurality of cylindrical actuators in a concentric arrangement. Each cylindrical actuator is at least one piezoelectric fiber composite actuator having a plurality of piezoelectric fibers extending parallel to one another and to the concentric arrangement's longitudinal axis. Each cylindrical actuator is coupled to concentrically-adjacent ones of the cylindrical actuators such that the plurality of cylindrical actuators can experience telescopic movement. An electrical energy source coupled to the cylindrical actuators applies actuation energy thereto to generate the telescopic movement.

  9. Mechanisms and actuators for rotorcraft blade morphing

    Vocke, Robert D., III

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

  10. Self-Latching Piezocomposite Actuator

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

    2017-01-01

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

  11. Spacecraft Jitter Attenuation Using Embedded Piezoelectric Actuators

    Belvin, W. Keith

    1995-01-01

    Remote sensing from spacecraft requires precise pointing of measurement devices in order to achieve adequate spatial resolution. Unfortunately, various spacecraft disturbances induce vibrational jitter in the remote sensing instruments. The NASA Langley Research Center has performed analysis, simulations, and ground tests to identify the more promising technologies for minimizing spacecraft pointing jitter. These studies have shown that the use of smart materials to reduce spacecraft jitter is an excellent match between a maturing technology and an operational need. This paper describes the use of embedding piezoelectric actuators for vibration control and payload isolation. In addition, recent advances in modeling, simulation, and testing of spacecraft pointing jitter are discussed.

  12. Probabilistic Analysis of Space Shuttle Body Flap Actuator Ball Bearings

    Oswald, Fred B.; Jett, Timothy R.; Predmore, Roamer E.; Zaretsky, Erwin V.

    2008-01-01

    A probabilistic analysis, using the 2-parameter Weibull-Johnson method, was performed on experimental life test data from space shuttle actuator bearings. Experiments were performed on a test rig under simulated conditions to determine the life and failure mechanism of the grease lubricated bearings that support the input shaft of the space shuttle body flap actuators. The failure mechanism was wear that can cause loss of bearing preload. These tests established life and reliability data for both shuttle flight and ground operation. Test data were used to estimate the failure rate and reliability as a function of the number of shuttle missions flown. The Weibull analysis of the test data for the four actuators on one shuttle, each with a 2-bearing shaft assembly, established a reliability level of 96.9 percent for a life of 12 missions. A probabilistic system analysis for four shuttles, each of which has four actuators, predicts a single bearing failure in one actuator of one shuttle after 22 missions (a total of 88 missions for a 4-shuttle fleet). This prediction is comparable with actual shuttle flight history in which a single actuator bearing was found to have failed by wear at 20 missions.

  13. Development of DBD plasma actuators: The double encapsulated electrode

    Erfani, Rasool; Zare-Behtash, Hossein; Hale, Craig; Kontis, Konstantinos

    2015-04-01

    Plasma actuators are electrical devices that generate a wall bounded jet without the use of any moving parts. For aerodynamic applications they can be used as flow control devices to delay separation and augment lift on a wing. The standard plasma actuator consists of a single encapsulated (ground) electrode. The aim of this project is to investigate the effect of varying the number and distribution of encapsulated electrodes in the dielectric layer. Utilising a transformer cascade, a variety of input voltages are studied for their effect. In the quiescent environment of a Faraday cage the velocity flow field is recorded using particle image velocimetry. Through understanding of the mechanisms involved in producing the wall jet and the importance of the encapsulated electrode a novel actuator design is proposed. The actuator design distributes the encapsulated electrode throughout the dielectric layer. The experiments have shown that actuators with a shallow initial encapsulated electrode induce velocities greater than the baseline case at the same voltage. Actuators with a deep initial encapsulated electrode are able to induce the highest velocities as they can operate at higher voltages without breakdown of the dielectric.

  14. Fault-tolerant rotary actuator

    Tesar, Delbert

    2006-10-17

    A fault-tolerant actuator module, in a single containment shell, containing two actuator subsystems that are either asymmetrically or symmetrically laid out is provided. Fault tolerance in the actuators of the present invention is achieved by the employment of dual sets of equal resources. Dual resources are integrated into single modules, with each having the external appearance and functionality of a single set of resources.

  15. Electrical actuation of dielectric droplets

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

    2008-01-01

    Electrical actuation of liquid droplets at the microscale offers promising applications in the fields of microfluidics and lab-on-a-chip devices. Much prior research has targeted the electrical actuation of electrically conducting liquid droplets; however, the actuation of dielectric droplets has remained relatively unexplored, despite the advantages associated with the use of a dielectric droplet. This paper presents modeling and experimental results on the electrical actuation of dielectric droplets between two flat plates. A first-order analytical model, based on the energy-minimization principle, is developed to estimate the electrical actuation force on a dielectric droplet as it moves between two flat plates. Two versions of this analytical model are benchmarked for their suitability and accuracy against a detailed numerical model. The actuation force prediction is then combined with available semi-analytical expressions for predicting the forces opposing droplet motion to develop a model that predicts transient droplet motion under electrical actuation. Electrical actuation of dielectric droplets is experimentally demonstrated by moving transformer oil droplets between two flat plates under the influence of an actuation voltage. Droplet velocities and their dependence on the plate spacing and the applied voltage are experimentally measured and showed reasonable agreement with predictions from the models developed

  16. A bistable electromagnetically actuated rotary gate microvalve

    Luharuka, Rajesh; Hesketh, Peter J

    2008-01-01

    Two types of rotary gate microvalves are developed for flow modulation in microfluidic systems. These microvalves have been tested for an open flow rate of up to 100 sccm and operate under a differential pressure of 6 psig with flow modulation of up to 100. The microvalve consists of a suspended gate that rotates in the plane of the chip to regulate flow through the orifice. The gate is suspended by a novel fully compliant in-plane rotary bistable micromechanism (IPRBM) that advantageously constrains the gate in all degrees of freedom except for in-plane rotational motion. Multiple inlet/outlet orifices provide flexibility of operating the microvalve in three different flow configurations. The rotary gate microvalve is switched with an external electromagnetic actuator. The suspended gate is made of a soft magnetic material and its electromagnetic actuation is based on the operating principle of a variable-reluctance stepper motor

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

    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.

  18. The Actuated Guitar

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

    2014-01-01

    functioning hands. In this study we try to enable people with Hemiplegia to play a real electrical guitar, by modifying it in a way that allows people with Hemiplegia able to actually use the instrument. We developed a guitar platform utilizing sensors to capture the rhythmic motion of alternate fully....... The initial user studies showed that children with Hemiplegia were able to play the actuated guitar by producing rhythmical movement across the strings, enabling them to enter a world of music they so often see as closed....

  19. Strain actuated aeroelastic control

    Lazarus, Kenneth B.

    1992-01-01

    Viewgraphs on strain actuated aeroelastic control are presented. Topics covered include: structural and aerodynamic modeling; control law design methodology; system block diagram; adaptive wing test article; bench-top experiments; bench-top disturbance rejection: open and closed loop response; bench-top disturbance rejection: state cost versus control cost; wind tunnel experiments; wind tunnel gust alleviation: open and closed loop response at 60 mph; wind tunnel gust alleviation: state cost versus control cost at 60 mph; wind tunnel command following: open and closed loop error at 60 mph; wind tunnel flutter suppression: open loop flutter speed; and wind tunnel flutter suppression: closed loop state cost curves.

  20. Stepper Motor Actuated Microvalve

    Fazal, Imran; Louwerse, Marcus; Jansen, Henri; Elwenspoek, Miko [MESA Research Institute, University of Twente EWI/TST, P. off Box 217 Enschede (Netherlands)

    2006-04-01

    We present the design, fabrication and characterization of a novel microvalve realized by combining micro and fine machining techniques. The design is for high flow rates at high pressure difference between inlet and outlet, burst pressure of up to 15 bars, there is no power consumption required for the valve to maintain its position during operation in any intermediate state and the process gas does not interact with the actuation mechanism. The microvalve was experimentally characterized with airflows. It is shown that flow rates of 220 ml/min at a pressure difference of 4 bars could be achieved with the minimum accurate flow rate of 2-8 ml/min.

  1. Electromagnetic actuation in MEMS switches

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

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

  2. Bi-stable optical actuator

    Holdener, Fred R.; Boyd, Robert D.

    2000-01-01

    The present invention is a bi-stable optical actuator device that is depowered in both stable positions. A bearing is used to transfer motion and smoothly transition from one state to another. The optical actuator device may be maintained in a stable position either by gravity or a restraining device.

  3. Nonmagnetic driver for piezoelectric actuators

    Ekhtiari, Marzieh

    2014-01-01

    actuator drive is the only form-fit continuous drive solution currently available for the development of high performance nonmagnetic motors. In this research focus will be on the non magnetic compact high efficiency driver for the piezo actuators and on employing energy recovery from the capacitive...

  4. Double-Acting Sleeve Muscle Actuator for Bio-Robotic Systems

    Hao Zheng

    2013-11-01

    Full Text Available This paper presents a new type of muscle-like actuator, namely double-acting (DA sleeve muscle actuator, which is suitable for the actuation of biologically-inspired and biomedical robotic systems, especially those serving human-assistance purposes (prostheses, orthoses, etc.. Developed based on the traditional pneumatic muscle actuator, the new DA sleeve muscle incorporates a unique insert at the center. With the insert occupying the central portion of the internal volume, this new actuator enjoys multiple advantages relative to the traditional pneumatic muscle, including a consistent increase of force capacity over the entire range of motion, and a significant decrease of energy consumption in operation. Furthermore, the insert encompasses an additional chamber, which generates an extension force when pressurized. As such, this new actuator provides a unique bi-directional actuation capability, and, thus, has a potential to significantly simplify the design of a muscle actuator-powered robotic system. To demonstrate this new actuator concept, a prototype has been designed and fabricated, and experiments conducted on this prototype demonstrated the enhanced force capacity and the unique bi-directional actuation capability.

  5. Double-Acting Sleeve Muscle Actuator for Bio-Robotic Systems

    Zheng, Hao; Shen, Xiangrong

    2014-01-01

    This paper presents a new type of muscle-like actuator, namely double-acting (DA) sleeve muscle actuator, which is suitable for the actuation of biologically-inspired and biomedical robotic systems, especially those serving human-assistance purposes (prostheses, orthoses, etc.). Developed based on the traditional pneumatic muscle actuator, the new DA sleeve muscle incorporates a unique insert at the center. With the insert occupying the central portion of the internal volume, this new actuator enjoys multiple advantages relative to the traditional pneumatic muscle, including a consistent increase of force capacity over the entire range of motion, and a significant decrease of energy consumption in operation. Furthermore, the insert encompasses an additional chamber, which generates an extension force when pressurized. As such, this new actuator provides a unique bi-directional actuation capability, and, thus, has a potential to significantly simplify the design of a muscle actuator-powered robotic system. To demonstrate this new actuator concept, a prototype has been designed and fabricated, and experiments conducted on this prototype demonstrated the enhanced force capacity and the unique bi-directional actuation capability. PMID:25264492

  6. Double-Acting Sleeve Muscle Actuator for Bio-Robotic Systems.

    Zheng, Hao; Shen, Xiangrong

    2013-11-25

    This paper presents a new type of muscle-like actuator, namely double-acting (DA) sleeve muscle actuator, which is suitable for the actuation of biologically-inspired and biomedical robotic systems, especially those serving human-assistance purposes (prostheses, orthoses, etc .). Developed based on the traditional pneumatic muscle actuator, the new DA sleeve muscle incorporates a unique insert at the center. With the insert occupying the central portion of the internal volume, this new actuator enjoys multiple advantages relative to the traditional pneumatic muscle, including a consistent increase of force capacity over the entire range of motion, and a significant decrease of energy consumption in operation. Furthermore, the insert encompasses an additional chamber, which generates an extension force when pressurized. As such, this new actuator provides a unique bi-directional actuation capability, and, thus, has a potential to significantly simplify the design of a muscle actuator-powered robotic system. To demonstrate this new actuator concept, a prototype has been designed and fabricated, and experiments conducted on this prototype demonstrated the enhanced force capacity and the unique bi-directional actuation capability.

  7. An optimal control strategy for hybrid actuator systems: Application to an artificial muscle with electric motor assist.

    Ishihara, Koji; Morimoto, Jun

    2018-03-01

    Humans use multiple muscles to generate such joint movements as an elbow motion. With multiple lightweight and compliant actuators, joint movements can also be efficiently generated. Similarly, robots can use multiple actuators to efficiently generate a one degree of freedom movement. For this movement, the desired joint torque must be properly distributed to each actuator. One approach to cope with this torque distribution problem is an optimal control method. However, solving the optimal control problem at each control time step has not been deemed a practical approach due to its large computational burden. In this paper, we propose a computationally efficient method to derive an optimal control strategy for a hybrid actuation system composed of multiple actuators, where each actuator has different dynamical properties. We investigated a singularly perturbed system of the hybrid actuator model that subdivided the original large-scale control problem into smaller subproblems so that the optimal control outputs for each actuator can be derived at each control time step and applied our proposed method to our pneumatic-electric hybrid actuator system. Our method derived a torque distribution strategy for the hybrid actuator by dealing with the difficulty of solving real-time optimal control problems. Copyright © 2017 The Author(s). Published by Elsevier Ltd.. All rights reserved.

  8. Damage evolution during actuation fatigue in shape memory alloys (SPIE Best Student Paper Award)

    Phillips, Francis R.; Wheeler, Robert; Lagoudas, Dimitris C.

    2018-03-01

    Shape Memory Alloys (SMAs) are unique materials able to undergo a thermomechanically induced, reversible phase transformation. Additionally, SMA are subject to two types of fatigue, that is structural fatigue due to cyclic loading as experienced by most materials, as well as actuation fatigue due to repeated thermally induced phase transformation. The evolution of multiple material characteristics is presented over the actuation fatigue lifetime of NiTiHf actuators, including the accumulation of irrecoverable strain, the evolution of internal voids, and the evolution of the effective modulus of the actuator. The results indicate that all three of these material characteristics are clearly interconnected and careful analysis of each of these characteristics can help to understand the evolution of the others, as well as help to understand how actuation fatigue leads to ultimate failure of the actuator.

  9. Vibration control of a flexible structure with electromagnetic actuators

    Gruzman, Maurício; Santos, Ilmar

    2016-01-01

    This work presents the model of a shear-frame-type structure composed of six flexible beams and three rigid masses. Fixed on the ground, outside the structure, two voltage-controlled electromagnetic actuators are used for vibration control. To model the flexible beams, unidimensional finite...... elements were used. Nonlinear equations for the actuator electromagnetic force, noise in the position sensor, time delays for the control signal update and voltage saturation were also considered in the model. For controlling purposes, a discrete linear quadratic regulator combined with a predictive full......-order discrete linear observer was employed. Results of numerical simulations, where the structure is submitted to an impulsive disturbance force and to a harmonic force, show that the oscillations can be significantly reduced with the use of the electromagnetic actuators....

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

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

    2017-04-01

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

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

    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.

  12. V-stack piezoelectric actuator

    Ardelean, Emil V.; Clark, Robert L.

    2001-07-01

    Aeroelastic control of wings by means of a distributed, trailing-edge control surface is of interest with regards to maneuvers, gust alleviation, and flutter suppression. The use of high energy density, piezoelectric materials as motors provides an appealing solution to this problem. A comparative analysis of the state of the art actuators is currently being conducted. A new piezoelectric actuator design is presented. This actuator meets the requirements for trailing edge flap actuation in both stroke and force. It is compact, simple, sturdy, and leverages stroke geometrically with minimum force penalties while displaying linearity over a wide range of stroke. The V-Stack Piezoelectric Actuator, consists of a base, a lever, two piezoelectric stacks, and a pre-tensioning element. The work is performed alternately by the two stacks, placed on both sides of the lever. Pre-tensioning can be readily applied using a torque wrench, obviating the need for elastic elements and this is for the benefit of the stiffness of the actuator. The characteristics of the actuator are easily modified by changing the base or the stacks. A prototype was constructed and tested experimentally to validate the theoretical model.

  13. Comparing multiple model-derived aerosol optical properties to spatially collocated ground-based and satellite measurements

    Ocko, Ilissa B.; Ginoux, Paul A.

    2017-04-01

    Anthropogenic aerosols are a key factor governing Earth's climate and play a central role in human-caused climate change. However, because of aerosols' complex physical, optical, and dynamical properties, aerosols are one of the most uncertain aspects of climate modeling. Fortunately, aerosol measurement networks over the past few decades have led to the establishment of long-term observations for numerous locations worldwide. Further, the availability of datasets from several different measurement techniques (such as ground-based and satellite instruments) can help scientists increasingly improve modeling efforts. This study explores the value of evaluating several model-simulated aerosol properties with data from spatially collocated instruments. We compare aerosol optical depth (AOD; total, scattering, and absorption), single-scattering albedo (SSA), Ångström exponent (α), and extinction vertical profiles in two prominent global climate models (Geophysical Fluid Dynamics Laboratory, GFDL, CM2.1 and CM3) to seasonal observations from collocated instruments (AErosol RObotic NETwork, AERONET, and Cloud-Aerosol Lidar with Orthogonal Polarization, CALIOP) at seven polluted and biomass burning regions worldwide. We find that a multi-parameter evaluation provides key insights on model biases, data from collocated instruments can reveal underlying aerosol-governing physics, column properties wash out important vertical distinctions, and improved models does not mean all aspects are improved. We conclude that it is important to make use of all available data (parameters and instruments) when evaluating aerosol properties derived by models.

  14. Design and Control of a Pneumatically Actuated Transtibial Prosthesis.

    Zheng, Hao; Shen, Xiangrong

    2015-04-01

    This paper presents the design and control of a pneumatically actuated transtibial prosthesis, which utilizes a pneumatic cylinder-type actuator to power the prosthetic ankle joint to support the user's locomotion. The pneumatic actuator has multiple advantages over the traditional electric motor, such as light weight, low cost, and high power-to-weight ratio. The objective of this work is to develop a compact and lightweight transtibial prosthesis, leveraging the multiple advantages provided by this highly competitive actuator. In this paper, the design details of the prosthesis are described, including the determination of performance specifications, the layout of the actuation mechanism, and the calculation of the torque capacity. Through the authors' design calculation, the prosthesis is able to provide sufficient range of motion and torque capacity to support the locomotion of a 75 kg individual. The controller design is also described, including the underlying biomechanical analysis and the formulation of the finite-state impedance controller. Finally, the human subject testing results are presented, with the data indicating that the prosthesis is able to generate a natural walking gait and sufficient power output for its amputee user.

  15. Polypyrrole Actuators for Tremor Suppression

    Skaarup, Steen; Mogensen, Naja; Bay, Lasse

    2003-01-01

    Neurological tremor affecting limbs can be divided into at least 6 different types with frequencies ranging from 2 to about 20 Hz. In order to alleviate the symptoms by suppressing the tremor, sensing and actuation systems able to perform at these frequencies are needed. Electroactive polymers...... exemplify 'soft actuator' technology that may be especially suitable for use in conjunction with human limbs. The electrochemical and mechanical properties of polypyrrole dodecyl benzene sulphonate actuator films have been studied with this application in mind. The results show that the time constants...

  16. Evidence of Multiple Ground-rupturing Earthquakes in the Past 4000 Years along the Pasuruan Fault, East Java, Indonesia

    Marliyani, G. I.; Arrowsmith, R.; Helmi, H.

    2015-12-01

    Instrumental and historical records of earthquakes, supplemented by paleoeseismic constraints can help reveal the earthquake potential of an area. The Pasuruan fault is a high angle normal fault with prominent youthful scarps cutting young deltaic sediments in the north coast of East Java, Indonesia and may pose significant hazard to the densely populated region. This fault has not been considered a significant structure, and mapped as a lineament with no sense of motion. Information regarding past earthquakes along this fault is not available. The fault is well defined both in the imagery and in the field as a ~13km long, 2-50m-high scarp. Open and filled fractures and natural exposures of the south-dipping fault plane indicate normal sense of motion. We excavated two fault-perpendicular trenches across a relay ramp identified during our surface mapping. Evidence for past earthquakes (documented in both trenches) includes upward fault termination with associated fissure fills, colluvial wedges and scarp-derived debris, folding, and angular unconformities. The ages of the events are constrained by 23 radiocarbon dates on detrital charcoal. We calibrated the dates using IntCal13 and used Oxcal to build the age model of the events. Our preliminary age model indicates that since 2006±134 B.C., there has been at least five ground rupturing earthquakes along the fault. The oldest event identified in the trench however, is not well-dated. Our modeled 95th percentile ranges of the next four earlier earthquakes (and their mean) are A.D. 1762-1850 (1806), A.D. 1646-1770 (1708), A.D. 1078-1648 (1363), and A.D. 726-1092 (909), yielding a rough recurrence rate of 302±63 yrs. These new data imply that Pasuruan fault is more active than previously thought. Additional well-dated earthquakes are necessary to build a solid earthquake recurrence model. Rupture along the whole section implies a minimum earthquake magnitude of 6.3, considering 13km as the minimum surface rupture

  17. Firewater system inadvertent actuation frequencies

    Schroeder, J.A.; Eide, S.A.

    1993-01-01

    This paper presents some recommended generic values for fire protection system inadvertent actuation frequencies. The frequencies are based on actual data from Department of Energy and commercial reactor plant facilities

  18. Magnetically Actuated Seal, Phase I

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

  19. Magnetically Actuated Seal, Phase II

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

  20. Modeling and control of precision actuators

    Kiong, Tan Kok

    2013-01-01

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

  1. Soft Pneumatic Actuators for Rehabilitation

    Guido Belforte

    2014-05-01

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

  2. Control of Adjustable Compliant Actuators

    Berno J.E. Misgeld

    2014-05-01

    Full Text Available Adjustable compliance or variable stiffness actuators comprise an additional element to elastically decouple the actuator from the load and are increasingly applied to human-centered robotic systems. The advantages of such actuators are of paramount importance in rehabilitation robotics, where requirements demand safe interaction between the therapy system and the patient. Compliant actuator systems enable the minimization of large contact forces arising, for example, from muscular spasticity and have the ability to periodically store and release energy in cyclic movements. In order to overcome the loss of bandwidth introduced by the elastic element and to guarantee a higher range in force/torque generation, new actuator designs consider variable or nonlinear stiffness elements, respectively. These components cannot only be adapted to the walking speed or the patient condition, but also entail additional challenges for feedback control. This paper introduces a novel design method for an impedance-based controller that fulfills the control objectives and compares the performance and robustness to a classical cascaded control approach. The new procedure is developed using a non-standard positive-real Η2 controller design and is applied to a loop-shaping approach. Robust norm optimal controllers are designed with regard to the passivity of the actuator load-impedance transfer function and the servo control problem. Classical cascaded and positive-real Η2 controller designs are validated and compared in simulations and in a test bench using a passive elastic element of varying stiffness.

  3. Self-organizing sensing and actuation for automatic control

    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.

  4. Explosive actuated valve

    Byrne, K.G.

    1983-01-01

    1. A device of the character described comprising the combination of a housing having an elongate bore and including a shoulder extending inwardly into said bore, a single elongate movable plunger disposed in said bore including an outwardly extending flange adjacent one end thereof overlying said shoulder, normally open conduit means having an inlet and an outlet perpendicularly piercing said housing intermediate said shoulder and said flange and including an intermediate portion intersecting and normally openly communicating with said bore at said shoulder, normally closed conduit means piercing said housing and intersecting said bore at a location spaced from said normally open conduit means, said elongate plunger including a shearing edge adjacent the other end thereof normally disposed intermediate both of said conduit means and overlying a portion of said normally closed conduit means, a deformable member carried by said plunger intermediate said flange and said shoulder and normally spaced from and overlying the intermediate portion of said normally open conduit means, and means on the housing communicating with the bore to retain an explosive actuator for moving said plunger to force the deformable member against the shoulder and extrude a portion of the deformable member out of said bore into portions of the normally open conduit means for plugging the same and to effect the opening of said normally closed conduit means by the plunger shearing edge substantially concomitantly with the plugging of the normally open conduit means

  5. Carbon nanotube array actuators

    Geier, S; Mahrholz, T; Wierach, P; Sinapius, M

    2013-01-01

    Experimental investigations of highly vertically aligned carbon nanotubes (CNTs), also known as CNT-arrays, are the main focus of this paper. The free strain as result of an active material behavior is analyzed via a novel experimental setup. Previous test experiences of papers made of randomly oriented CNTs, also called Bucky-papers, reveal comparably low free strain. The anisotropy of aligned CNTs promises better performance. Via synthesis techniques like chemical vapor deposition (CVD) or plasma enhanced CVD (PECVD), highly aligned arrays of multi-walled carbon nanotubes (MWCNTs) are synthesized. Two different types of CNT-arrays are analyzed, morphologically first, and optically tested for their active characteristics afterwards. One type of the analyzed arrays features tube lengths of 750–2000 μm with a large variety of diameters between 20 and 50 nm and a wave-like CNT-shape. The second type features a maximum, almost uniform, length of 12 μm and a constant diameter of 50 nm. Different CNT-lengths and array types are tested due to their active behavior. As result of the presented tests, it is reported that the quality of orientation is the most decisive property for excellent active behavior. Due to their alignment, CNT-arrays feature the opportunity to clarify the actuation mechanism of architectures made of CNTs. (paper)

  6. Microelectromechanical systems integrating molecular spin crossover actuators

    Manrique-Juarez, Maria D. [LCC, CNRS and Université de Toulouse, UPS, INP, F-31077 Toulouse (France); LAAS, CNRS and Université de Toulouse, INSA, UPS, F-31077 Toulouse (France); Rat, Sylvain; Salmon, Lionel; Molnár, Gábor; Bousseksou, Azzedine, E-mail: liviu.nicu@laas.fr, E-mail: azzedine.bousseksou@lcc-toulouse.fr [LCC, CNRS and Université de Toulouse, UPS, INP, F-31077 Toulouse (France); Mathieu, Fabrice; Saya, Daisuke; Séguy, Isabelle; Leïchlé, Thierry; Nicu, Liviu, E-mail: liviu.nicu@laas.fr, E-mail: azzedine.bousseksou@lcc-toulouse.fr [LAAS, CNRS and Université de Toulouse, INSA, UPS, F-31077 Toulouse (France)

    2016-08-08

    Silicon MEMS cantilevers coated with a 200 nm thin layer of the molecular spin crossover complex [Fe(H{sub 2}B(pz){sub 2}){sub 2}(phen)] (H{sub 2}B(pz){sub 2} = dihydrobis(pyrazolyl)borate and phen = 1,10-phenantroline) were actuated using an external magnetic field and their resonance frequency was tracked by means of integrated piezoresistive detection. The light-induced spin-state switching of the molecules from the ground low spin to the metastable high spin state at 10 K led to a well-reproducible shift of the cantilever's resonance frequency (Δf{sub r} = −0.52 Hz). Control experiments at different temperatures using coated as well as uncoated devices along with simple calculations support the assignment of this effect to the spin transition. This latter translates into changes in mechanical behavior of the cantilever due to the strong spin-state/lattice coupling. A guideline for the optimization of device parameters is proposed so as to efficiently harness molecular scale movements for large-scale mechanical work, thus paving the road for nanoelectromechanical systems (NEMS) actuators based on molecular materials.

  7. Geometry optimization of linear and annular plasma synthetic jet actuators

    Neretti, G; Seri, P; Taglioli, M; Borghi, C A; Shaw, A; Iza, F

    2017-01-01

    The electrohydrodynamic (EHD) interaction induced in atmospheric air pressure by a surface dielectric barrier discharge (DBD) actuator has been experimentally investigated. Plasma synthetic jet actuators (PSJAs) are DBD actuators able to induce an air stream perpendicular to the actuator surface. These devices can be used in the field of aerodynamics to prevent or induce flow separation, modify the laminar to turbulent transition inside the boundary layer, and stabilize or mix air flows. They can also be used to enhance indirect plasma treatment effects, increasing the reactive species delivery rate onto surfaces and liquids. This can play a major role in plasma processing and chemical kinetics modelling, where often only diffusive mechanisms are considered. This paper reports on the importance that different electrode geometries can have on the performance of different PSJAs. A series of DBD aerodynamic actuators designed to produce perpendicular jets has been fabricated on two-layer printed circuit boards (PCBs). Both linear and annular geometries were considered, testing different upper electrode distances in the linear case and different diameters in the annular one. An AC voltage supplied at a peak of 11.5 kV and a frequency of 5 kHz was used. Lower electrodes were connected to the ground and buried in epoxy resin to avoid undesired plasma generation on the lower actuator surface. Voltage and current measurements were carried out to evaluate the active power delivered to the discharges. Schlieren imaging allowed the induced jets to be visualized and gave an estimate of their evolution and geometry. Pitot tube measurements were performed to obtain the velocity profiles of the PSJAs and to estimate the mechanical power delivered to the fluid. The optimal values of the inter-electrode distance and diameter were found in order to maximize jet velocity, mechanical power or efficiency. Annular geometries were found to achieve the best performance. (paper)

  8. Fast bender actuators for fish-like aquatic robots

    McGovern, S. T.; Spinks, G. M.; Xi, B.; Alici, G.; Truong, V.; Wallace, G. G.

    2008-03-01

    Small, highly-mobile "swimming" robots are desired for underwater monitoring operations, including pollution detection, video mapping and other tasks. Actuator materials of all types are of interest for any application where space is limited. This constraint certainly applies to the small-scale swimming robot, where multiple small actuators are needed for forward/backward propulsion, steering and diving/surfacing. A number of previous studies have demonstrated propulsion of floating objects using IPMC type polymer actuators [1-3] or piezoceramic actuators [4, 5]. Here, we show how propulsion is also possible using a multi-layer polypyrrole bimorph actuator. The actuator is based on our previously published work showing very fast resonance actuation in polypyrrole bending-type actuators [6]. The bending actuator is a tri-layer structure, in which the gold-PVDF (porous poly(vinylidene fluoride) membrane) substrate was coated on both sides with polypyrrole layers to form an electrochemical cell. Polypyrrole films on gold coated PVDF were grown galvanostatically at a current density of 0.10 mA/cm2 for 12 hours from propylene carbonate (PC) solution containing 0.1 M Li+TFSI-, 0.1 M pyrrole and 1% (w/w) water. The polypyrrole deposited PVDF was thoroughly rinsed with acetone and stored in 0.1 M Li+TFSI- / PC solution. The edges of the bulk film were trimmed off and the bending actuators were prepared as rectangular strips typically 2mm wide and 25 mm long. These actuators gave fast operation in air (to 90 Hz), and were utilised as active flexural joints on the tail fin of a fishshaped floating "boat". The actuators were attached to a simple truncated shaped fin and the deflection angle was analysed in both air and liquid for excitation with +/- 1V square wave at a range of frequencies. The mechanical resonance of the fin was seen to be 4.5 Hz in air and 0.45 Hz in PC, which gave deflection angles of approximately 60° and 55° respectively. The boat contained a battery

  9. Analysis of the sweeped actuator line method

    Nathan Jörn; Masson Christian; Dufresne Louis; Churchfield Matthew

    2015-01-01

    The actuator line method made it possible to describe the near wake of a wind turbine more accurately than with the actuator disk method. Whereas the actuator line generates the helicoidal vortex system shed from the tip blades, the actuator disk method sheds a vortex sheet from the edge of the rotor plane. But with the actuator line come also temporal and spatial constraints, such as the need for a much smaller time step than with actuator disk. While the latter one only has to obey the Cour...

  10. Analysis of the transformations temperatures of helicoidal Ti-Ni actuators using computational numerical methods

    Carlos Augusto do N. Oliveira

    2013-01-01

    Full Text Available The development of shape memory actuators has enabled noteworthy applications in the mechanical engineering, robotics, aerospace, and oil industries and in medicine. These applications have been targeted on miniaturization and taking full advantage of spaces. This article analyses a Ti-Ni shape memory actuator used as part of a flow control system. A Ti-Ni spring actuator is subjected to thermomechanical training and parameters such as transformation temperature, thermal hysteresis and shape memory effect performance were investigated. These parameters were important for understanding the behavior of the actuator related to martensitic phase transformation during the heating and cooling cycles which it undergoes when in service. The multiple regression methodology was used as a computational tool for analysing data in order to simulate and predict the results for stress and cycles where the experimental data was not developed. The results obtained using the training cycles enable actuators to be characterized and the numerical simulation to be validated.

  11. Active Control of Flow around NACA 0015 Airfoil by Using DBD Plasma Actuator

    Şanlısoy A.

    2013-04-01

    Full Text Available In this study, effect of plasma actuator on a flat plate and manipulation of flow separation on NACA0015 airfoil with plasma actuator at low Reynolds numbers were experimentally investigated. In the first section of the study, plasma actuator which consists of positive and grounded electrode couple and dielectric layer, located on a flat plate was actuated at different frequencies and peak to peak voltages in range of 3-5 kHz and 6-12 kV respectively. Theinduced air flow velocity on the surface of flat plate was measured by pitot tube at different locations behind the actuator. The influence of dielectricthickness and unsteady actuation with duty cycle was also examined. In the second section, the effect of plasma actuator on NACA0015 airfoil was studied atReynolds number 15000 and 30000. Four plasma actuators were placed at x/C = 0.1, 0.3, 0.5 and 0.9, and different electrode combinations were activated by sinusoidal signal. Flow visualizations were done when the attack angles were 0°, 5°, 10°, 15° and 20°. The results indicate that up to the 15° attack angle, the separated flow was reattached by plasma actuator at 12kV peak to peak voltage and 4 kHz frequency. However, 12 kVpp voltage was insufficient to reattach the flow at 20° angle of attack. The separated flow could be reattached by increasing the voltage up to 13 kV. Lift coefficient was also increased by the manipulated flow over the airfoil. Results showed that even high attack angles, the actuators can control the flow separation and prevent the airfoil from stall at low Reynolds numbers.

  12. Fast-acting valve actuator

    Cho, Nakwon

    1980-01-01

    A fast-acting valve actuator utilizes a spring driven pneumatically loaded piston to drive a valve gate. Rapid exhaust of pressurized gas from the pneumatically loaded side of the piston facilitates an extremely rapid piston stroke. A flexible selector diaphragm opens and closes an exhaust port in response to pressure differentials created by energizing and de-energizing a solenoid which controls the pneumatic input to the actuator as well as selectively providing a venting action to one side of the selector diaphragm.

  13. Actuator System with Dual Chambers

    2015-01-01

    The present invention relates to an actuator system with a magnetic lead screw (50), comprises a magnetic rotor (5) and a translator cylinder (2), the translator cylinder (2) comprises a magnetic stator (16), the translator cylinder (2) has a closed first end (14) and a second end confined by a lid...... volume, wherein the first volume and the second volume changes as a function of the linear movement. The invention also relates to a method of operating an actuator system with a magnetic lead screw....

  14. Magnetic Actuation of Biological Systems

    Lauback, Stephanie D.

    Central to the advancement of many biomedical and nanotechnology capabilities is the capacity to precisely control the motion of micro and nanostructures. These applications range from single molecule experiments to cell isolation and separation, to drug delivery and nanomachine manipulation. This dissertation focuses on actuation of biological micro- and nano-entities through the use of weak external magnetic fields, superparamagnetic beads, and ferromagnetic thin films. The magnetic platform presents an excellent method for actuation of biological systems due to its ability to directly control the motion of an array of micro and nanostructures in real-time with calibrated picoNewton forces. The energy landscape of two ferromagnetic thin film patterns (disks and zigzag wires) is experimentally explored and compared to corresponding theoretical models to quantify the applied forces and trajectories of superparamagnetic beads due to the magnetic traps. A magnetic method to directly actuate DNA nanomachines in real-time with nanometer resolution and sub-second response times using micromagnetic control was implemented through the use of stiff DNA micro-levers which bridged the large length scale mismatch between the micro-actuator and the nanomachine. Compared to current alternative methods which are limited in the actuation speeds and the number of reconfiguration states of DNA constructs, this magnetic approach enables fast actuation (˜ milliseconds) and reconfigurable conformations achieved through a continuous range of finely tuned steps. The system was initially tested through actuation of the stiff arm tethered to the surface, and two prototype DNA nanomachines (rotor and hinge) were successfully actuated using the stiff mechanical lever. These results open new possibilities in the development of functional robotic systems at the molecular scale. In exploiting the use of DNA stiff levers, a new technique was also developed to investigate the emergence of the

  15. Modular Actuators for Space Applications, Phase I

    National Aeronautics and Space Administration — Rocketstar Robotics is proposing the development of a modern dual drive actuator. Rocketstar has put together numerous modern concepts for modular actuators that...

  16. Transputer Control of Hydraulic Actuators and Robots

    Conrad, Finn

    1996-01-01

    Results from a Danish mechatronics research program entitled IMCIA - Intelligent Control and Intelligent Actuators. The objective is development of intelligent actuators for intelligent motion control. A mechatronics test facility with a transputer controlled hydraulic robot suiteable for real...

  17. Electrostatically actuated torsional resonant sensors and switches

    Younis, Mohammad I.

    2016-01-01

    Embodiments in accordance of a torsional resonant sensor disclosure is configured to actuate a beam structure using electrostatic actuation with an AC harmonic load (e.g., AC and DC voltage sources) that is activated upon detecting a particular

  18. Qualification of safety-related valve actuators

    Anon.

    1981-01-01

    This Standard describes the qualification of all types of power-driven valve actuators, including damper actuators, for safety-related functions in nuclear power generating stations. It may also be used to separately qualify actuator components. This Standard establishes the minimum requirements for, and guidance regarding, the methods and procedures for qualification of all safety-related functions of power-driven valve actuators

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

    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.

  20. Experimental identification of piezo actuator characteristic

    Ľ. Miková

    2015-01-01

    Full Text Available This paper deals with piezoelectric material, which can be used as actuator for conversion of electrical energy to mechanical work. Test equipment has been developed for experimental testing of the piezoactuators. Piezoactivity of this actuator has non-linear characteristic. This type of actuator is used for in-pipe mechanism design.

  1. Multilayer Piezoelectric Stack Actuator Characterization

    Sherrit, Stewart; Jones, Christopher M.; Aldrich, Jack B.; Blodget, Chad; Bao, Xioaqi; Badescu, Mircea; Bar-Cohen, Yoseph

    2008-01-01

    Future NASA missions are increasingly seeking to use actuators for precision positioning to accuracies of the order of fractions of a nanometer. For this purpose, multilayer piezoelectric stacks are being considered as actuators for driving these precision mechanisms. In this study, sets of commercial PZT stacks were tested in various AC and DC conditions at both nominal and extreme temperatures and voltages. AC signal testing included impedance, capacitance and dielectric loss factor of each actuator as a function of the small-signal driving sinusoidal frequency, and the ambient temperature. DC signal testing includes leakage current and displacement as a function of the applied DC voltage. The applied DC voltage was increased to over eight times the manufacturers' specifications to investigate the correlation between leakage current and breakdown voltage. Resonance characterization as a function of temperature was done over a temperature range of -180C to +200C which generally exceeded the manufacturers' specifications. In order to study the lifetime performance of these stacks, five actuators from one manufacturer were driven by a 60volt, 2 kHz sine-wave for ten billion cycles. The tests were performed using a Lab-View controlled automated data acquisition system that monitored the waveform of the stack electrical current and voltage. The measurements included the displacement, impedance, capacitance and leakage current and the analysis of the experimental results will be presented.

  2. Explosive micro-bubble actuator

    van den Broek, D.M.

    2008-01-01

    Microactuators are key components in numerous microsystems, and in many applications strong and fast microactuators are required. The principles used to generate forces in the current actuators are not capable of fulfilling both requirements at the same time, so new principles have to be

  3. Compliant actuation of rehabilitation robots

    Vallery, Heike; Veneman, J.F.; van Asseldonk, Edwin H.F.; Ekkelenkamp, R.; Buss, Martin; van der Kooij, Herman

    2008-01-01

    This article discusses the pros and cons of compliant actuation for rehabilitation robots on the example of LOPES, focusing on the cons. After illustrating the bandwidth limitations, a new result has been derived: if stability in terms of passivity of the haptic device is desired, the renderable

  4. Inflatable actuators: an attempt for a common approach based on Treloar’s rubber elasticity theory

    Tondu, Bertrand

    2018-01-01

    Inflatable actuators are defined as pressure hyperelastic vessels whose expansion is constrained for generating either movements in extension, or typical contractile movements of artificial muscles. By using Treloar’s theory of rubber elasticity, applied to thin-walled pressure vessels, we propose to determine in which conditions they can be considered as stable open-loop positioning actuators. Antagonism can be viewed as an extension of this open-loop stability principle applicable to artificial muscles as to extensible actuators. We especially show its relevance for multiple chambers pressurized cylinders and how Treloar’s theory can help to model their bending in a readable and relevant formal way. We also try to justify why we think that antagonism applied to extensible actuators can actually appear as the best way for designing miniaturized multiple degrees of freedom rubber made microactuators if, however, only a limited power is required.

  5. Design of shape memory alloy (SMA) actuators

    Rao, Ashwin; Reddy, J N

    2015-01-01

    This short monograph presents an analysis and design methodology for shape memory alloy (SMA) components such as wires, beams, and springs for different applications. The solid-solid, diffusionless phase transformations in thermally responsive SMA allows them to demonstrate unique characteristics like superelasticity and shape memory effects. The combined sensing and actuating capabilities of such materials allows them to provide a system level response by combining multiple functions in a single material system. In SMA, the combined mechanical and thermal loading effects influence the functionality of such materials. The aim of this book is to make the analysis of these materials accessible to designers by developing a "strength of materials" approach to the analysis and design of such SMA components inspired from their various applications with a review of various factors influencing the design process for such materials.

  6. A bidirectional shape memory alloy folding actuator

    Paik, Jamie K; Wood, Robert J

    2012-01-01

    This paper presents a low-profile bidirectional folding actuator based on annealed shape memory alloy sheets applicable for meso- and microscale systems. Despite the advantages of shape memory alloys—high strain, silent operation, and mechanical simplicity—their application is often limited to unidirectional operation. We present a bidirectional folding actuator that produces two opposing 180° motions. A laser-patterned nickel alloy (Inconel 600) heater localizes actuation to the folding sections. The actuator has a thin ( < 1 mm) profile, making it appropriate for use in robotic origami. Various design parameters and fabrication variants are described and experimentally explored in the actuator prototype. (paper)

  7. Reliable actuators for twin rotor MIMO system

    Rao, Vidya S.; V. I, George; Kamath, Surekha; Shreesha, C.

    2017-11-01

    Twin Rotor MIMO System (TRMS) is a bench mark system to test flight control algorithms. One of the perturbations on TRMS which is likely to affect the control system is actuator failure. Therefore, there is a need for a reliable control system, which includes H infinity controller along with redundant actuators. Reliable control refers to the design of a control system to tolerate failures of a certain set of actuators or sensors while retaining desired control system properties. Output of reliable controller has to be transferred to the redundant actuator effectively to make the TRMS reliable even under actual actuator failure.

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

    2010-01-01

    An actuator driver circuit includes a drive signal source and an electrical damping element having a negative resistance connected in series with the drive signal source. A controllable switch is provided for selectively switching the electrical damping element into or put of a signal path from a

  9. Position of the quadriceps actuator influences knee loads during simulated squat testing.

    Hast, Michael W; Piazza, Stephen J

    2018-05-17

    The "Oxford Rig" cadaveric simulator permits researchers and clinicians to study knee mechanics during a simulated squatting motion. The motion of the lower limb in the Oxford Rig is typically controlled by a single actuator that applies tension to the quadriceps tendon. The location of the quadriceps actuator, however, has differed across published descriptions of the Oxford Rig. Actuators have been placed on the femur and pelvis, and on "grounded" locations external to the specimen, but the consequences of this placement for knee kinematics and kinetics are unknown. The purpose of this study was to examine these effects using a validated computational musculoskeletal model. When the actuator was placed on the femur or pelvis, forces realistically increased with knee flexion, with quadriceps and patellofemoral contact forces exceeding 2000 N and 3000 N, respectively, at 100° flexion. When the actuator was grounded, however, forces were substantially reduced and did not monotonically increase with flexion. Articular joint contact forces were not strongly influenced by changing the location of the actuator from the femur to the pelvis, with small RMS differences in quadriceps forces (48.2 N), patellofemoral forces (83.6 N), and tibiofemoral forces (58.9 N) between these conditions. The location of the actuator did not substantially affect knee kinematics. The results of this study suggest that the quadriceps actuator of the Oxford Rig should be attached to either the femur or the pelvis when the goal is to make realistic estimates of quadriceps forces and articular contact forces within the knee joint. Copyright © 2018 Elsevier Ltd. All rights reserved.

  10. Modeling and test of a kinaesthetic actuator based on MR fluid for haptic applications.

    Yang, Tae-Heon; Koo, Jeong-Hoi; Kim, Sang-Youn; Kwon, Dong-Soo

    2017-03-01

    Haptic display units have been widely used for conveying button sensations to users, primarily employing vibrotactile actuators. However, the human feeling for pressing buttons mainly relies on kinaesthetic sensations (rather than vibrotactile sensations), and little studies exist on small-scale kinaesthetic haptic units. Thus, the primary goals of this paper are to design a miniature kinaesthetic actuator based on Magneto-Rheological (MR) fluid that can convey various button-clicking sensations and to experimentally evaluate its haptic performance. The design focuses of the proposed actuator were to produce sufficiently large actuation forces (resistive forces) for human users in a given size constraint and to offer a wide range of actuation forces for conveying vivid haptic sensations to users. To this end, this study first performed a series of parametric studies using mathematical force models for multiple operating modes of MR fluid in conjunction with finite element electromagnetism analysis. After selecting design parameters based on parametric studies, a prototype actuator was constructed, and its performance was evaluated using a dynamic mechanical analyzer. It measured the actuator's resistive force with a varying stroke (pressed depth) up to 1 mm and a varying input current from 0 A to 200 mA. The results show that the proposed actuator creates a wide range of resistive forces from around 2 N (off-state) to over 9.5 N at 200 mA. In order to assess the prototype's performance in the terms of the haptic application prospective, a maximum force rate was calculated to determine just noticeable difference in force changes for the 1 mm stoke of the actuator. The results show that the force rate is sufficient to mimic various levels of button sensations, indicating that the proposed kinaesthetic actuator can offer a wide range of resistive force changes that can be conveyed to human operators.

  11. Reducing Actuator Requirements in Continuum Robots Through Optimized Cable Routing.

    Case, Jennifer C; White, Edward L; SunSpiral, Vytas; Kramer-Bottiglio, Rebecca

    2018-02-01

    Continuum manipulators offer many advantages compared to their rigid-linked counterparts, such as increased degrees of freedom and workspace volume. Inspired by biological systems, such as elephant trunks and octopus tentacles, many continuum manipulators are made of multiple segments that allow large-scale deformations to be distributed throughout the body. Most continuum manipulators currently control each segment individually. For example, a planar cable-driven system is typically controlled by a pair of cables for each segment, which implies two actuators per segment. In this article, we demonstrate how highly coupled crossing cable configurations can reduce both actuator count and actuator torque requirements in a planar continuum manipulator, while maintaining workspace reachability and manipulability. We achieve highly coupled actuation by allowing cables to cross through the manipulator to create new cable configurations. We further derive an analytical model to predict the underactuated manipulator workspace and experimentally verify the model accuracy with a physical system. We use this model to compare crossing cable configurations to the traditional cable configuration using workspace performance metrics. Our work here focuses on a simplified planar robot, both in simulation and in hardware, with the goal of extending this to spiraling-cable configurations on full 3D continuum robots in future work.

  12. Piezoelectric multilayer actuator life test.

    Sherrit, Stewart; Bao, Xiaoqi; Jones, Christopher M; Aldrich, Jack B; Blodget, Chad J; Moore, James D; Carson, John W; Goullioud, Renaud

    2011-04-01

    Potential NASA optical missions such as the Space Interferometer Mission require actuators for precision positioning to accuracies of the order of nanometers. Commercially available multilayer piezoelectric stack actuators are being considered for driving these precision mirror positioning mechanisms. These mechanisms have potential mission operational requirements that exceed 5 years for one mission life. To test the feasibility of using these commercial actuators for these applications and to determine their reliability and the redundancy requirements, a life test study was undertaken. The nominal actuator requirements for the most critical actuators on the Space Interferometry Mission (SIM) in terms of number of cycles was estimated from the Modulation Optics Mechanism (MOM) and Pathlength control Optics Mechanism (POM) and these requirements were used to define the study. At a nominal drive frequency of 250 Hz, one mission life is calculated to be 40 billion cycles. In this study, a set of commercial PZT stacks configured in a potential flight actuator configuration (pre-stressed to 18 MPa and bonded in flexures) were tested for up to 100 billion cycles. Each test flexure allowed for two sets of primary and redundant stacks to be mechanically connected in series. The tests were controlled using an automated software control and data acquisition system that set up the test parameters and monitored the waveform of the stack electrical current and voltage. The samples were driven between 0 and 20 V at 2000 Hz to accelerate the life test and mimic the voltage amplitude that is expected to be applied to the stacks during operation. During the life test, 10 primary stacks were driven and 10 redundant stacks, mechanically in series with the driven stacks, were open-circuited. The stroke determined from a strain gauge, the temperature and humidity in the chamber, and the temperature of each individual stack were recorded. Other properties of the stacks, including the

  13. Soft Somatosensitive Actuators via Embedded 3D Printing.

    Truby, Ryan L; Wehner, Michael; Grosskopf, Abigail K; Vogt, Daniel M; Uzel, Sebastien G M; Wood, Robert J; Lewis, Jennifer A

    2018-04-01

    Humans possess manual dexterity, motor skills, and other physical abilities that rely on feedback provided by the somatosensory system. Herein, a method is reported for creating soft somatosensitive actuators (SSAs) via embedded 3D printing, which are innervated with multiple conductive features that simultaneously enable haptic, proprioceptive, and thermoceptive sensing. This novel manufacturing approach enables the seamless integration of multiple ionically conductive and fluidic features within elastomeric matrices to produce SSAs with the desired bioinspired sensing and actuation capabilities. Each printed sensor is composed of an ionically conductive gel that exhibits both long-term stability and hysteresis-free performance. As an exemplar, multiple SSAs are combined into a soft robotic gripper that provides proprioceptive and haptic feedback via embedded curvature, inflation, and contact sensors, including deep and fine touch contact sensors. The multimaterial manufacturing platform enables complex sensing motifs to be easily integrated into soft actuating systems, which is a necessary step toward closed-loop feedback control of soft robots, machines, and haptic devices. © 2018 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

  14. Hydraulically amplified PZT mems actuator

    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.

  15. Design of Autonomous Gel Actuators

    Shuji Hashimoto

    2011-01-01

    Full Text Available In this paper, we introduce autonomous gel actuators driven by chemical energy. The polymer gels prepared here have cyclic chemical reaction networks. With a cyclic reaction, the polymer gels generate periodical motion. The periodic motion of the gel is produced by the chemical energy of the oscillatory Belouzov-Zhabotinsky (BZ reaction. We have succeeded in making synthetic polymer gel move autonomously like a living organism. This experimental fact represents the great possibility of the chemical robot.

  16. Electrical actuators applications and performance

    De Fornel, Bernard

    2013-01-01

    This helpful resource covers a large range of information regarding electrical actuators. In particular, robustness, a very problematic issue, is fully explored in a dedicated chapter. The text also deals with he estimate of non-measurable mechanical variables by examining the estimate of load moment, then observation of the positioning of a command without mechanical sensor. Finally, it examines the conditions needed to measure variables and real implementation of numerical algorithms. This is a key working resource for electrical engineers.

  17. Experimental/analytical determination of optimal piezoelectric actuator locations on complex structures based on the actuator power factor

    Bhargava, Adesh

    1995-01-01

    The actuator power factor is defined as the ratio of the total dissipative mechanical power of a PZT actuator to the total supplied electrical power to the PZT actuator. If measured experimentally, it can be used to optinlize the actuator location and configuration for complex structures. The concept of actuator power factor is based on the ability of an integrated induced strain actuator such as a PZT actuator to transfer supplied electrical energy into structural mechanical energy. For a gi...

  18. Using Diffusion Bonding in Making Piezoelectric Actuators

    Sager, Frank E.

    2003-01-01

    A technique for the fabrication of piezoelectric actuators that generate acceptably large forces and deflections at relatively low applied voltages involves the stacking and diffusion bonding of multiple thin piezoelectric layers coated with film electrodes. The present technique stands in contrast to an older technique in which the layers are bonded chemically, by use of urethane or epoxy agents. The older chemical-bonding technique entails several disadvantages, including the following: It is difficult to apply the bonding agents to the piezoelectric layers. It is difficult to position the layers accurately and without making mistakes. There is a problem of disposal of hazardous urethane and epoxy wastes. The urethane and epoxy agents are nonpiezoelectric materials. As such, they contribute to the thickness of a piezoelectric laminate without contributing to its performance; conversely, for a given total thickness, the performance of the laminate is below that of a unitary piezoelectric plate of the same thickness. The figure depicts some aspects of the fabrication of a laminated piezoelectric actuator by the present diffusion- bonding technique. First, stock sheets of the piezoelectric material are inspected and tested. Next, the hole pattern shown in the figure is punched into the sheets. Alternatively, if the piezoelectric material is not a polymer, then the holes are punched in thermoplastic films. Then both faces of each punched piezoelectric sheet or thermoplastic film are coated with a silver-ink electrode material by use of a silkscreen printer. The electrode and hole patterns are designed for minimal complexity and minimal waste of material. After a final electrical test, all the coated piezoelectric layers (or piezoelectric layers and coated thermoplastic films) are stacked in an alignment jig, which, in turn, is placed in a curved press for the diffusion-bonding process. In this process, the stack is pressed and heated at a specified curing temperature

  19. MDEP Common Position CP-DICWG-13. Common position on spurious actuation

    2017-01-01

    Spurious actuations produced by Instrumentation and Control (I and C) systems are a safety concern if such actuations could challenge plant safety. Spurious actuations can lead to unnecessary challenges to safety equipment, challenge the ability of safety systems to provide their intended functions, or place the plant in an un-analysed state. Spurious actuation of plant equipment can be caused by factors including, but not limited to, single failures, common cause failures, human (e.g. operator) action, maintenance errors, design errors, or missing requirements. Modern I and C systems can have inter-connectivities, dependencies and commonalities that can, if the overall I and C architecture and the individual I and C systems are not adequately developed and operated, facilitate fault propagation, leading to potential spurious actuation of one or more trains of plant equipment. Sources and contributors of spurious actuations of multiple trains of plant equipment may include inadequate independence among redundant portions of I and C systems, inappropriate allocation of I and C functions, inadequate qualification or design of supporting systems (e.g. heating, ventilation and air conditioning (HVAC) system), or non-classified systems that could have been erroneously classified. Spurious actuations are a type of hazard. Generic Common Position (GCP) DICWG-10 'Common Position on Hazard Identification and Controls for Digital Instrumentation and Control Systems' provides a set of common positions pertaining to identifying and controlling hazards in an I and C system. This common position was developed to add special considerations when identifying and controlling hazards that include spurious actuations. It is expected that GCP DICWG-10 and the common positions in this document be used together for a complete analysis of hazards and their controls (e.g. prevention of spurious actuations in the design of the system/component). Spurious actuations of concern

  20. Slit Tubes for Semisoft Pneumatic Actuators.

    Belding, Lee; Baytekin, Bilge; Baytekin, Hasan Tarik; Rothemund, Philipp; Verma, Mohit S; Nemiroski, Alex; Sameoto, Dan; Grzybowski, Bartosz A; Whitesides, George M

    2018-03-01

    This article describes a new principle for designing soft or 'semisoft' pneumatic actuators: SLiT (for SLit-in-Tube) actuators. Inflating an elastomeric balloon, when enclosed by an external shell (a material with higher Young's modulus) containing slits of different directions and lengths, produces a variety of motions, including bending, twisting, contraction, and elongation. The requisite pressure for actuation depends on the length of the slits, and this dependence allows sequential actuation by controlling the applied pressure. Different actuators can also be controlled using external "sliders" that act as reprogrammable "on-off" switches. A pneumatic arm and a walker constructed from SLiT actuators demonstrate their ease of fabrication and the range of motions they can achieve. © 2018 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

  1. Microwave Power for Smart Membrane Actuators

    Choi, Sang H.; Song, Kyo D.; Golembiewski, Walter T.; Chu, Sang-Hyon; King, Glen C.

    2002-01-01

    The concept of microwave-driven smart membrane actuators is envisioned as the best option to alleviate the complexity associated with hard-wired control circuitry. A large, ultra-light space structure, such as solar sails and Gossamer spacecrafts, requires a distribution of power into individual membrane actuators to control them in an effective way. A patch rectenna array with a high voltage output was developed to drive smart membrane actuators. Networked patch rectenna array receives and converts microwave power into a DC power for an array of smart actuators. To use microwave power effectively, the concept of a power allocation and distribution (PAD) circuit is developed and tested for networking a rectenna/actuator patch array. For the future development, the PAD circuit could be imbedded into a single embodiment of rectenna and actuator array with the thin-film microcircuit embodiment. Preliminary design and fabrication of PAD circuitry that consists of a sixteen nodal elements were made for laboratory testing.

  2. Vibrotactile using micromachined electromagnetic actuators array

    Talbi, A; Ducloux, O; Tiercelin, N; Deblock, Y; Pernod, P; Preobrazhensky, V

    2006-01-01

    One motivating application of this technology is the development of a tactile display interface, where discrete mechanical actuators apply vibratory excitation at discrete locations on the skin. Specifically, this paper describes the development fabrication and characterization of a 4 x 4 micro-actuator array of vibrating pixels for fingertip tactile communication. The vibrting pixels are generated by using an electromagnetic microresonator. The fabrication sequence and the actuation performance of the array are also presented

  3. Characterization of nonlinear effects in a two-dimensional dielectric elastomer actuator

    Jhong, Y; Mikolas, D; Fu, C; Yeh, T; Fang, W; Shaw, D; Chen, J

    2010-01-01

    Dielectric elastomer actuators (DEAs) possess great potential for the realization of lightweight and inexpensive multiple-degrees-of-freedom (multi-DOF) biomimetic robotics. In this study, a two-dimensional DEA was built and tested in order to characterize the issues associated with the use in multi-DOF actuation. The actuator is a single circular DEA film with four, electrically isolated quadrant electrode areas. The actuator was driven in a quasi-circular manner by applying sine and cosine signals to orthogonal pairs of electrodes, and the resultant motion was recorded using image processing techniques. The effects of nonlinear voltage–strain behavior, creep and stress relaxation on the motion were all pronounced and clearly differentiated. A simple six-parameter empirical model was used and showed excellent agreement with the measured data

  4. Effect of asymmetric actuator and detector position on Coriolis flowmeter and measured phase shift

    Enz, Stephanie

    2010-01-01

    Coriolis flowmeters (CFM) are forced to vibrate by a periodic excitation usually applied midpipe through an electromagnetic actuator. From hands-on experience with industrial CFMs it appears, that the electromagnetic actuator has to be located as symmetric as possible. For CFM design and trouble...... perturbation analysis. The result is a simple analytical expression for the approximated phase shift, which offers a direct insight into how the location of the actuator influences the phase shift. It appears, that asymmetrical forcing combined with fluctuating pipe damping could be a factor contributing...... zero-point stability. The validity of the hypotheses, which are assumed to be basically similar for more complicated geometries, e.g. bended and/or dual pipe CFMs, with or without multiple actuators, is suggested to be tested using laboratory experiments with purpose built non-ideal CFMs....

  5. Detection and Identification of Loss of Efficiency Faults of Flight Actuators

    Ossmann Daniel

    2015-03-01

    Full Text Available We propose linear parameter-varying (LPV model-based approaches to the synthesis of robust fault detection and diagnosis (FDD systems for loss of efficiency (LOE faults of flight actuators. The proposed methods are applicable to several types of parametric (or multiplicative LOE faults such as actuator disconnection, surface damage, actuator power loss or stall loads. For the detection of these parametric faults, advanced LPV-model detection techniques are proposed, which implicitly provide fault identification information. Fast detection of intermittent stall loads (seen as nuisances, rather than faults is important in enhancing the performance of various fault detection schemes dealing with large input signals. For this case, a dedicated fast identification algorithm is devised. The developed FDD systems are tested on a nonlinear actuator model which is implemented in a full nonlinear aircraft simulation model. This enables the validation of the FDD system’s detection and identification characteristics under realistic conditions.

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

    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)

  7. Engineered Muscle Actuators: Cells and Tissues

    Dennis, Robert G; Herr, Hugh; Parker, Kevin K; Larkin, Lisa; Arruda, Ellen; Baar, Keith

    2007-01-01

    .... Our primary objectives were to engineer living skeletal muscle actuators in culture using integrated bioreactors to guide tissue development and to maintain tissue contractility, to achieve 50...

  8. Real-Time Prognostics of a Rotary Valve Actuator

    Daigle, Matthew

    2015-01-01

    Valves are used in many domains and often have system-critical functions. As such, it is important to monitor the health of valves and their actuators and predict remaining useful life. In this work, we develop a model-based prognostics approach for a rotary valve actuator. Due to limited observability of the component with multiple failure modes, a lumped damage approach is proposed for estimation and prediction of damage progression. In order to support the goal of real-time prognostics, an approach to prediction is developed that does not require online simulation to compute remaining life, rather, a function mapping the damage state to remaining useful life is found offline so that predictions can be made quickly online with a single function evaluation. Simulation results demonstrate the overall methodology, validating the lumped damage approach and demonstrating real-time prognostics.

  9. Multi-Axis Independent Electromechanical Load Control for Docking System Actuation Development and Verification Using dSPACE

    Oesch, Christopher; Dick, Brandon; Rupp, Timothy

    2015-01-01

    The development of highly complex and advanced actuation systems to meet customer demands has accelerated as the use of real-time testing technology expands into multiple markets at Moog. Systems developed for the autonomous docking of human rated spacecraft to the International Space Station (ISS), envelope multi-operational characteristics which place unique constraints on an actuation system. Real-time testing hardware has been used as a platform for incremental testing and development for the linear actuation system which controls initial capture and docking for vehicles visiting the ISS. This presentation will outline the role of dSPACE hardware as a platform for rapid control-algorithm prototyping as well as an Electromechanical Actuator (EMA) system dynamic loading simulator, both conducted at Moog to develop the safety critical Linear Actuator System (LAS) of the NASA Docking System (NDS).

  10. Various design approaches to achieve electric field-driven segmented folding actuation of electroactive polymer (EAP) sheets

    Ahmed, Saad; Hong, Jonathan; Zhang, Wei; Kopatz, Jessica; Ounaies, Zoubeida; Frecker, Mary

    2018-03-01

    Electroactive polymer (EAPs) based technologies have shown promise in areas such as artificial muscles, aerospace, medical and soft robotics. In this work, we demonstrate ways to harness on-demand segmented folding actuation from pure bending of relaxor-ferroelectric P(VDF-TrFE-CTFE) based films, using various design approaches, such as `stiffener' and `notch' based approaches. The in-plane actuation of the P(VDF-TrFE-CTFE) is converted into bending actuation using unimorph configurations, where one passive substrate layer is attached to the active polymer. First, we experimentally show that placement of thin metal strips as stiffener in between active EAPs and passive substrates leads to segmented actuation as opposed to pure bending actuation; stiffeners made of different materials, such as nickel, copper and aluminum, are studied which reveals that a higher Young's modulus favors more pronounced segmented actuation. Second, notched samples are prepared by mounting passive substrate patches of various materials on top of the passive layers of the unimorph EAP actuators. Effect of notch materials, size of the notches and position of the notches on the folding actuation are studied. The motion of the human finger inspires a finger-like biomimetic actuator, which is realized by assigning multiple notches on the structure; finite element analysis (FEA) is also performed using COMSOL Multiphysics software for the notched finger actuator. Finally, a versatile soft-gripper is developed using the notched approach to demonstrate the capability of a properly designed EAP actuator to hold objects of various sizes and shapes.

  11. Optimization of Actuating Origami Networks

    Buskohl, Philip; Fuchi, Kazuko; Bazzan, Giorgio; Joo, James; Gregory, Reich; Vaia, Richard

    2015-03-01

    Origami structures morph between 2D and 3D conformations along predetermined fold lines that efficiently program the form, function and mobility of the structure. By leveraging design concepts from action origami, a subset of origami art focused on kinematic mechanisms, reversible folding patterns for applications such as solar array packaging, tunable antennae, and deployable sensing platforms may be designed. However, the enormity of the design space and the need to identify the requisite actuation forces within the structure places a severe limitation on design strategies based on intuition and geometry alone. The present work proposes a topology optimization method, using truss and frame element analysis, to distribute foldline mechanical properties within a reference crease pattern. Known actuating patterns are placed within a reference grid and the optimizer adjusts the fold stiffness of the network to optimally connect them. Design objectives may include a target motion, stress level, or mechanical energy distribution. Results include the validation of known action origami structures and their optimal connectivity within a larger network. This design suite offers an important step toward systematic incorporation of origami design concepts into new, novel and reconfigurable engineering devices. This research is supported under the Air Force Office of Scientific Research (AFOSR) funding, LRIR 13RQ02COR.

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

    Minh Khang Phan

    2016-08-01

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

  13. Tubular permanent magnet actuators: cogging forces characterization

    Paulides, J.J.H.; Janssen, J.L.G.; Encica, L.; Lomonova, E.A.

    2009-01-01

    Tubular permanent magnet actuators are evermore used in demanding industrial and automotive applications. However, these actuators can suffer from large cogging forces, which have a destabilizing effect on the servo control system and compromise position and speed control accuracy. This paper

  14. Buckling Pneumatic Linear Actuators Inspired by Muscle

    Yang, Dian; Verma, Mohit Singh; So, Ju-Hee; Mosadegh, Bobak; Keplinger, Christoph; Lee, Benjamin; Khashai, Fatemeh; Lossner, Elton Garret; Suo, Zhigang; Whitesides, George McClelland

    2016-01-01

    The mechanical features of biological muscles are difficult to reproduce completely in synthetic systems. A new class of soft pneumatic structures (vacuum-actuated muscle-inspired pneumatic structures) is described that combines actuation by negative pressure (vacuum), with cooperative buckling of beams fabricated in a slab of elastomer, to achieve motion and demonstrate many features that are similar to that of mammalian muscle.

  15. Conducting Polymer Actuators: Prospects and Limitations

    Skaarup, Steen

    Actuators constructed with a conjugated polymer as the active part have been predicted to have a number of highly desirable properties: Large mechanical strength, high power density, i.e. high actuation speeds possible, sufficient maximum strain values, high reversibility and safe, low voltages (...

  16. Artificial Cilia : Mimicking Nature Through Magnetic Actuation

    Khaderi, S. N.; Baltussen, M. G. H. M.; Anderson, P. D.; Ioan, D.; den Toonder, J.M.J.; Onck, P. R.; Murthy, SK; Khan, SA; Ugaz, VM; Zeringue, HC

    2009-01-01

    Manipulation of bio-fluids in microchannels faces many challenges in the development of lab-on-a-chip devices. We propose magnetically actuated artificial cilia which can propel fluids in microchannels. These cilia are magnetic films which can be actuated by an external magnetic field, leading to an

  17. Design optimization of a linear actuator

    Rechenbach, B.; Willatzen, Morten; Preisler, K. Lorenzen

    2013-01-01

    The mechanical contacting of a dielectric elastomer actuator is investigated. The actuator is constructed by coiling the dielectric elastomer around two parallel metal rods, similar to a rubber band stretched by two index fingers. The goal of this paper is to design the geometry and the mechanical...

  18. Fault Detection for Diesel Engine Actuator

    Blanke, M.; Bøgh, S.A.; Jørgensen, R.B.

    1994-01-01

    Feedback control systems are vulnerable to faults in control loop sensors and actuators, because feedback actions may cause abrupt responses and process damage when faults occur.......Feedback control systems are vulnerable to faults in control loop sensors and actuators, because feedback actions may cause abrupt responses and process damage when faults occur....

  19. Accuracy assessment of an industrial actuator

    Dalla Costa, Giuseppe; Genta, Gianfranco; Barbato, Giulio

    2016-01-01

    A commercial linear actuator equipped with a 0.1 μm resolution encoder was used as a contact displacement sensor with adjustable force. The accuracy of the position reading of the actuator was evaluated from experimental data taking into account the uncertainty contributions. The tests consisted ...

  20. Conjugated Polymer Actuators: Prospects and Limitations

    Skaarup, Steen

    2007-01-01

    Actuators constructed with a conjugated polymer as the active part have been predicted to have a number of highly desirable properties: Large mechanical strength, high power density, i.e. high actuation speeds possible, sufficient maximum strain values, high reversibility and safe, low voltages (1...

  1. Constant force linear permanent magnet actuators

    Paulides, J.J.H.; Encica, L.; Meessen, K.J.; Lomonova, E.A.

    2009-01-01

    In applications, such as vibration isolation, gravity compensation, pick-and-place machines, etc., there is a need for (long-stroke) passive constant force actuators combined with tubular permanent magnet actuators to minimize the power consumption, hence, passively counteract the gravitational

  2. Advanced Actuator Concepts for High Precision Deformable Mirrors, Phase I

    National Aeronautics and Space Administration — TRS Technologies proposes to develop a variety of single crystal actuators for adaptive optics deformable mirrors. Single crystal piezoelectric actuators are...

  3. Electroactive Polymer (EAP) Actuation of Mechanisms and Robotic Devices

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

    1999-01-01

    Actuators are responsible to the operative capability of manipulation systems and robots. In recent years, electroactive polymers (EAP) have emerged as potential alternative to conventional actuators.

  4. Piezoelectric Actuator/Sensor Technology at Rockwell

    Neurgaonkar, Ratnakar R.

    1996-01-01

    We describe the state-of-the art of piezoelectric materials based on perovskite and tungsten bronze families for sensor, actuator and smart structure applications. The microstructural defects in these materials have been eliminated to a large extent and the resulting materials exhibit exceedingly high performance for various applications. The performance of Rockwell actuators/sensors is at least 3 times better than commercially available products. These high performance actuators are being incorporated into various applications including, DOD, NASA and commercial. The multilayer actuator stacks fabricated from our piezoceramics are advantageous for sensing and high capacitance applications. In this presentation, we will describe the use of our high performance piezo-ceramics for actuators and sensors, including multilayer stacks and composite structures.

  5. Force-deflection behavior of piezoelectric actuators

    Singh, Ashok K.; Nagpal, Pawan

    2001-11-01

    In the present endeavour, force - deflection behavior of various piezoelectric actuator configurations has been analyzed for performance comparison. The response of stack actuator has been simulated using MATLAB Simulink, in a stack actuator-pendulum configuration. During simulation, stack actuator has been used in charge control feedback mode, because of the advantage of low hysteresis, and high linearity. The model incorporates three compensation blocks, viz 1) a PID position controller, 2) a PI piezoelectric current controller, and 3) a dynamic force feedback. A typical stack actuator, having 130 layers, 1.20x10-4 m thickness, 3.46x10-5m2 cross sectional area, of PZT-5H type, has been utilized for simulation. The response of the system has been tested by applying a sinusoidal input of frequency 500 Hz, and waveform amplitude of 1x10-3V.

  6. Actuators Using Piezoelectric Stacks and Displacement Enhancers

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

    2015-01-01

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

  7. Control Demonstration of a Thin Deformable In-Plane Actuated Mirror

    2006-03-01

    36 20. Influence Function of Actuator One . . . . . . . . . . . . . . . . . . . . . . . . 37 21. Influence Function of Actuator Two...38 22. Influence Function of Actuator Three . . . . . . . . . . . . . . . . . . . . . . . 38 23. Influence ... Function of Actuator Four . . . . . . . . . . . . . . . . . . . . . . . . 39 24. Influence Function of Actuator Five

  8. Modeling of MEMS Mirrors Actuated by Phase-Change Mechanism

    David Torres

    2017-04-01

    Full Text Available Given the multiple applications for micro-electro-mechanical system (MEMS mirror devices, most of the research efforts are focused on improving device performance in terms of tilting angles, speed, and their integration into larger arrays or systems. The modeling of these devices is crucial for enabling a platform, in particular, by allowing for the future control of such devices. In this paper, we present the modeling of a MEMS mirror structure with four actuators driven by the phase-change of a thin film. The complexity of the device structure and the nonlinear behavior of the actuation mechanism allow for a comprehensive study that encompasses simpler electrothermal designs, thus presenting a general approach that can be adapted to most MEMS mirror designs based on this operation principle. The MEMS mirrors presented in this work are actuated by Joule heating and tested using optical techniques. Mechanical and thermal models including both pitch and roll displacements are developed by combining theoretical analysis (using both numerical and analytical tools with experimental data and subsequently verifying with quasi-static and dynamic experiments.

  9. Porous polycarbene-bearing membrane actuator for ultrasensitive weak-acid detection and real-time chemical reaction monitoring.

    Sun, Jian-Ke; Zhang, Weiyi; Guterman, Ryan; Lin, Hui-Juan; Yuan, Jiayin

    2018-04-30

    Soft actuators with integration of ultrasensitivity and capability of simultaneous interaction with multiple stimuli through an entire event ask for a high level of structure complexity, adaptability, and/or multi-responsiveness, which is a great challenge. Here, we develop a porous polycarbene-bearing membrane actuator built up from ionic complexation between a poly(ionic liquid) and trimesic acid (TA). The actuator features two concurrent structure gradients, i.e., an electrostatic complexation (EC) degree and a density distribution of a carbene-NH 3 adduct (CNA) along the membrane cross-section. The membrane actuator performs the highest sensitivity among the state-of-the-art soft proton actuators toward acetic acid at 10 -6  mol L -1 (M) level in aqueous media. Through competing actuation of the two gradients, it is capable of monitoring an entire process of proton-involved chemical reactions that comprise multiple stimuli and operational steps. The present achievement constitutes a significant step toward real-life application of soft actuators in chemical sensing and reaction technology.

  10. A cyclically actuated electrolytic drug delivery device

    Yi, Ying

    2015-01-01

    This work, focusing on an implantable drug delivery system, presents the first prototype electrolytic pump that combines a catalytic reformer and a cyclically actuated mode. These features improve the release performance and extend the lifetime of the device. Using our platinum (Pt)-coated carbon fiber mesh that acts as a catalytic reforming element, the cyclical mode is improved because the faster recombination rate allows for a shorter cycling time for drug delivery. Another feature of our device is that it uses a solid-drug-in-reservoir (SDR) approach, which allows small amounts of a solid drug to be dissolved in human fluid, forming a reproducible drug solution for long-term therapies. We have conducted proof-of-principle drug delivery studies using such an electrolytic pump and solvent blue 38 as the drug substitute. These tests demonstrate power-controlled and pulsatile release profiles of the chemical substance, as well as the feasibility of this device. A drug delivery rate of 11.44 ± 0.56 μg min-1 was achieved by using an input power of 4 mW for multiple pulses, which indicates the stability of our system. © The Royal Society of Chemistry 2015.

  11. Shape memory and actuation behavior of semicrystalline polymer networks

    Bothe, Martin

    2014-01-01

    Shape memory polymers (SMPs) can change their shape on application of a suitable stimulus. To enable such behavior, a 'programming' procedure fixes a deformation, yielding a stable temporary shape. In thermoresponsive SMPs, subsequent heating triggers entropy-elastic recovery of the initial shape. An additional shape change on cooling, i.e. thermoreversible two-way actuation, can be stimulated by a crystallization phenomenon. In this thesis, cyclic thermomechanical measurements systematically determined (1) the shape memory and (2) the actuation behavior under constant load as well as under stress-free conditions. Chemically cross-linked, star-shaped polyhedral oligomeric silsesquioxane polyurethane (SPOSS-PU) hybrid polymer networks and physically cross-linked poly(ester urethane) (PEU) block copolymers were investigated around the melting and crystallization temperatures of their polyester soft segments. (1) The SPOSS-PUs showed excellent shape fixities and recoverabilities of almost 100% at high cross-linking density, while PEUs exhibited pronounced shape memory properties at increased soft segment content. Furthermore, two-fold programmed SPOSS-PU specimens were able to recover their initial shape in two thermally separated events. Even a neck, which formed during deformation of SPOSS-PUs with high soft segment content, was reversed. (2) In PEUs, globally oriented crystallization on cooling drove expansion of the sample, in particular at high soft segment content and after application of a strong deformation. Melting reversed that orientation; the PEU sample contracted and thereby completed the thermoreversible actuation cycle. Under load, multiple polymorphic phase transitions enabled two successive expansion and contraction steps, while under stress-free conditions various geometric shape changes, including the increase and decrease of PEU sample length and thickness as well as twisting and untwisting could be experimentally witnessed. Such actuation

  12. Shape memory and actuation behavior of semicrystalline polymer networks

    Bothe, Martin

    2014-07-01

    Shape memory polymers (SMPs) can change their shape on application of a suitable stimulus. To enable such behavior, a 'programming' procedure fixes a deformation, yielding a stable temporary shape. In thermoresponsive SMPs, subsequent heating triggers entropy-elastic recovery of the initial shape. An additional shape change on cooling, i.e. thermoreversible two-way actuation, can be stimulated by a crystallization phenomenon. In this thesis, cyclic thermomechanical measurements systematically determined (1) the shape memory and (2) the actuation behavior under constant load as well as under stress-free conditions. Chemically cross-linked, star-shaped polyhedral oligomeric silsesquioxane polyurethane (SPOSS-PU) hybrid polymer networks and physically cross-linked poly(ester urethane) (PEU) block copolymers were investigated around the melting and crystallization temperatures of their polyester soft segments. (1) The SPOSS-PUs showed excellent shape fixities and recoverabilities of almost 100% at high cross-linking density, while PEUs exhibited pronounced shape memory properties at increased soft segment content. Furthermore, two-fold programmed SPOSS-PU specimens were able to recover their initial shape in two thermally separated events. Even a neck, which formed during deformation of SPOSS-PUs with high soft segment content, was reversed. (2) In PEUs, globally oriented crystallization on cooling drove expansion of the sample, in particular at high soft segment content and after application of a strong deformation. Melting reversed that orientation; the PEU sample contracted and thereby completed the thermoreversible actuation cycle. Under load, multiple polymorphic phase transitions enabled two successive expansion and contraction steps, while under stress-free conditions various geometric shape changes, including the increase and decrease of PEU sample length and thickness as well as twisting and untwisting could be experimentally witnessed. Such

  13. Hybrid Broadband Ground-Motion Simulations: Combining Long-Period Deterministic Synthetics with High-Frequency Multiple S-to-S Backscattering

    Mai, Paul Martin; Imperatori, W.; Olsen, K. B.

    2010-01-01

    We present a new approach for computing broadband (0-10 Hz) synthetic seismograms by combining high-frequency (HF) scattering with low-frequency (LF) deterministic seismograms, considering finite-fault earthquake rupture models embedded in 3D earth structure. Site-specific HF-scattering Green's functions for a heterogeneous medium with uniformly distributed random isotropic scatterers are convolved with a source-time function that characterizes the temporal evolution of the rupture process. These scatterograms are then reconciled with the LF-deterministic waveforms using a frequency-domain optimization to match both amplitude and phase spectra around the target intersection frequency. The scattering parameters of the medium, scattering attenuation ηs, intrinsic attenuation ηi, and site-kappa, as well as frequency-dependent attenuation, determine waveform and spectral character of the HF-synthetics and thus affect the hybrid broadband seismograms. Applying our methodology to the 1994 Northridge earthquake and validating against near-field recordings at 24 sites, we find that our technique provides realistic broadband waveforms and consistently reproduces LF ground-motion intensities for two independent source descriptions. The least biased results, compared to recorded strong-motion data, are obtained after applying a frequency-dependent site-amplification factor to the broadband simulations. This innovative hybrid ground-motion simulation approach, applicable to any arbitrarily complex earthquake source model, is well suited for seismic hazard analysis and ground-motion estimation.

  14. Hybrid Broadband Ground-Motion Simulations: Combining Long-Period Deterministic Synthetics with High-Frequency Multiple S-to-S Backscattering

    Mai, Paul Martin

    2010-09-20

    We present a new approach for computing broadband (0-10 Hz) synthetic seismograms by combining high-frequency (HF) scattering with low-frequency (LF) deterministic seismograms, considering finite-fault earthquake rupture models embedded in 3D earth structure. Site-specific HF-scattering Green\\'s functions for a heterogeneous medium with uniformly distributed random isotropic scatterers are convolved with a source-time function that characterizes the temporal evolution of the rupture process. These scatterograms are then reconciled with the LF-deterministic waveforms using a frequency-domain optimization to match both amplitude and phase spectra around the target intersection frequency. The scattering parameters of the medium, scattering attenuation ηs, intrinsic attenuation ηi, and site-kappa, as well as frequency-dependent attenuation, determine waveform and spectral character of the HF-synthetics and thus affect the hybrid broadband seismograms. Applying our methodology to the 1994 Northridge earthquake and validating against near-field recordings at 24 sites, we find that our technique provides realistic broadband waveforms and consistently reproduces LF ground-motion intensities for two independent source descriptions. The least biased results, compared to recorded strong-motion data, are obtained after applying a frequency-dependent site-amplification factor to the broadband simulations. This innovative hybrid ground-motion simulation approach, applicable to any arbitrarily complex earthquake source model, is well suited for seismic hazard analysis and ground-motion estimation.

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

    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.

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

    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.

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

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

    2016-01-27

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

  18. Droplet Translation Actuated by Photoelectrowetting.

    Palma, Cesar; Deegan, Robert D

    2018-03-13

    In traditional electrowetting-on-dielectric (EWOD) devices, droplets are moved about a substrate using electric fields produced by an array of discrete electrodes. In this study, we show that a drop can be driven across a substrate with a localized light beam by exploiting the photoelectrowetting (PEW) effect, a light-activated variant of EWOD. Droplet transport actuated by PEW eliminates the need for electrode arrays and the complexities entailed in their fabrication and control, and offers a new approach for designing lab-on-a-chip applications. We report measurements of the maximum droplet speed as a function of frequency and magnitude of the applied bias, intensity of illumination, volume of the droplet, and viscosity and also introduce a model that reproduces these data.

  19. Magnetic suspension characteristics of electromagnetic actuators

    Rao, Dantam K.; Dill, J.; Zorzi, E.

    1993-01-01

    Electromagnetic actuators that use a current-carrying coil (which is placed in a magnetic field) to generate mechanical force are conceptually attractive components for active control of rotating shafts. In one concept that is being tested in the laboratory, the control forces from such actuators are applied on the flexibly supported bearing housings of the rotor. Development of this concept into a practical reality requires a clear and thorough understanding of the role of electromechanical parameters of these actuators in delivering the right amount of control force at the right phase into the rotor. The electromechanical parameters of the actuators investigated are the mass of the armature, stiffness of its suspension, electrical resistance, and inductance of the coils. Improper selection of these parameters can result in degradation in their performance, leading to mistuning between the actuator and the rotor. Through a simple analysis, it is shown that use of such mistuned actuators could result in sharp fluctuations in the phase of the control force delivered into the rotor around the critical speeds. These sharp fluctuations in phase, called 'Phase Glitches', are undesirable. Hence, future designs of controllers should take into account the undesirable mistuning effects between the actuator and the rotor caused by the phase glitches.

  20. Actuator management for ECRH at ASDEX Upgrade

    Rapson, Christopher J., E-mail: chris.rapson@ipp.mpg.de; Reich, Matthias; Stober, Joerg; Treutterer, Wolfgang

    2015-10-15

    Highlights: • Real-time actuator management algorithm developed for ECRH at ASDEX Upgrade. • First use of a control hierarchy in a fusion experiment. • Cost function evaluates optimal combination of all gyrotrons to all possible targets. • Considers many factors e.g. mirror movement, power available, presence and mode number of NTMs. • Configurable, robust algorithm is ready for online testing. - Abstract: Automated actuator management will be necessary on long pulse fusion experiments to adjust to unforeseen plasma events and unpredictable actuator availability. However, as a control problem, actuator management is underdeveloped in the fusion community. This contribution proposes an algorithm based on a control hierarchy and a cost function to optimally allocate scarce actuator resources to various objectives in real-time. Details are given on the development and offline testing which have been completed ready for deployment at ASDEX Upgrade. Electron Cyclotron Resonance Heating (ECRH) is particularly relevant for actuator management due to its localised deposition which can flexibly target specific regions of the plasma for different effects such as non-inductive current drive, impurity regulation, control of MHD modes and of course heating. A further motivation is that automated actuator management will simplify the setup of ECRH, in keeping with the long term goal of integrating MHD control as a routine part of ASDEX Upgrade experiments.

  1. Actuator management for ECRH at ASDEX Upgrade

    Rapson, Christopher J.; Reich, Matthias; Stober, Joerg; Treutterer, Wolfgang

    2015-01-01

    Highlights: • Real-time actuator management algorithm developed for ECRH at ASDEX Upgrade. • First use of a control hierarchy in a fusion experiment. • Cost function evaluates optimal combination of all gyrotrons to all possible targets. • Considers many factors e.g. mirror movement, power available, presence and mode number of NTMs. • Configurable, robust algorithm is ready for online testing. - Abstract: Automated actuator management will be necessary on long pulse fusion experiments to adjust to unforeseen plasma events and unpredictable actuator availability. However, as a control problem, actuator management is underdeveloped in the fusion community. This contribution proposes an algorithm based on a control hierarchy and a cost function to optimally allocate scarce actuator resources to various objectives in real-time. Details are given on the development and offline testing which have been completed ready for deployment at ASDEX Upgrade. Electron Cyclotron Resonance Heating (ECRH) is particularly relevant for actuator management due to its localised deposition which can flexibly target specific regions of the plasma for different effects such as non-inductive current drive, impurity regulation, control of MHD modes and of course heating. A further motivation is that automated actuator management will simplify the setup of ECRH, in keeping with the long term goal of integrating MHD control as a routine part of ASDEX Upgrade experiments.

  2. Smart film actuators using biomass plastic

    Yoneyama, Satoshi; Tanaka, Nobuo

    2011-01-01

    This paper presents a novel smart film actuator based on the use of a biomass plastic as a piezoelectric film. Conventional polymeric smart sensors and actuators have been based upon synthetic piezoelectric polymer films such as PVDF. Almost all synthetic polymers are made from nearly depleted oil resources. In addition combustion of their materials releases carbon dioxide, thereby contributing to global warming. Thus at least two important sustainability principles are violated when employing synthetic polymers: avoiding depletable resources and avoiding ecosystem destruction. To overcome such problems, industrial plastic products made from synthetic polymers were developed to replace oil-based plastics with biomass plastics. This paper applies a biomass plastic with piezoelectricity such as poly-L-lactic acid (PLLA). As a result, PLLA film becomes a distributed parameter actuator per se, hence an environmentally conscious smart film actuator is developed. Firstly, this paper overviews the fundamental properties of piezoelectric synthetic polymers and biopolymers. The concept of carbon neutrality using biopolymers is mentioned. Then a two-dimensional modal actuator for exciting a specific structural mode is proposed. Furthermore, a biomass plastic-based cantilever beam with the capability of modal actuation is developed, the validity of the proposed smart film actuator based upon a biomass plastic being analytically as well as experimentally verified

  3. Characterization of piezoelectric macrofiber composite actuated winglets

    Guha, T K; Oates, W S; Kumar, R

    2015-01-01

    The present study primarily focuses on the design, development, and structural characterization of an oscillating winglet actuated using a piezoelectric macrofiber composite (MFC). The primary objective is to study the effect of controlled wingtip oscillations on the evolution of wingtip vortices, with a goal of weakening these potentially harmful tip vortices by introducing controlled instabilities through both spatial and temporal perturbations producible through winglet oscillations. MFC-actuated winglets have been characterized under different input excitation and pressure-loading conditions. The winglet oscillations show bimodal behavior for both structural and actuation modes of resonance. The oscillatory amplitude at these actuation modes increases linearly with the magnitude of excitation. During wind-tunnel tests, fluid-structure interactions led to structural vibrations of the wing. The effect of these vibrations on the overall winglet oscillations decreased when the strength of actuation increased. At high input excitation, the actuated winglet was capable of generating controlled oscillations. As a proof of concept, the current study has demonstrated that microfiber composite-actuated winglets produce sufficient displacements to alter the development of the wingtip vortex. (paper)

  4. Hemispherical breathing mode speaker using a dielectric elastomer actuator.

    Hosoya, Naoki; Baba, Shun; Maeda, Shingo

    2015-10-01

    Although indoor acoustic characteristics should ideally be assessed by measuring the reverberation time using a point sound source, a regular polyhedron loudspeaker, which has multiple loudspeakers on a chassis, is typically used. However, such a configuration is not a point sound source if the size of the loudspeaker is large relative to the target sound field. This study investigates a small lightweight loudspeaker using a dielectric elastomer actuator vibrating in the breathing mode (the pulsating mode such as the expansion and contraction of a balloon). Acoustic testing with regard to repeatability, sound pressure, vibration mode profiles, and acoustic radiation patterns indicate that dielectric elastomer loudspeakers may be feasible.

  5. Grounded theory.

    Harris, Tina

    2015-04-29

    Grounded theory is a popular research approach in health care and the social sciences. This article provides a description of grounded theory methodology and its key components, using examples from published studies to demonstrate practical application. It aims to demystify grounded theory for novice nurse researchers, by explaining what it is, when to use it, why they would want to use it and how to use it. It should enable nurse researchers to decide if grounded theory is an appropriate approach for their research, and to determine the quality of any grounded theory research they read.

  6. Artificial Knee Joints Actuators with Energy Recovery Capabilities: A Comparison of Performance

    Roberta Alò

    2016-01-01

    Full Text Available The human knee absorbs more energy than it expends in level ground walking. For this reason it would be useful if the actuation system of a wearable robot for lower limbs was able to recover energy thus improving portability. Presently, we recognize three promising technologies with energy recovery capabilities already available in the literature: the Series Elastic Actuator (SEA, the Clutchable Series Elastic Actuator (C-SEA, and the flywheel Infinitely Variable Transmission (F-IVT actuator. In this paper, a simulation model based comparison of the performance of these actuators is presented. The focus is on two performance indexes: the energy consumed by the electric motor per gait and the peak torque/power requested to the electric motor. Both quantities are related to the portability of the device: the former affects the size of the batteries for a given desired range; the latter affects the size and the weight of the electric motor. The results show that, besides some well-explained limitations of the presented methodology, the C-SEA is the most energy efficient whereas the F-IVT allows cutting down the motor torque/peak power strongly. The analysis also leads to defining how it is possible to improve the F-IVT to achieve a reduction of the energy consumption.

  7. Multilayer laminated piezoelectric bending actuators: design and manufacturing for optimum power density and efficiency

    Jafferis, Noah T; Lok, Mario; Wei, Gu-Yeon; Wood, Robert J; Winey, Nastasia

    2016-01-01

    In previous work we presented design and manufacturing rules for optimizing the energy density of piezoelectric bimorph actuators through the use of laser-induced melting, insulating edge coating, and features for rigid ground attachments to maximize force output, as well as a pre-stacked technique to enable mass customization. Here we adapt these techniques to bending actuators with four active layers, which utilize thinner material layers. This allows the use of lower operating voltages, which is important for overall power usage optimization, as typical small-scale power supplies are low-voltage and the efficiency of boost-converter and drive circuitry increases with decreasing output voltage. We show that this optimization results in a 24%–47% reduction in the weight of the required power supply (depending on the type of drive circuit used). We also present scaling arguments to determine when multi-layer actuator are preferable to thinner actuators, and show that our techniques are capable of scaling down to sub-mg weight actuators. (paper)

  8. Analysis of a spherical permanent magnet actuator

    Wang, J.; Jewell, G.W.; Howe, D.

    1997-01-01

    This paper describes a new form of actuator with a spherical permanent magnet rotor and a simple winding arrangement, which is capable of a high specific torque by utilizing a rare-earth permanent magnet. The magnetic-field distribution is established using an analytical technique formulated in spherical coordinates, and the results are validated by finite element analysis. The analytical field solution allows the prediction of the actuator torque and back emf in closed forms. In turn, these facilitate the characterization of the actuator and provide a firm basis for design optimization, system dynamic modeling, and closed-loop control law development. copyright 1997 American Institute of Physics

  9. Refreshable Braille displays using EAP actuators

    Bar-Cohen, Yoseph

    2010-04-01

    Refreshable Braille can help visually impaired persons benefit from the growing advances in computer technology. The development of such displays in a full screen form is a great challenge due to the need to pack many actuators in small area without interferences. In recent years, various displays using actuators such as piezoelectric stacks have become available in commercial form but most of them are limited to one line Braille code. Researchers in the field of electroactive polymers (EAP) investigated methods of using these materials to form full screen displays. This manuscript reviews the state of the art of producing refreshable Braille displays using EAP-based actuators.

  10. Saturated poroelastic actuators generated by topology optimization

    Andreasen, Casper Schousboe; Sigmund, Ole

    2011-01-01

    the coupling of internal fluid pressure and elastic shear stresses a slab of the optimized porous material deflects/deforms when a pressure is imposed and an actuator is created. Several phenomenologically based constraints are imposed in order to get a stable force transmitting actuator.......In this paper the fluid-structure interaction problem of a saturated porous media is considered. The pressure coupling properties of porous saturated materials change with the microstructure and this is utilized in the design of an actuator using a topology optimized porous material. By maximizing...

  11. Refreshable Braille Displays Using EAP Actuators

    Bar-Cohen, Yoseph

    2010-01-01

    Refreshable Braille can help visually impaired persons benefit from the growing advances in computer technology. The development of such displays in a full screen form is a great challenge due to the need to pack many actuators in small area without interferences. In recent years, various displays using actuators such as piezoelectric stacks have become available in commercial form but most of them are limited to one line Braille code. Researchers in the field of electroactive polymers (EAP) investigated methods of using these materials to form full screen displays. This manuscript reviews the state of the art of producing refreshable Braille displays using EAP-based actuators..

  12. Nature-inspired microfluidic manipulation using magnetic actuators

    Khaderi, S. N.; Ioan, D.; den Toonder, J.M.J.; Onck, P. R.; LaVan, D.; Spearing, M.; Vengallatore, S.; DaSilva, M.

    2008-01-01

    Magnetically actuated micro-actuators are proposed to propel and manipulate fluid in micro-channels. As the fluid flows at low Reynolds number in such systems, the actuator should move in an asymmetric manner. The proposed actuators are polymer films with embedded magnetic particles, which are

  13. Choosing Actuators for Automatic Control Systems of Thermal Power Plants

    Gorbunov, A. I., E-mail: gor@tornado.nsk.ru [JSC “Tornado Modular Systems” (Russian Federation); Serdyukov, O. V. [Siberian Branch of the Russian Academy of Sciences, Institute of Automation and Electrometry (Russian Federation)

    2015-03-15

    Two types of actuators for automatic control systems of thermal power plants are analyzed: (i) pulse-controlled actuator and (ii) analog-controlled actuator with positioning function. The actuators are compared in terms of control circuit, control accuracy, reliability, and cost.

  14. FEM assisted design and simulation of novel electrothermal actuators

    Deladi, S.; Krijnen, Gijsbertus J.M.; Elwenspoek, Michael Curt

    2003-01-01

    In this work the authors present the design, simulation, and experimental results of novel electrothermal actuators, such as the trimorph actuator for out-of-plane motion, the coupled in-plane actuator for in-plane motion and an actuator providing combined in- and out-of-plane motion that have been

  15. Fraction-based input modification for fast SMA-actuation

    Gaasbeek, Rolf; de Jager, Bram

    Shape Memory Alloy actuators are microactuators that are known for their high actuation-force and -strain. Limiting the application of Shape Memory Alloy actuators is the lack of suitable control algorithms that can deal with the highly non-linear dynamics of the actuator. The latter suffers from

  16. A road to practical dielectric elastomer actuators based robotics and mechatronics: discrete actuation

    Plante, Jean-Sébastien; Devita, Lauren M.; Dubowsky, Steven

    2007-04-01

    Fundamental studies of Dielectric Elastomer Actuators (DEAs) using viscoelastic materials such as VHB 4905/4910 from 3M showed significant advantages at high stretch rates. The film's viscous forces increase actuator life and the short power-on times minimize energy losses through current leakage. This paper presents a design paradigm that exploits these fundamental properties of DEAs called discrete actuation. Discrete actuation uses DEAs at high stretch rates to change the states of robotic or mechatronic systems in discrete steps. Each state of the system is stable and can be maintained without actuator power. Discrete actuation can be used in robotic and mechatronic applications such as manipulation and locomotion. The resolution of such systems increases with the number of discrete states, 10 to 100 being sufficient for many applications. An MRI-guided needle positioning device for cancer treatments and a space exploration robot using hopping for locomotion are presented as examples of this concept.

  17. Modeling, Control, and Numerical Simulations of a Novel Binary-Controlled Variable Stiffness Actuator (BcVSA

    Irfan Hussain

    2018-06-01

    Full Text Available This research work aims at realizing a new compliant robotic actuator for safe human-robotic interaction. In this paper, we present the modeling, control, and numerical simulations of a novel Binary-Controlled Variable Stiffness Actuator (BcVSA aiming to be used for the development of a novel compliant robotic manipulator. BcVSA is the proof of concept of the active revolute joint with the variable recruitment of series-parallel elastic elements. We briefly recall the basic design principle which is based on a stiffness varying mechanism consisting of a motor, three inline clutches, and three torsional springs with stiffness values (K0, 2K0, 4K0 connected to the load shaft and the motor shaft through two planetary sun gear trains with ratios (4:1, 4:1 respectively. We present the design concept, stiffness and dynamic modeling, and control of our BcVSA. We implemented three kinds of Multiple Model Predictive Control (MPC to control our actuator. The main motivation of choosing this controller lies in the fact that working principle of multiple MPC and multiple states space representation (stiffness level of our actuator share similar interests. In particular, we implemented Multiple MPC, Multiple Explicit MPC, and Approximated Multiple Explicit MPC. Numerical simulations are performed in order to evaluate their effectiveness for the future experiments on the prototype of our actuator. The simulation results showed that the Multiple MPC, and the Multiple Explicit MPC have similar results from the robustness point of view. On the other hand, the robustness performance of Approximated Multiple Explicit MPC is not good as compared to other controllers but it works in the offline framework while having the capability to compute the sub-optimal results. We also performed the comparison of MPC based controllers with the Computed Torque Control (CTC, and Linear Quadratic Regulator (LQR. In future, we are planning to test the presented approach on the

  18. Electric field control methods for foil coils in high-voltage linear actuators

    Beek, van T.A.; Jansen, J.W.; Lomonova, E.A.

    2015-01-01

    This paper describes multiple electric field control methods for foil coils in high-voltage coreless linear actuators. The field control methods are evaluated using 2-D and 3-D boundary element methods. A comparison is presented between the field control methods and their ability to mitigate

  19. Torsional actuation with extension-torsion composite coupling and a magnetostrictive actuator

    Bothwell, Christopher M.; Chandra, Ramesh; Chopra, Inderjit

    1995-04-01

    An analytical-experimental study of using magnetostrictive actuators in conjunction with an extension-torsion coupled composite tube to actuate a rotor blade trailing-edge flap to actively control helicopter vibration is presented. Thin walled beam analysis based on Vlasov theory was used to predict the induced twist and extension in a composite tube with magnetostrictive actuation. The study achieved good correlation between theory and experiment. The Kevlar-epoxy systems showed good correlation between measured and predicted twist values.

  20. High actuation properties of shape memory polymer composite actuator

    Basit, A; L’Hostis, G; Durand, B

    2013-01-01

    The shape memory polymers (SMPs) possess two shapes: permanent shape and temporary shape. This property leads to replacement of shape memory alloys by SMPs in various applications. In this work, two properties, namely structure activeness and the shape memory property of ‘controlled behavior composite material (CBCM)’ plate and its comparison with the conventional symmetrical composite plate (SYM), are studied. The SMPC plates (CBCM and SYM) are manufactured using epoxy resin with a thermal glass transition temperature (T g ) of 130 °C. The shape memory properties of these composites are investigated (under three-point bending test) and compared by deforming them to the same displacement. Three types of recoveries are conducted: unconstrained recovery, constrained recovery, and partial recovery under load. It is found that by coupling the structure activeness (due to its asymmetry) and its shape memory property, higher activated displacement is obtained during the unconstrained recovery. Also, at a lower recovery temperature (90 °C) than the fixing temperature, a recovery close to 100% is obtained for CBCM, whereas for SYM it is only 25%. During constrained recovery, CBCM produces five times larger recovery force than SYM. In addition, higher actuation properties are demonstrated by calculating recovered work and recovery percentages during partial recovery under load. (paper)

  1. Sensors and actuators inherent in biological species

    Taya, Minoru; Stahlberg, Rainer; Li, Fanghong; Zhao, Ying Joyce

    2007-04-01

    This paper addresses examples of sensing and active mechanisms inherent in some biological species where both plants and animals cases are discussed: mechanosensors and actuators in Venus Fly Trap and cucumber tendrils, chemosensors in insects, two cases of interactions between different kingdoms, (i) cotton plant smart defense system and (ii) bird-of-paradise flower and hamming bird interaction. All these cases lead us to recognize how energy-efficient and flexible the biological sensors and actuators are. This review reveals the importance of integration of sensing and actuation functions into an autonomous system if we make biomimetic design of a set of new autonomous systems which can sense and actuate under a number of different stimuli and threats.

  2. Temperature sensitive self-actuated scram mechanism

    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

  3. ANS&A Equip-13 Dynamic Actuator

    Steedman, R

    1996-01-01

    The dynamic actuator is based on the principles of the stored angular momentum system for use in earthquake centrifuge modeling and is compatible with the Equivalent Shear Beam model container design...

  4. A cyclically actuated electrolytic drug delivery device

    Yi, Ying; Buttner, Ulrich; Foulds, Ian G.

    2015-01-01

    This work, focusing on an implantable drug delivery system, presents the first prototype electrolytic pump that combines a catalytic reformer and a cyclically actuated mode. These features improve the release performance and extend the lifetime

  5. Maximizing Function through Intelligent Robot Actuator Control

    National Aeronautics and Space Administration — Maximizing Function through Intelligent Robot Actuator Control Successful missions to Mars and beyond will only be possible with the support of high-performance...

  6. The Electrostatic Actuated Next Generation Microshutter Arrays

    National Aeronautics and Space Administration — The field of view required for future missions is much larger than James Webb Space Telescope (JWST). We need to use electrostatic actuation to replace magnetic...

  7. MEMS Sensors and Actuators Laboratory (MSAL)

    Federal Laboratory Consortium — The MEMS Sensors and Actuators Laboratory (MSAL) in the A.J. Clark School of Engineering at the University of Maryland (UMD) was established in January 2000. Our lab...

  8. Light-actuated microrobots for biomedical science

    Glückstad, Jesper; Villangca, Mark Jayson; Palima, Darwin Z.

    2017-01-01

    Light can be used to fabricate, handle, power, and actuate microrobotics functionalities, such as the loading and unloading of micro-cargo, showing promise for drug delivery and biological-testing applications....

  9. Highly Tunable Electrothermally and Electrostatically Actuated Resonators

    Hajjaj, Amal Z.; Alcheikh, Nouha; Ramini, Abdallah; Hafiz, Md Abdullah Al; Younis, Mohammad I.

    2016-01-01

    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

  10. Robust Tracking Control for a Piezoelectric Actuator

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

    2006-01-01

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

  11. Considerations for Contractile Electroactive Materials and Actuators

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

    2011-05-23

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

  12. Tension Stiffened and Tendon Actuated Manipulator

    Doggett, William R. (Inventor); Dorsey, John T. (Inventor); Ganoe, George G. (Inventor); King, Bruce D. (Inventor); Jones, Thomas C. (Inventor); Mercer, Charles D. (Inventor); Corbin, Cole K. (Inventor)

    2015-01-01

    A tension stiffened and tendon actuated manipulator is provided performing robotic-like movements when acquiring a payload. The manipulator design can be adapted for use in-space, lunar or other planetary installations as it is readily configurable for acquiring and precisely manipulating a payload in both a zero-g environment and in an environment with a gravity field. The manipulator includes a plurality of link arms, a hinge connecting adjacent link arms together to allow the adjacent link arms to rotate relative to each other and a cable actuation and tensioning system provided between adjacent link arms. The cable actuation and tensioning system includes a spreader arm and a plurality of driven and non-driven elements attached to the link arms and the spreader arm. At least one cable is routed around the driven and non-driven elements for actuating the hinge.

  13. Materials selection and design of microelectrothermal bimaterial actuators

    Prasanna, S.; Spearing, S.M.

    2007-01-01

    A common form of MEMS actuator is a thermally actuated bimaterial, which is easy to fabricate by surface micromachining and permits out of plane actuation, which is otherwise difficult to achieve. This paper presents an analytical framework for the design of such microelectrothermal bimaterial actuators. Mechanics relationships for a cantilever bimaterial strip subjected to a uniform temperature were applied to obtain expressions for performance metrics for the actuator, i.e., maximum work/vo...

  14. A survey on pneumatic muscle actuators modeling

    Kelasidi, Eleni; Andrikopoulos, Georgios; Nikolakopoulos, George; Manesis, Stamatis

    2012-01-01

    The aim of this article is to provide a survey on the most popular modeling approaches for Pneumatic Muscle Actuators (PMAs). PMAs are highly non-linear pneumatic actuators where their elongation is proportional to the interval pressure. During the last decade, there has been an increase in the industrial and scientific utilization of PMAs, due to their advantages such as high strength and small weight, while various types of PMAs with different technical characteristics have been appeared in...

  15. Tip Clearance Control Using Plasma Actuators

    2007-03-01

    Clearance Control Using Plasma Actuators 4 posed by Denton (1993). A number of investigators have used partial shrouds, or " winglet " designs to...SDBD actuator Plasma enhanced aerodynamics has been demonstrated in a range of applications involving sepa- ration control, lift enhancement, drag... aerodynamic benefits of a squealer tip geometry. Specifically, the squealer tip is known to reduce the discharge coefficient of the tip gap, thereby

  16. Electrostatically actuated torsional resonant sensors and switches

    Younis, Mohammad I.

    2016-12-29

    Embodiments in accordance of a torsional resonant sensor disclosure is configured to actuate a beam structure using electrostatic actuation with an AC harmonic load (e.g., AC and DC voltage sources) that is activated upon detecting a particular agent having a mass above a predefined level. In various embodiments, the beam structure may be different types of resonant structures that is at least partially coated or layered with a selective material.

  17. Diesel Engine Actuator Fault Isolation using Multiple Models Hypothesis Tests

    Bøgh, S.A.

    1994-01-01

    Detection of current faults in a D.C. motor with unknown load torques is not feasible with linear methods and threshold logic......Detection of current faults in a D.C. motor with unknown load torques is not feasible with linear methods and threshold logic...

  18. LEAD-FREE BNKT PIEZOELECTRIC ACTUATOR

    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.

  19. High-displacement spiral piezoelectric actuators

    Mohammadi, F.; Kholkin, A. L.; Jadidian, B.; Safari, A.

    1999-10-01

    A high-displacement piezoelectric actuator, employing spiral geometry of a curved piezoelectric strip is described. The monolithic actuators are fabricated using a layered manufacturing technique, fused deposition of ceramics, which is capable of prototyping electroceramic components with complex shapes. The spiral actuators (2-3 cm in diameter) consisted of 4-5 turns of a lead zirconate titanate ceramic strip with an effective length up to 28 cm. The width was varied from 0.9 to 1.75 mm with a height of 3 mm. When driven by the electric field applied across the width of the spiral wall, the tip of the actuator was found to displace in both radial and tangential directions. The tangential displacement of the tip was about 210 μm under the field of 5 kV/cm. Both the displacement and resonant frequency of the spirals could be tailored by changing the effective length and wall width. The blocking force of the actuator in tangential direction was about 1 N under the field of 5 kV/cm. These properties are advantageous for high-displacement low-force applications where bimorph or monomorph actuators are currently employed.

  20. Networked Rectenna Array for Smart Material Actuators

    Choi, Sang H.; Golembiewski, Walter T.; Song, Kyo D.

    2000-01-01

    The concept of microwave-driven smart material actuators is envisioned as the best option to alleviate the complexity associated with hard-wired control circuitry. Networked rectenna patch array receives and converts microwave power into a DC power for an array of smart actuators. To use microwave power effectively, the concept of a power allocation and distribution (PAD) circuit is adopted for networking a rectenna/actuator patch array. The PAD circuit is imbedded into a single embodiment of rectenna and actuator array. The thin-film microcircuit embodiment of PAD circuit adds insignificant amount of rigidity to membrane flexibility. Preliminary design and fabrication of PAD circuitry that consists of a few nodal elements were made for laboratory testing. The networked actuators were tested to correlate the network coupling effect, power allocation and distribution, and response time. The features of preliminary design are 16-channel computer control of actuators by a PCI board and the compensator for a power failure or leakage of one or more rectennas.

  1. The qualitative assessment of pneumatic actuators operation in terms of vibration criteria

    Hetmanczyk, M. P.; Michalski, P.

    2015-11-01

    The work quality of pneumatic actuators can be assessed in terms of multiple criteria. In the case of complex systems with pneumatic actuators retained at end positions (with occurrence of piston impact in cylinder covers) the vibration criteria constitute the most reliable indicators. The paper presents an impact assessment on the operating condition of the rodless pneumatic cylinder regarding to selected vibrational symptoms. On the basis of performed analysis the authors had shown meaningful premises allowing an evaluation of the performance and tuning of end position damping piston movement with usage the most common diagnostic tools (portable vibration analyzers). The presented method is useful in tuning of parameters in industrial conditions.

  2. High-pressure microhydraulic actuator

    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.

  3. Low backlash direct drive actuator

    Kuklo, Thomas C.

    1994-01-01

    A low backlash direct drive actuator is described which comprises a motor such as a stepper motor having at least 200 steps per revolution; a two part hub assembly comprising a drive hub coaxially attached to the shaft of the motor and having a plurality of drive pins; a driven hub having a plurality of bores in one end thereof in alignment with the drive pins in the drive hub and a threaded shaft coaxially mounted in an opposite end of the driven hub; and a housing having a central bore therein into which are fitted the drive hub and driven hub, the housing having a motor mount on one end thereof to which is mounted the stepper motor, and a closed end portion with a threaded opening therein coaxial with the central bore in the housing and receiving therein the threaded shaft attached to the driven hub. Limit switches mounted to the housing cooperate with an enlarged lip on the driven hub to limit the lateral travel of the driven hub in the housing, which also acts to limit the lateral travel of the threaded shaft which functions as a lead screw.

  4. Pneumatic Multi-Pocket Elastomer Actuators for Metacarpophalangeal Joint Flexion and Abduction-Adduction

    Tapio Veli Juhani Tarvainen

    2017-09-01

    Full Text Available During recent years, interest has been rising towards developing fluidic fiber-reinforced elastomer actuators for wearable soft robotics used in hand rehabilitation and power-assist. However, they do not enable finger abduction-adduction, which plays an important role in activities of daily living, when grasping larger objects. Furthermore, the developed gloves often do not have separate control of joints, which is important for doing various common rehabilitation motions. The main obstacle for the development of a fully-assisting glove is moving a joint with multiple degrees of freedom. If the functions are built into the same structure, they are naturally coupled and affect each other, which makes them more difficult to design and complex to control than a simple flexion-extension actuator. In this study, we explored the key design elements and fabrication of pneumatic multi-pocket elastomer actuators for a soft rehabilitation glove. The goal was to gain more control over the metacarpophalangeal joint’s response by increasing the degree of actuation. Three main functional designs were tested for achieving both flexion and abduction-adduction. Five prototypes, with four different actuator geometries and four different reinforcement types, were designed and fabricated. They were evaluated by recording their free motion with motion capture and measuring their torque output using a dummy finger. Results showed the strengths and weaknesses of each design in separating the control of the two functions. We discuss the different improvements that are needed in order to make each design plausible for developing an actuator that meets the requirements for full assist of the hand’s motions. In conclusion, we show that it is possible to produce multi-pocket actuators for assisting MCP joint motion in both flexion and abduction-adduction, although coupling between the separate functions is still problematic and should be considered further.

  5. Actuatable capacitive transducer for quantitative nanoindentation combined with transmission electron microscopy

    Warren, Oden L.; Asif, S. A. Syed; Cyrankowski, Edward; Kounev, Kalin

    2010-09-21

    An actuatable capacitive transducer including a transducer body, a first capacitor including a displaceable electrode and electrically configured as an electrostatic actuator, and a second capacitor including a displaceable electrode and electrically configured as a capacitive displacement sensor, wherein the second capacitor comprises a multi-plate capacitor. The actuatable capacitive transducer further includes a coupling shaft configured to mechanically couple the displaceable electrode of the first capacitor to the displaceable electrode of the second capacitor to form a displaceable electrode unit which is displaceable relative to the transducer body, and an electrically-conductive indenter mechanically coupled to the coupling shaft so as to be displaceable in unison with the displaceable electrode unit.-

  6. 3D electrostatic actuator fabricated by non-ablative femtosecond laser exposure and chemical etching

    Yang Tao

    2015-01-01

    Full Text Available We demonstrate the novel design of an electrostatic micro-actuator based on monolithic three-dimensional (3D shapes fabricated by non-ablative femtosecond laser exposure combined with chemical etching. Further, we present a single-scan stacking approach exploited in the fabrication of the 3D actuator to create crack-free, highcontrast, high fidelity and integrated micro-structures. Influential parameters: energy per pulse, polarization, scanning spacing and stacking directionwere systematically studied to predict and control the etching rate of 3D planes.Finally, we report the characterization of the actuator and its potential application in optomechanics to show a complete scenario of femtosecond laser machined integrated 3D micro-systems incorporating multiple functionalities.

  7. Servo-hydraulic actuator in controllable canonical form: Identification and experimental validation

    Maghareh, Amin; Silva, Christian E.; Dyke, Shirley J.

    2018-02-01

    Hydraulic actuators have been widely used to experimentally examine structural behavior at multiple scales. Real-time hybrid simulation (RTHS) is one innovative testing method that largely relies on such servo-hydraulic actuators. In RTHS, interface conditions must be enforced in real time, and controllers are often used to achieve tracking of the desired displacements. Thus, neglecting the dynamics of hydraulic transfer system may result either in system instability or sub-optimal performance. Herein, we propose a nonlinear dynamical model for a servo-hydraulic actuator (a.k.a. hydraulic transfer system) coupled with a nonlinear physical specimen. The nonlinear dynamical model is transformed into controllable canonical form for further tracking control design purposes. Through a number of experiments, the controllable canonical model is validated.

  8. Lifetime of piezoceramic multilayer actuators : interplay of material properties and actuator design

    Ende, D.A. van den; Bos, B.; Groen, W.A.; Dortmans, L.M.J.G.

    2009-01-01

    We report an investigation into factors limiting the functional lifetime of multilayer piezoceramic actuators. The study consists of a combination of lifetime experiments by means of an accelerated lifetime test, inspection of the actuator microstructure at different stages of the accelerated

  9. Fabrication and actuation of electro-active polymer actuator based on PSMI-incorporated PVDF

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

    2008-08-01

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

  10. Fabrication and actuation of electro-active polymer actuator based on PSMI-incorporated PVDF

    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

  11. Actuator disc edge singularity. The key to a revised actuator disc concept and momentum theory

    Kuik, G.A.M. van (The Wind Energy Group of the Technical University Eindhoven (NL))

    1989-01-01

    Since the beginning of rotor aerodynamics the actuator disc momentum theory occupies a prominant place in almost any textbook on this subject. Specially in axial flow the theory provides an easy and rather accurate performance prediction. The results first obtained by Lanchester for the induced power of a hovering rotor and the maximum power of a wind turbine are still used as guidelines for complicated calculations. On the other hand, experimental results for propellers are known to deviate systematically (some 10%) from the momentum theory results. This is commonly attributed to the differences between a real rotor and an actuator disc. However, some actuator disc- and actuator strip (the 2-dimensional version) experiments are described in literature, showing the same deviations from momentum theory results. Therefore, apart from the question how representative an actuator disc is for a real rotor, the actuator disc concept itself may be inadequate. This problem is the subject of the work describe here. It will be shown that the classical actuator disc concept ignores discrete forces resulting from a flow singularity at the edge of the disc. The (extended) momentum theory, applied to this actuator strip model, shows a shift of the results towards the experimental data, and for the static case (hover) even a quantitative agreement is obtained. (author) 12 refs.

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

    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)

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

    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

  14. The effect of saponification on the mucopolysaccharides of the ground substance of the human brain: the relation to focal edema and multiple sclerosis.

    Feigin, I

    1981-03-01

    The acid mucopolysaccharides of brain tissues are disclosed by their metachromatic staining with toluidine blue following saponification with potassium hydroxide, presumably as a result of the liberation of acid groups previously esterified. Earlier histochemical studies had disclosed the presence of neutral mucopolysaccharides by staining with the periodic acid-Schiff technique, and such staining is intensified by prior saponification. Many biochemical studies have reported the presence of both acid and neutral mucopolysaccharides in brain tissues. Within the white matter following brain edema, the quantity of stained mucopolysaccharides is decreased in the plaques of multiple sclerosis and pontine myelinolysis, and in the lesions of diffuse sclerosis. All of these are characterized by myelin loss with relative preservation of axons. The known physiological effects of the mucopolysaccharides on the water content of normal tissues, and on the properties and diffusability of the increments of fluid that constitute edema, lead to the suggestion that edema may play a major role in the pathogenesis of the demyelinating diseases, including multiple sclerosis.

  15. Health Monitoring of a Composite Actuator with a PZT Ceramic during Electromechanical Fatigue Loading

    Woo, Sung Choong; Goo, Nam Seo

    2007-01-01

    This work describes an investigation into the feasibility of using an acoustic emission (AE) technique to evaluate the integrity of a composite actuator with a PZT ceramic under electromechanical cyclic loading. AE characteristics have been analyzed in terms of the behavior of the AE count rate and signal waveform in association with the performance degradation of the composite actuator during the cyclic tests. The results showed that the fatigue cracking of the composite actuator with a PZT ceramic occurred only in the PZT ceramic layer, and that the performance degradation caused by the fatigue damage varied immensely depending on the existence of a protecting composite bottom layer. We confirmed the correlations between the fatigue damage mechanisms and AE signal types for the actuators that exhibited multiple modes of fatigue damage; transgranular micro damage, intergranular fatigue cracking, and breakdown by a short circuiting were related to a burst type signal showing a shortly rising and slowly decaying waveform with a comparably low voltage, a continuous type signal showing a gradual rising and slowly decaying waveform with a very high voltage and a burst and continuous type signal with a high voltage, respectively. Results from the present work showed that the evolution of fatigue damage in the composite actuator with a PZT ceramic can be nondestructively identified via in situ AE monitoring and microscopic observations

  16. A New and Versatile Adjustable Rigidity Actuator with Add-on Locking Mechanism (ARES-XL

    Manuel Cestari

    2018-01-01

    Full Text Available Adjustable compliant actuators are being designed and implemented in robotic devices because of their ability to minimize large forces due to impacts, to safely interact with the user, and to store and release energy in passive elastic elements. Conceived as a new force-controlled compliant actuator, an adjustable rigidity with embedded sensor and locking mechanism actuator (ARES-XL is presented in this paper. This compliant system is intended to be implemented in a gait exoskeleton for children with neuro muscular diseases (NMDs to exploit the intrinsic dynamics during locomotion. This paper describes the mechanics and initial evaluation of the ARES-XL, a novel variable impedance actuator (VIA that allows the implementation of an add-on locking mechanism to this system, and in combination with its zero stiffness capability and large deflection range, provides this novel joint with improved properties when compared to previous prototypes developed by the authors and other state-of-the-art (SoA devices. The evaluation of the system proves how this design exceeds the main capabilities of a previous prototype as well as providing versatile actuation that could lead to its implementation in multiple joints.

  17. The Apache Longbow-Hellfire Missile Test at Yuma Proving Ground: Introduction and Problem Formulation for a Multiple Stressor Risk Assessment

    Efroymson, Rebecca Ann; Peterson, Mark J.; Jones, Daniel Steven; Suter, Glenn

    2008-01-01

    An ecological risk assessment was conducted at Yuma Proving Ground, Arizona, as a demonstration of the Military Ecological Risk Assessment Framework (MERAF). The focus of the assessment was a testing program at Cibola Range, which involved an Apache Longbow helicopter firing Hellfire missiles at moving targets, i.e., M60-A1 tanks. The problem formulation for the assessment included conceptual models for three component activities of the test, helicopter overflight, missile firing, and tracked vehicle movement, and two ecological endpoint entities, woody desert wash communities and desert mule deer (Odocoileus hemionus crooki) populations. An activity-specific risk assessment framework was available to provide guidance for assessing risks associated with aircraft overflights. Key environmental features of the study area include barren desert pavement and tree-lined desert washes. The primary stressors associated with helicopter overflights were sound and the view of the aircraft. The primary stressor associated with Hellfire missile firing was sound. The principal stressor associated with tracked vehicle movement was soil disturbance, and a resulting, secondary stressor was hydrological change. Water loss to washes and wash vegetation was expected to result from increased ponding, infiltration and/or evaporation associated with disturbances to desert pavement. A plan for estimating integrated risks from the three military activities was included in the problem formulation

  18. Assessing ecosystem response to multiple disturbances and climate change in South Africa using ground- and satellite-based measurements and model

    Kutsch, W. L.; Falge, E. M.; Brümmer, C.; Mukwashi, K.; Schmullius, C.; Hüttich, C.; Odipo, V.; Scholes, R. J.; Mudau, A.; Midgley, G.; Stevens, N.; Hickler, T.; Scheiter, S.; Martens, C.; Twine, W.; Iiyambo, T.; Bradshaw, K.; Lück, W.; Lenfers, U.; Thiel-Clemen, T.; du Toit, J.

    2015-12-01

    Sub-Saharan Africa currently experiences rapidly growing human population, intrinsically tied to substantial changes in land use on shrubland, savanna and mixed woodland ecosystems due to over-exploitation. Significant conversions driving degradation, affecting fire frequency and water availability, and fueling climate change are expected to increase in the immediate future. However, measured data of greenhouse gas emissions as affected by land use change are scarce to entirely lacking from this region. The project 'Adaptive Resilience of Southern African Ecosystems' (ARS AfricaE) conducts research and develops scenarios of ecosystem development under climate change, for management support in conservation or for planning rural area development. This will be achieved by (1) creation of a network of research clusters (paired sites with natural and altered vegetation) along an aridity gradient in South Africa for ground-based micrometeorological in-situ measurements of energy and matter fluxes, (2) linking biogeochemical functions with ecosystem structure, and eco-physiological properties, (3) description of ecosystem disturbance (and recovery) in terms of ecosystem function such as carbon balance components and water use efficiency, (4) set-up of individual-based models to predict ecosystem dynamics under (post) disturbance managements, (5) combination with long-term landscape dynamic information derived from remote sensing and aerial photography, and (6) development of sustainable management strategies for disturbed ecosystems and land use change. Emphasis is given on validation (by a suite of field measurements) of estimates obtained from eddy covariance, model approaches and satellite derivations.

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

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

    2009-03-01

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

  20. Dynamic actuation of a novel laser-processed NiTi linear actuator

    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)

  1. Design of a biped robot actuated by pneumatic artificial muscles.

    Liu, Yixiang; Zang, Xizhe; Liu, Xinyu; Wang, Lin

    2015-01-01

    High compliant legs are essential for the efficient versatile locomotion and shock absorbency of humans. This study proposes a biped robot actuated by pneumatic artificial muscles to mimic human locomotion. On the basis of the musculoskeletal architecture of human lower limbs, each leg of the biped robot is modeled as a system of three segments, namely, hip joint, knee joint, and ankle joint, and eleven muscles, including both monoarticular and biarticular muscles. Each rotational joint is driven by a pair of antagonistic muscles, enabling joint compliance to be tuned by operating the pressure inside the muscles. Biarticular muscles play an important role in transferring power between joints. Walking simulations verify that biarticular muscles contribute to joint compliance and can absorb impact energy when the robot makes an impact upon ground contact.

  2. Elastic Inflatable Actuators for Soft Robotic Applications.

    Gorissen, Benjamin; Reynaerts, Dominiek; Konishi, Satoshi; Yoshida, Kazuhiro; Kim, Joon-Wan; De Volder, Michael

    2017-11-01

    The 20th century's robotic systems have been made from stiff materials, and much of the developments have pursued ever more accurate and dynamic robots, which thrive in industrial automation, and will probably continue to do so for decades to come. However, the 21st century's robotic legacy may very well become that of soft robots. This emerging domain is characterized by continuous soft structures that simultaneously fulfill the role of robotic link and actuator, where prime focus is on design and fabrication of robotic hardware instead of software control. These robots are anticipated to take a prominent role in delicate tasks where classic robots fail, such as in minimally invasive surgery, active prosthetics, and automation tasks involving delicate irregular objects. Central to the development of these robots is the fabrication of soft actuators. This article reviews a particularly attractive type of soft actuators that are driven by pressurized fluids. These actuators have recently gained traction on the one hand due to the technology push from better simulation tools and new manufacturing technologies, and on the other hand by a market pull from applications. This paper provides an overview of the different advanced soft actuator configurations, their design, fabrication, and applications. © 2017 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

  3. A wireless actuating drug delivery system

    Jo, Won-Jun; Baek, Seung-Ki; Park, Jung-Hwan

    2015-01-01

    A wireless actuating drug delivery system was devised. The system is based on induction heating for drug delivery. In this study, thermally generated nitrogen gas produced by induction heating of azobisisobutyronitrile (AIBN) was utilized for pressure-driven release of the drug. The delivery device consists of an actuator chamber, a drug reservoir, and a microchannel. A semicircular copper disc (5 and 6 mm in diameter and 100 µm thick), and thermal conductive tape were integrated as the heating element in the actuator chamber. The final device was 2.7 mm thick. 28 µl of drug solution were placed in the reservoir and the device released the drug quickly at the rate of 6 µl s −1 by induction heating at 160 µT of magnetic intensity. The entire drug solution was released and dispersed after subcutaneous implantation under identical experimental condition. This study demonstrates that the device was simply prepared and drug delivery could be achieved by wireless actuation of a thin, pressure-driven actuator. (paper)

  4. Proprioceptive Actuation Design for Dynamic Legged locomotion

    Kim, Sangbae; Wensing, Patrick; Biomimetic Robotics Lab Team

    Designing an actuator system for highly-dynamic legged locomotion exhibited by animals has been one of the grand challenges in robotics research. Conventional actuators designed for manufacturing applications have difficulty satisfying challenging requirements for high-speed locomotion, such as the need for high torque density and the ability to manage dynamic physical interactions. It is critical to introduce a new actuator design paradigm and provide guidelines for its incorporation in future mobile robots for research and industry. To this end, we suggest a paradigm called proprioceptive actuation, which enables highly- dynamic operation in legged machines. Proprioceptive actuation uses collocated force control at the joints to effectively control contact interactions at the feet under dynamic conditions. In the realm of legged machines, this paradigm provides a unique combination of high torque density, high-bandwidth force control, and the ability to mitigate impacts through backdrivability. Results show that the proposed design provides an impact mitigation factor that is comparable to other quadruped designs with series springs to handle impact. The paradigm is shown to enable the MIT Cheetah to manage the application of contact forces during dynamic bounding, with results given down to contact times of 85ms and peak forces over 450N. As a result, the MIT Cheetah achieves high-speed 3D running up to 13mph and jumping over an 18-inch high obstacle. The project is sponsored by DARPA M3 program.

  5. Graphene-nanoplatelet-based photomechanical actuators

    Loomis, James; King, Ben; Burkhead, Tom; Xu Peng; Bessler, Nathan; Panchapakesan, Balaji; Terentjev, Eugene

    2012-01-01

    This paper reports large light-induced reversible and elastic responses of graphene nanoplatelet (GNP) polymer composites. Homogeneous mixtures of GNP/polydimethylsiloxane (PDMS) composites (0.1–5 wt%) were prepared and their infrared (IR) mechanical responses studied with increasing pre-strains. Using IR illumination, a photomechanically induced change in stress of four orders of magnitude as compared to pristine PDMS polymer was measured. The actuation responses of the graphene polymer composites depended on the applied pre-strains. At low levels of pre-strain (3–9%) the actuators showed reversible expansion while at high levels (15–40%) the actuators exhibited reversible contraction. The GNP/PDMS composites exhibited higher actuation stresses compared to other forms of nanostructured carbon/PDMS composites, including carbon nanotubes (CNTs), for the same fabrication method. An extraordinary optical-to-mechanical energy conversion factor (η M ) of 7–9 MPa W −1 for GNP-based polymer composite actuators is reported. (paper)

  6. Fiber-Reinforced Origamic Robotic Actuator.

    Yi, Juan; Chen, Xiaojiao; Song, Chaoyang; Wang, Zheng

    2018-02-01

    A novel pneumatic soft linear actuator Fiber-reinforced Origamic Robotic Actuator (FORA) is proposed with significant improvements on the popular McKibben-type actuators, offering nearly doubled motion range, substantially improved force profile, and significantly lower actuation pressure. The desirable feature set is made possible by a novel soft origamic chamber that expands radially while contracts axially when pressurized. Combining this new origamic chamber with a reinforcing fiber mesh, FORA generates very high traction force (over 150N) and very large contractile motion (over 50%) at very low input pressure (100 kPa). We developed quasi-static analytical models both to characterize the motion and forces and as guidelines for actuator design. Fabrication of FORA mostly involves consumer-grade three-dimensional (3D) printing. We provide a detailed list of materials and dimensions. Fabricated FORAs were tested on a dedicated platform against commercially available pneumatic artificial muscles from Shadow and Festo to showcase its superior performances and validate the analytical models with very good agreements. Finally, a robotic joint was developed driven by two antagonistic FORAs, to showcase the benefits of the performance improvements. With its simple structure, fully characterized mechanism, easy fabrication procedure, and highly desirable performance, FORA could be easily customized to application requirements and fabricated by anyone with access to a 3D printer. This will pave the way to the wider adaptation and application of soft robotic systems.

  7. Investigation of electrochemical actuation by polyaniline nanofibers

    Mehraeen, Shayan; Alkan Gürsel, Selmiye; Papila, Melih; Çakmak Cebeci, Fevzi

    2017-09-01

    Polyaniline nanofibers have shown promising electrical and electrochemical properties which make them prominent candidates in the development of smart systems employing sensors and actuators. Their electrochemical actuation potential is demonstrated in this study. A trilayer composite actuator based on polyaniline nanofibers was designed and fabricated. Cross-linked polyvinyl alcohol was sandwiched between two polyaniline nanofibrous electrodes as ion-containing electrolyte gel. First, electrochemical behavior of a single electrode was studied, showing reversible redox peak pairs in 1 M HCl using a cyclic voltammetry technique. High aspect ratio polyaniline nanofibers create a porous network which facilitates ion diffusion and thus accelerates redox reactions. Bending displacement of the prepared trilayer actuator was then tested and reported under an AC potential stimulation as low as 0.5 V in a variety of frequencies from 50 to 1000 mHz, both inside 1 M HCl solution and in air. Decay of performance of the composite actuator in air is investigated and it is reported that tip displacement in a solution was stable and repeatable for 1000 s in all selected frequencies.

  8. Curved Piezoelectric Actuators for Stretching Optical Fibers

    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.

  9. Levitating Micro-Actuators: A Review

    Kirill V. Poletkin

    2018-04-01

    Full Text Available Through remote forces, levitating micro-actuators completely eliminate mechanical attachment between the stationary and moving parts of a micro-actuator, thus providing a fundamental solution to overcoming the domination of friction over inertial forces at the micro-scale. Eliminating the usual mechanical constraints promises micro-actuators with increased operational capabilities and low dissipation energy. Further reduction of friction and hence dissipation by means of vacuum leads to dramatic increases of performance when compared to mechanically tethered counterparts. In order to efficiently employ the benefits provided by levitation, micro-actuators are classified according to their physical principles as well as by their combinations. Different operating principles, structures, materials and fabrication methods are considered. A detailed analysis of the significant achievements in the technology of micro-optics, micro-magnets and micro-coil fabrication, along with the development of new magnetic materials during recent decades, which has driven the creation of new application domains for levitating micro-actuators is performed.

  10. A magnetorheological actuation system: test and model

    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

  11. A Comparison of Cloud-to-Ground Lightning Characteristics and Observations from Multiple Networks and Videos during the 31 May 2013 El Reno, OK Tornadic Supercell Storm

    Kuhlman, K. M.; Coy, J.; Seimon, A.

    2015-12-01

    Cloud-to-ground (CG) lightning flashes recorded by both the National Lightning Detection Network (NLDN) and Earth Networks Total Lightning Network (ENTLN) are compared with three-dimensional lightning mapping observations from the Oklahoma Lightning Mapping Array (OKLMA) and storm chaser video recorded of the 31 May 2013 El Reno tornadic supercell. The El Reno Survey Project (El-Reno-Survey.net) was created to crowd-source the abundance of storm chaser video from this event and provide open-access to the scientific community of the data. An initial comparison of CG lightning flashes captured on these videos with CG data from NLDN revealed a disagreement on the total number of flashes, with NLDN recording many negative CG flashes at lower peak amplitude not apparent in any of the videos. For this study, the area of the comparison was expanded to include the entire storm and data from both the ENTLN and LMA were added to compare the observations from each network in terms of timestamp, location detection, peak current, and polarity of each flash in the period 2230-2330 UTC. An initial comparison of 557 matched NLDN and ENLTN CG flashes, indicated predominately negative polairy CG flashes (58% NLDN/77% ENI) throughout the storm during this period. However, after a 15 kA peak current filter was applied, the NLDN indicated primarily positive polarity (84% +CG) while ENTLN still indicated primarily negative polarity (77% -CG) for the 264 remaining matched flashes. Before the filter was applied, the average distance between the two networks for the same flash was more than 2 km, but improved to approximately 1 km after the 15 kA filter was applied, likely removing some misidentified cloud flashes of uncertain location. This misclassification of IC flashes as CG at low peak current amplitudes for both networks is further evident when compared to video and the OKLMA data. Additionally, the charge analysis of OKLMA flashes revealed the NLDN-determined positive-polarity as

  12. Bifurcation Control of an Electrostatically-Actuated MEMS Actuator with Time-Delay Feedback

    Lei Li

    2016-10-01

    Full Text Available The parametric excitation system consisting of a flexible beam and shuttle mass widely exists in microelectromechanical systems (MEMS, which can exhibit rich nonlinear dynamic behaviors. This article aims to theoretically investigate the nonlinear jumping phenomena and bifurcation conditions of a class of electrostatically-driven MEMS actuators with a time-delay feedback controller. Considering the comb structure consisting of a flexible beam and shuttle mass, the partial differential governing equation is obtained with both the linear and cubic nonlinear parametric excitation. Then, the method of multiple scales is introduced to obtain a slow flow that is analyzed for stability and bifurcation. Results show that time-delay feedback can improve resonance frequency and stability of the system. What is more, through a detailed mathematical analysis, the discriminant of Hopf bifurcation is theoretically derived, and appropriate time-delay feedback force can make the branch from the Hopf bifurcation point stable under any driving voltage value. Meanwhile, through global bifurcation analysis and saddle node bifurcation analysis, theoretical expressions about the system parameter space and maximum amplitude of monostable vibration are deduced. It is found that the disappearance of the global bifurcation point means the emergence of monostable vibration. Finally, detailed numerical results confirm the analytical prediction.

  13. Performance study of a hydrogen powered metal hydride actuator

    Bhuiya, Md Mainul Hossain; Kim, Kwang J

    2016-01-01

    A thermally driven hydrogen powered actuator integrating metal hydride hydrogen storage reactor, which is compact, noiseless, and able to generate smooth actuation, is presented in this article. To test the plausibility of a thermally driven actuator, a conventional piston type actuator was integrated with LaNi 5 based hydrogen storage system. Copper encapsulation followed by compaction of particles into pellets, were adopted to improve overall thermal conductivity of the reactor. The operation of the actuator was thoroughly investigated for an array of operating temperature ranges. Temperature swing of the hydride reactor triggering smooth and noiseless actuation over several operating temperature ranges were monitored for quantification of actuator efficiency. Overall, the actuator generated smooth and consistent strokes during repeated cycles of operation. The efficiency of the actuator was found to be as high as 13.36% for operating a temperature range of 20 °C–50 °C. Stress–strain characteristics, actuation hysteresis etc were studied experimentally. Comparison of stress–strain characteristics of the proposed actuator with traditional actuators, artificial muscles and so on was made. The study suggests that design modification and use of high pressure hydride may enhance the performance and broaden the application horizon of the proposed actuator in future. (paper)

  14. Effect of plasma actuator control parameters on a transitional flow

    Das Gupta, Arnob; Roy, Subrata

    2018-04-01

    This study uses a wall-resolved implicit large eddy simulation to investigate the effects of different surface dielectric barrier discharge actuator parameters such as the geometry of the electrodes, frequency, amplitude of actuation and thermal effect. The actuator is used as a tripping device on a zero-pressure gradient laminar boundary layer flow. It is shown that the standard linear actuator creates structures like the Tollmien-Schlichting wave transition. The circular serpentine, square serpentine and spanwise actuators have subharmonic sinuous streak breakdown and behave like oblique wave transition scenario. The spanwise and square actuators cause comparably faster transition to turbulence. The square actuator adds energy into the higher spanwise wavenumber modes resulting in a faster transition compared to the circular actuator. When the Strouhal number of actuation is varied, the transition does not occur for a value below 0.292. Higher frequencies with same amplitude of actuation lead to faster transition. Small changes (<4%) in the amplitude of actuation can have a significant impact on the transition location which suggests that an optimal combination of frequency and amplitude exists for highest control authority. The thermal bumps approximating the actuator heating only shows localized effects on the later stages of transition for temperatures up to 373 K and can be ignored for standard actuators operating in subsonic regimes.

  15. Air Muscle Actuated Low Cost Humanoid Hand

    Peter Scarfe

    2008-11-01

    Full Text Available The control of humanoid robot hands has historically been expensive due to the cost of precision actuators. This paper presents the design and implementation of a low-cost air muscle actuated humanoid hand developed at Curtin University of Technology. This hand offers 10 individually controllable degrees of freedom ranging from the elbow to the fingers, with overall control handled through a computer GUI. The hand is actuated through 20 McKibben-style air muscles, each supplied by a pneumatic pressure-balancing valve that allows for proportional control to be achieved with simple and inexpensive components. The hand was successfully able to perform a number of human-equivalent tasks, such as grasping and relocating objects.

  16. Hand-actuated spring clip insertion tool

    Cuba, G.W.

    1993-01-01

    A hand-actuated insertion tool includes a handle assembly, an elongated hollow tubular outer support tube, an elongated inner pull rod, and a coupling arrangement. The handle assembly has a first handle member and a second handle member pivoted to a member for movement between unactuated and actuated positions. The tube is attached in a fixed relation to a handle member. The rod is mounted within the tube for sliding movement relative thereto between home and retracted positions. The coupling arrangement pivotally connects the rod to the second handle member such that the rod will undergo sliding movement from the home position to the retracted positions relative to the tube as the second handle member is moved from the unactuated position to the actuated position adjacent to the first handle member. (author)

  17. Air Muscle Actuated Low Cost Humanoid Hand

    Peter Scarfe

    2006-06-01

    Full Text Available The control of humanoid robot hands has historically been expensive due to the cost of precision actuators. This paper presents the design and implementation of a low-cost air muscle actuated humanoid hand developed at Curtin University of Technology. This hand offers 10 individually controllable degrees of freedom ranging from the elbow to the fingers, with overall control handled through a computer GUI. The hand is actuated through 20 McKibben-style air muscles, each supplied by a pneumatic pressure-balancing valve that allows for proportional control to be achieved with simple and inexpensive components. The hand was successfully able to perform a number of human-equivalent tasks, such as grasping and relocating objects.

  18. Processing and characterization of oval piezoelectric actuators

    Jadidian, B.; Allahverdi, M.; Mohammadi, F.; Safari, A.

    2002-03-01

    The processing and characterization of piezoelectric actuators with oval geometry are presented. The monolithic actuators were fabricated using the fused deposition of ceramic process. The minor diameter of the ovals varied between 2 and 14 mm and their major diameter, wall thickness, and width were 20, 0.85, and 7 mm, respectively. When driven under electric field, the actuators expanded along their minor diameter. The static and dynamic displacements of ˜7 and ˜5.6 μm were observed at 850 V(dc) and 100 V(ac). The static displacement of the ovals varied almost linearly with voltage and did not change under the application of external load in the range of 1-15 N. However, both dynamic displacement and resonant frequency of the ovals varied, with a maximum of 42 μm and 38 Hz, respectively, under 13 N load.

  19. Tunable electromechanical actuation in silicone dielectric film

    Lamberti, Andrea; Di Donato, Marco; Giorgis, Fabrizio; Chiappone, Annalisa; Canavese, Giancarlo

    2014-01-01

    Dielectric elastomer actuator films were fabricated on transparent conductive electrode using bi-component poly(dimethyl)siloxane (PDMS). PDMS is a well-known material in microfluidics and soft lithography for biomedical applications, being easy to process, low cost, biocompatible and transparent. Moreover its mechanical properties can be easily tuned by varying the mixing ratio between the oligomer base and the crosslinking agent. In this work we investigate the chemical composition and the electromechanical properties of PDMS thin film verifying for the first time the tuneable actuation response by simply modifying the amount of the curing agent. We demonstrate that, for a 20:1 ratio of base:crosslinker mixture, a striking 150% enhancement of Maxwell strain occurs at 1 Hz actuating frequency. (paper)

  20. Electrothermally Actuated Microbeams With Varying Stiffness

    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.

  1. Biomimetic actuator and sensor for robot hand

    Kim, Baekchul; Chung, Jinah; Cho, Hanjoung; Shin, Seunghoon; Lee, Hyoungsuk; Moon, Hyungpil; Choi, Hyouk Ryeol; Koo, Jachoon

    2012-01-01

    To manufacture a robot hand that essentially mimics the functions of a human hand, it is necessary to develop flexible actuators and sensors. In this study, we propose the design, manufacture, and performance verification of flexible actuators and sensors based on Electro Active Polymer (EAP). EAP is fabricated as a type of film, and it moves with changes in the voltage because of contraction and expansion in the polymer film. Furthermore, if a force is applied to an EAP film, its thickness and effective area change, and therefore, the capacitance also changes. By using this mechanism, we produce capacitive actuators and sensors. In this study, we propose an EAP based capacitive sensor and evaluate its use as a robot hand sensor

  2. Biomimetic actuator and sensor for robot hand

    Kim, Baekchul; Chung, Jinah; Cho, Hanjoung; Shin, Seunghoon; Lee, Hyoungsuk; Moon, Hyungpil; Choi, Hyouk Ryeol; Koo, Jachoon [Sungkyunkwan Univ., Seoul (Korea, Republic of)

    2012-12-15

    To manufacture a robot hand that essentially mimics the functions of a human hand, it is necessary to develop flexible actuators and sensors. In this study, we propose the design, manufacture, and performance verification of flexible actuators and sensors based on Electro Active Polymer (EAP). EAP is fabricated as a type of film, and it moves with changes in the voltage because of contraction and expansion in the polymer film. Furthermore, if a force is applied to an EAP film, its thickness and effective area change, and therefore, the capacitance also changes. By using this mechanism, we produce capacitive actuators and sensors. In this study, we propose an EAP based capacitive sensor and evaluate its use as a robot hand sensor.

  3. A rotary pneumatic actuator for the actuation of the exoskeleton knee joint

    Jobin Varghese

    2017-07-01

    Full Text Available Rotary pneumatic actuators that are made out of linear one are always best suited for exoskeleton joint actuation due to its inherent power to weight ratio. This work is a modified version of knee actuation system that has already been developed and major modifications are made in order to make it more suitable for human wearing and also to reduce its bulkiness and complexity. The considered actuator system is a rotary actuator where a pulley converts the linear motion of the standard pneumatic piston into the rotary motion. To prove the capability of the actuator, its performance characteristics such as torque and power produced are compared to the required torque and power at the knee joint of the exoskeleton in swing phase and are found to be excellent. The two-way analysis of variance (ANOVA is performed to find the effect of the throat area valve on knee angle. The ANOVA shows the significant effect of the throat area variation on the knee angle flexion made by the proposed actuator. A relationship between the throat area of flow control valve, that is connected to the exit port of the direction control valve, and angular displacement of the knee joint has been formulated. This relationship can be used to design a control system to regulate the mass flow rate of air at the exit and hence the angular velocity of the knee joint can be controlled. Keywords: Driven pulley, Flow control valve, Rotary, Pneumatic cylinder

  4. Control Software for Piezo Stepping Actuators

    Shields, Joel F.

    2013-01-01

    A control system has been developed for the Space Interferometer Mission (SIM) piezo stepping actuator. Piezo stepping actuators are novel because they offer extreme dynamic range (centimeter stroke with nanometer resolution) with power, thermal, mass, and volume advantages over existing motorized actuation technology. These advantages come with the added benefit of greatly reduced complexity in the support electronics. The piezo stepping actuator consists of three fully redundant sets of piezoelectric transducers (PZTs), two sets of brake PZTs, and one set of extension PZTs. These PZTs are used to grasp and move a runner attached to the optic to be moved. By proper cycling of the two brake and extension PZTs, both forward and backward moves of the runner can be achieved. Each brake can be configured for either a power-on or power-off state. For SIM, the brakes and gate of the mechanism are configured in such a manner that, at the end of the step, the actuator is in a parked or power-off state. The control software uses asynchronous sampling of an optical encoder to monitor the position of the runner. These samples are timed to coincide with the end of the previous move, which may consist of a variable number of steps. This sampling technique linearizes the device by avoiding input saturation of the actuator and makes latencies of the plant vanish. The software also estimates, in real time, the scale factor of the device and a disturbance caused by cycling of the brakes. These estimates are used to actively cancel the brake disturbance. The control system also includes feedback and feedforward elements that regulate the position of the runner to a given reference position. Convergence time for smalland medium-sized reference positions (less than 200 microns) to within 10 nanometers can be achieved in under 10 seconds. Convergence times for large moves (greater than 1 millimeter) are limited by the step rate.

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

    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.

  6. Optical nano and micro actuator technology

    Knopf, George K

    2012-01-01

    In Optical Nano and Micro Actuator Technology, leading engineers, material scientists, chemists, physicists, laser scientists, and manufacturing specialists offer an in-depth, wide-ranging look at the fundamental and unique characteristics of light-driven optical actuators. They discuss how light can initiate physical movement and control a variety of mechanisms that perform mechanical work at the micro- and nanoscale. The book begins with the scientific background necessary for understanding light-driven systems, discussing the nature of light and the interaction between light and NEMS/MEMS d

  7. Uncertainty quantification for PZT bimorph actuators

    Bravo, Nikolas; Smith, Ralph C.; Crews, John

    2018-03-01

    In this paper, we discuss the development of a high fidelity model for a PZT bimorph actuator used for micro-air vehicles, which includes the Robobee. We developed a high-fidelity model for the actuator using the homogenized energy model (HEM) framework, which quantifies the nonlinear, hysteretic, and rate-dependent behavior inherent to PZT in dynamic operating regimes. We then discussed an inverse problem on the model. We included local and global sensitivity analysis of the parameters in the high-fidelity model. Finally, we will discuss the results of Bayesian inference and uncertainty quantification on the HEM.

  8. Emergency scram actuation device for nuclear reactors

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

    1979-01-01

    The safety parameter employed for emergency scrams of a liquid metal cooled reactor is the coolant pressure. An actuation bellows is provided which is connected to a measuring chamber by means of a flow system. Both units are installed in a coolant flow section. The measuring chamber proper is connected with the coolant by means of an aperture limiting the flow. Inside the measuring chamber there is an expansion space filled with gas. Pressure changes in the coolant affect the pressure in the expansion space. Expansion of the bellows actuates the release mechanism. (DG) [de

  9. Temperature sensitive self-actuated scram mechanism

    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

  10. Supporting scalable Bayesian networks using configurable discretizer actuators

    Osunmakinde, I

    2009-04-01

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

  11. Actuator assembly including a single axis of rotation locking member

    Quitmeyer, James N.; Benson, Dwayne M.; Geck, Kellan P.

    2009-12-08

    An actuator assembly including an actuator housing assembly and a single axis of rotation locking member fixedly attached to a portion of the actuator housing assembly and an external mounting structure. The single axis of rotation locking member restricting rotational movement of the actuator housing assembly about at least one axis. The single axis of rotation locking member is coupled at a first end to the actuator housing assembly about a Y axis and at a 90.degree. angle to an X and Z axis providing rotation of the actuator housing assembly about the Y axis. The single axis of rotation locking member is coupled at a second end to a mounting structure, and more particularly a mounting pin, about an X axis and at a 90.degree. angle to a Y and Z axis providing rotation of the actuator housing assembly about the X axis. The actuator assembly is thereby restricted from rotation about the Z axis.

  12. The effects of additives on the actuating performances of a dielectric elastomer actuator

    Nguyen, Huu Chuc; Doan, Vu Thuy; Park, JongKil; Koo, Ja Choon; Choi, Hyouk Ryeol; Lee, Youngkwan; Nam, Jae-do

    2009-01-01

    This paper presents a comprehensive study of the effects of additives on the performance of a dielectric elastomer actuator. Previously, a new dielectric elastomer material, called 'synthetic elastomer', was presented for the means of actuation, which permits changes in the mechanical as well as the electrical properties in order to meet the requirements of certain applications. This work studies how the electromechanical properties of the synthetic elastomer can be adjusted by combining two additives, namely dioctyl phthalate (DOP) and titanium dioxide (TiO 2 ). Experiments are carried out and the effects of each additive are compared to one another based on the actuation performances

  13. Development of a dry actuation conducting polymer actuator for micro-optical zoom lenses

    Kim, Baek-Chul; Kim, Hyunseok; Nguyen, H. C.; Cho, M. S.; Lee, Y.; Nam, Jae-Do; Choi, Hyouk Ryeol; Koo, J. C.; Jeong, H.-S.

    2008-03-01

    The objective of the present work is to demonstrate the efficiency and feasibility of NBR (Nitrile Butadiene Rubber) based conducting polymer actuator that is fabricated into a micro zoon lens driver. Unlike the traditional conducting polymer that normally operates in a liquid, the proposed actuator successfully provides fairly effective driving performance for the zoom lens system in a dry environment. And this paper is including the experiment results for an efficiency improvement. The result suggested by an experiment was efficient in micro optical zoom lens system. In addition, the developed design method of actuator was given consideration to design the system.

  14. Electromechanically Actuated Multifunctional Wireless Auxetic Device for Wound Management.

    Mir, Mariam; Ansari, Umar; Ali, Murtaza Najabat; Iftikhar, Muhammad Hassan Ul; Qayyum, Faisal

    2017-01-01

    The design and fabrication of a wound healing device for chronic wounds, with multiple functions for controlled drug delivery and exudate removal, has been described in this paper. The structural features have been machined and modified through laser cutting in a biocompatible polymer cast. Miniaturized versions of electronically actuated (lead-screw and pulley) mechanisms are used for the specific purpose of controlled drug delivery. These mechanisms have been studied and tested, being controlled through a microcontroller setup. An auxetic polymeric barrier membrane has been used for restricting the drug quantities administered. Drug delivery mechanisms are powered wirelessly, through an external, active RF component; this communicates with a passive component that is buried inside the wound healing device. The exudate removal efficiency of the device has been assessed through several simple tests using simulated wound exudate. It has been found that reasonably precise quantities of drug dosages to be administered to the wound site can be controlled through both drug delivery mechanisms; however, the lead-screw mechanism provides a better control of auxetic barrier membrane actuation and hence controlled drug delivery. We propose that this device can have potential clinical significance in controlled drug delivery and exudate removal in the management of chronic wounds.

  15. Analytical model for an electrostatically actuated miniature diaphragm compressor

    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

  16. Nanostructured carbon materials based electrothermal air pump actuators

    Liu, Qing; Liu, Luqi; Kuang, Jun; Dai, Zhaohe; Han, Jinhua; Zhang, Zhong

    2014-05-01

    Actuator materials can directly convert different types of energy into mechanical energy. In this work, we designed and fabricated electrothermal air pump-type actuators by utilization of various nanostructured carbon materials, including single wall carbon nanotubes (SWCNTs), reduced graphene oxide (r-GO), and graphene oxide (GO)/SWCNT hybrid films as heating elements to transfer electrical stimulus into thermal energy, and finally convert it into mechanical energy. Both the actuation displacement and working temperature of the actuator films show the monotonically increasing trend with increasing driving voltage within the actuation process. Compared with common polymer nanocomposites based electrothermal actuators, our actuators exhibited better actuation performances with a low driving voltage (film actuator due to the intrinsic gas-impermeability nature of graphene platelets. In addition, the high modulus of the r-GO and GO/SWCNT films also guaranteed the large generated stress and high work density. Specifically, the generated stress and gravimetric work density of the GO/SWCNT hybrid film actuator could reach up to more than 50 MPa and 30 J kg-1, respectively, under a driving voltage of 10 V. The resulting stress value is at least two orders of magnitude higher than that of natural muscles (~0.4 MPa).Actuator materials can directly convert different types of energy into mechanical energy. In this work, we designed and fabricated electrothermal air pump-type actuators by utilization of various nanostructured carbon materials, including single wall carbon nanotubes (SWCNTs), reduced graphene oxide (r-GO), and graphene oxide (GO)/SWCNT hybrid films as heating elements to transfer electrical stimulus into thermal energy, and finally convert it into mechanical energy. Both the actuation displacement and working temperature of the actuator films show the monotonically increasing trend with increasing driving voltage within the actuation process. Compared with

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

    Ahmad Sharbafi, Maziar; Shin, Hirofumi; Zhao, Guoping; Hosoda, Koh; Seyfarth, Andre

    2017-01-01

    A better understanding of how actuator design supports locomotor function may help develop novel and more functional powered assistive devices or robotic legged systems. Legged robots comprise passive parts (e.g., segments, joints and connections) which are moved in a coordinated manner by actuators. In this study, we propose a novel concept of a hybrid electric-pneumatic actuator (EPA) as an enhanced variable impedance actuator (VIA). EPA is consisted of a pneumatic artificial muscle (PAM) a...

  18. Paper Actuators Made with Cellulose and Hybrid Materials

    Kim, Jaehwan; Yun, Sungryul; Mahadeva, Suresha K.; Yun, Kiju; Yang, Sang Yeol; Maniruzzaman, Mohammad

    2010-01-01

    Recently, cellulose has been re-discovered as a smart material that can be used as sensor and actuator materials, which is termed electro-active paper (EAPap). This paper reports recent advances in paper actuators made with cellulose and hybrid materials such as multi-walled carbon nanotubes, conducting polymers and ionic liquids. Two distinct actuator principles in EAPap actuators are demonstrated: piezoelectric effect and ion migration effect in cellulose. Piezoelectricity of cellulose EAPa...

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

    Ioan URSU

    2016-12-01

    Full Text Available The article presents a mathematical modeling of aileron actuation that uses piezo V-shaped stacks. The aim of the actuation is the increasing of flutter speed in the context of a control law, in order to widen the flight envelope. In this way the main advantage of such a piezo actuator, the bandwidth is exploited. The mathematical model is obtained based on free body diagrams, and the numerical simulations allow a preliminary sizing of the actuator.

  20. Shape-Memory-Alloy Actuator For Flight Controls

    Barret, Chris

    1995-01-01

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

  1. On LHCb muon MWPC grounding

    Kashchuk, A

    2006-01-01

    My goal is to study how a big MWPC system, in particular the LHCb muon system, can be protected against unstable operation and multiple spurious hits, produced by incorrect or imperfect grounding in the severe EM environment of the LHCb experiment. A mechanism of penetration of parasitic current from the ground loop to the input of the front-end amplifier is discussed. A new model of the detector cell as the electrical bridge is considered. As shown, unbalance of the bridge makes detector to be sensitive to the noise in ground loop. Resonances in ground loop are specified. Tests of multiple-point and single-point grounding conceptions made on mock-up are presented.

  2. Effects of anchoring and arc structure on the control authority of a rail plasma actuator

    Choi, Young-Joon; Gray, Miles; Sirohi, Jayant; Raja, Laxminarayan L

    2017-01-01

    Experiments were conducted on a rail plasma actuator (RailPAc) with different electrode cross sections (rails or rods) to assess methods to improve the actuation authority, defined as the impulse generated for a given electrical input. The arc was characterized with electrical measurements and high-speed images, while impulse measurements quantified the actuation authority. A RailPAc power supply capable of delivering  ∼1 kA of current at  ∼100 V was connected to rod electrodes (free-floating with circular cross-section) and rail electrodes (flush-mounted in a flat plate with rectangular cross-section). High-speed images show that the rail electrodes cause the arc to anchor itself to the anode electrode and transit in discrete jumps, while rod electrodes permit the arc to transit smoothly without anchoring. The impulse measurements reveal that the anchoring reduces the actuation authority by  ∼21% compared to a smooth transit, and the effect of anchoring can be suppressed by reducing the gap between the rails to 2 mm. The study further demonstrates that if a smooth transit is achieved, the control authority can be increased with a larger gap and larger arc current. In conclusion, the actuation authority of a RailPAc can be maximized by carefully choosing a gap width that prevents anchoring. Further study is warranted to increase the RailPAc actuation authority by introducing multiple turns of wires beneath the RailPAc to augment the induced magnetic field. (paper)

  3. Preisach model of hysteresis for the Piezoelectric Actuator Drive

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

    2015-01-01

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

  4. Steering Micro-Robotic Swarm by Dynamic Actuating Fields

    Chao, Q.; Yu, J; Dai, C.; Xu, T; Zhang, L.; Wang, C.C.; Jin, X.

    2016-01-01

    We present a general solution for steering microrobotic
    swarm by dynamic actuating fields. In our approach, the
    motion of micro-robots is controlled by changing the actuating
    direction of a field applied to them. The time-series sequence
    of actuating field’s directions can be

  5. A Review of High Voltage Drive Amplifiers for Capacitive Actuators

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

    2012-01-01

    This paper gives an overview of the high voltage amplifiers, which are used to drive capacitive actuators. The amplifiers for both piezoelectric and DEAP (dielectric electroactive polymer) actuator are discussed. The suitable topologies for driving capacitive actuators are illustrated in detail...

  6. A novel energy-efficient rotational variable stiffness actuator

    Rao, S.; Carloni, Raffaella; Stramigioli, Stefano

    This paper presents the working principle, the design and realization of a novel rotational variable stiffness actuator, whose stiffness can be varied independently of its output angular position. This actuator is energy-efficient, meaning that the stiffness of the actuator can be varied by keeping

  7. A prototype of a novel energy efficient variable stiffness actuator

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

    In this work, we present a proof of concept of a novel variable stiffness actuator. The actuator design is based on the conceptual design proposed in earlier work, and is such that the apparent output stiffness of the actuator can be changed independently of the output position and without any

  8. 14 CFR 33.72 - Hydraulic actuating systems.

    2010-01-01

    ... AIRWORTHINESS STANDARDS: AIRCRAFT ENGINES Design and Construction; Turbine Aircraft Engines § 33.72 Hydraulic actuating systems. Each hydraulic actuating system must function properly under all conditions in which the... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false Hydraulic actuating systems. 33.72 Section...

  9. Dynamic Actuation of Single-Crystal Diamond Nanobeams

    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.

  10. 21 CFR 870.1670 - Syringe actuator for an injector.

    2010-04-01

    ... 21 Food and Drugs 8 2010-04-01 2010-04-01 false Syringe actuator for an injector. 870.1670 Section 870.1670 Food and Drugs FOOD AND DRUG ADMINISTRATION, DEPARTMENT OF HEALTH AND HUMAN SERVICES... actuator for an injector. (a) Identification. A syringe actuator for an injector is an electrical device...

  11. Evaluation of pneumatic cylinder actuators for hand prostheses

    Peerdeman, B.; Smit, Gerwin; Stramigioli, Stefano; Plettenburg, Dick; Misra, Sarthak

    2012-01-01

    DC motors are currently the preferred actuation method for externally powered hand prostheses. However, they are often heavy and large, which limits the number of actuators that can be integrated into the prosthesis. Alternative actuation methods are being researched, but have not yet found wide

  12. Piezoelectric stack actuator parameter extraction with hysteresis compensation

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

    2014-01-01

    The Piezoelectric Actuator Drive (PAD) is a type of rotary motor that transforms the linear motion of piezoelectric stack actuators into a precise rotational motion. The very high stiffness of the actuators employed make this type of motor suited for open-loop control, but the inherent hysteresis...

  13. A concept for a new Energy Efficient Actuator

    Stramigioli, Stefano; van Oort, Gijs; Dertien, Edwin Christian

    2008-01-01

    In this paper a novel concept of embedded robotic actuator is presented which has been named the Very Versatile Energy Efficient (V2E2) actuator. This actuator stores energy during any force profile which generates negative work on the load and it does therefore have unprecedented potentials for

  14. An H-module linear actuator for medical equipment applications

    Liu, Xiao; Wu, Keyuan; ye, yunyue

    2012-01-01

    An H-module linear actuator (HMLA) is proposed in this paper for medical equipment applications. Compared to the existing linear actuators used in medical equipment, the proposed H-module linear actuator has much lower normal force, which makes use of an additional air-suspension system unnecessary...

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

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

    2010-03-01

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

  16. Selecting Actuator Configuration for a Benson Boiler

    Kragelund, Martin Nygaard; Leth, John-Josef; Wisniewski, Rafal

    2009-01-01

    with particular focus on a boiler in a power plant operated by DONG Energy - a Danish energy supplier. The problem has been reformulated using mathematic notions from economics. The selection of actuator configuration has been limited to the fuel system which in the considered plant consists of three different...

  17. Math Machines: Using Actuators in Physics Classes

    Thomas, Frederick J.; Chaney, Robert A.; Gruesbeck, Marta

    2018-01-01

    Probeware (sensors combined with data-analysis software) is a well-established part of physics education. In engineering and technology, sensors are frequently paired with actuators--motors, heaters, buzzers, valves, color displays, medical dosing systems, and other devices that are activated by electrical signals to produce intentional physical…

  18. Numerical simulation of mechatronic sensors and actuators

    Kaltenbacher, Manfred

    2007-01-01

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

  19. Synthetic jet actuation for load control

    de Vries, Hein; van der Weide, Edwin Theodorus Antonius; Hoeijmakers, Hendrik Willem Marie

    2014-01-01

    The reduction of wind turbine blade loads is an important issue in the reduction of the costs of energy production. Reduction of the loads of a non-cyclic nature requires so-called smart rotor control, which involves the application of distributed actuators and sensors to provide fast and local

  20. Comb-drive actuators for large displacements

    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

  1. Actuator topology design using the controllability Gramian

    Alves da Silveira, Otávio Augusto; Ono Fonseca, Jun Sérgio; Santos, Ilmar

    2015-01-01

    This work develops a methodology for the optimal design of actuators for the vibration control of flexible structures. The objective is the maximization of a measure of the controllability Gramian. The test case is the embedding of piezoelectric inserts in elastic structures for vibration control...

  2. Actuator Line Modeling of Wind Turbine Wakes

    Troldborg, Niels

    2009-01-01

    This thesis contains a comprehensive 3D Navier-Stokes computational study of the characteristics of wakes of wind turbines operating in various flow conditions including interacting wakes between a row of turbines. The computations were carried out using the actuator line technique combined...

  3. Piezoelectric actuation of helicopter rotor blades

    Lieven, Nicholas A. J.

    2001-07-01

    The work presented in this paper is concerned with the application of embedded piezo-electric actuators in model helicopter rotor blades. The paper outlines techniques to define the optimal location of actuators to excite particular modes of vibration whilst the blade is rotating. Using composite blades the distribution of strain energy is defined using a Finite Element model with imposed rotor-dynamic and aerodynamics loads. The loads are specified through strip theory to determine the position of maximum bending moment and thus the optimal location of the embedded actuators. The effectiveness of the technique is demonstrated on a 1/4 scale fixed cyclic pitch rotor head. Measurement of the blade displacement is achieved by using strain gauges. In addition a redundant piezo-electric actuator is used to measure the blades' response characteristics. The addition of piezo-electric devices in this application has been shown to exhibit adverse aeroelastic effects, such as counter mass balancing and increased drag. Methods to minimise these effects are suggested. The outcome of the paper is a method for defining the location and orientation of piezo-electric devices in rotor-dynamic applications.

  4. A breath actuated dry powder inhaler

    de Boer, Anne; Frijlink, Henderik W.; Hagedoorn, Paul

    2015-01-01

    A breath actuated dry powder inhaler with a single air circulation chamber for de-agglomeration of entrained powdered medicament using the energy of the inspiratory air stream. The chamber has a substantially polygonal sidewall, a plurality of air supply channels entering the chamber substantially

  5. MSM actuators: design rules and control strategies

    Holz, Benedikt; Janocha, Hartmut [Laboratory of Process Automation (LPA), Saarland University, Saarbruecken (Germany); Riccardi, Leonardo; Naso, David [Department of Electronics and Electrical Science (DEE), Politecnico di Bari (Italy)

    2012-08-15

    Magnetic shape memory (MSM) alloys are comparatively new active materials which can be used for several industrial applications, ranging from precise positioning systems to advanced robotics. Beyond the material research, which deals with the basic thermo-magneto-mechanical properties of the crystals, the design as well as the control of the actuators displacement is an essential challenge. This paper addresses those two topics, trying to give to the reader a useful overview of existing results, but also presents new ideas. First, it introduces and discusses in details some possible designs, with a special emphasis on innovative actuator design concepts which are able to exploit the particular potentialities of MSM elements. The second focus of the paper is on the problem of designing a controller, i.e., an algorithm that allows to obtain a required performance from the actuator. The proposed control strategies try to take into account two main characteristics of MSM elements: the hysteresis and the temperature dependence. The effectiveness of the strategies is emphasized by experimental results performed on a commercially available MSM actuator demonstrator. (Copyright copyright 2012 WILEY-VCH Verlag GmbH and Co. KGaA, Weinheim)

  6. Application of a permanent magnet biased E-Core reluctance actuator in a magnetically suspended ceiling actuator

    Overboom, T.T.; Jansen, J.W.; Lomonova, E.

    2010-01-01

    In the paper a novel actuator is presented for a magnetically suspended ceiling actuator. The actuator consists of several stator segments which contain the coils and the magnets. The armature, therefore, has a totally passive design. Because of its salient structure, a translational force can be

  7. Electroactive polymer (EAP) actuators for planetary applications

    Bar-Cohen, Yoseph; Leary, Sean P.; Shahinpoor, Mohsen; Harrison, Joycelyn S.; Smith, J.

    1999-05-01

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

  8. Ground water

    Osmond, J.K.; Cowart, J.B.

    1982-01-01

    The subject is discussed under the headings: background and theory (introduction; fractionation in the hydrosphere; mobility factors; radioisotope evolution and aquifer classification; aquifer disequilibria and geochemical fronts); case studies (introduction; (a) conservative, and (b) non-conservative, behaviour); ground water dating applications (general requirements; radon and helium; radium isotopes; uranium isotopes). (U.K.)

  9. Ground water

    Osmond, J.K.; Cowart, J.B.

    1992-01-01

    The great variations in concentrations and activity ratios of 234 U/ 238 U in ground waters and the features causing elemental and isotopic mobility in the hydrosphere are discussed. Fractionation processes and their application to hydrology and other environmental problems such as earthquake, groundwater and aquifer dating are described. (UK)

  10. Propellant Flow Actuated Piezoelectric Igniter for Combustion Engines

    Wollen, Mark A. (Inventor)

    2018-01-01

    A propellant flow actuated piezoelectric igniter device using one or more hammer balls retained by one or more magnets, or other retaining method, until sufficient fluid pressure is achieved in one or more charging chambers to release and accelerate the hammer ball, such that it impacts a piezoelectric crystal to produce an ignition spark. Certain preferred embodiments provide a means for repetitively capturing and releasing the hammer ball after it impacts one or more piezoelectric crystals, thereby oscillating and producing multiple, repetitive ignition sparks. Furthermore, an embodiment is presented for which oscillation of the hammer ball and repetitive impact to the piezoelectric crystal is maintained without the need for a magnet or other retaining mechanism to achieve this oscillating impact process.

  11. Soft and smart modular structures actuated by shape memory alloy (SMA) wires as tentacles of soft robots

    Jin, Hu; Dong, Erbao; Xu, Min; Liu, Chunshan; Alici, Gursel; Jie, Yang

    2016-08-01

    This paper introduces the design and fabrication of a multi-layered smart modular structure (SMS) that has been inspired by the muscular organs and modularity in soft animals. The SMS is capable of planar reciprocal motion of bending in heating process and recovering in cooling process when SMA wires carry out phase transformation. An adaptive regulation heating strategy is applied to avoid overheating and achieve bending range control of the SMS based on the resistance feedback of the SMA wires which as actuator of the SMS. The SMS can modular assemble soft robots with multiple morphologies such as lateral robots, bilateral robots and actinomorphic robots. A five-armed actinomorphic soft robot is conducted to crawling in terrestrial ground (max speed: 140 mm s-1, 0.7 body s-1), swimming in underwater environment (max speed: 67 mm s-1, 2.5 height s-1) and griping fragile objects (max object weight: 0.91 kg, 15 times the weight of itself). Those demonstrate that the performance of the SMS is good enough to be modular units to establish soft robots which possess a high speed of response, good adaptability and a safe interaction with their environments.

  12. Exact analysis of two kinds of piezoelectric actuator

    Han Rong; Shi Zhifei

    2008-01-01

    Two kinds of piezoelectric hollow cylinder actuator are studied in this paper. One is the expansion actuator and the other is the contraction actuator. Using the Airy stress function method, the analytical solutions of these two kinds of actuators are obtained based on the theory of piezo-elasticity. The solutions are compared with numerical results and good agreement is found. Inherent properties of these two kinds of piezoelectric cylinder actuator are presented and discussed. Findings have applications in the field of micromechanics and microengineering

  13. Dielectric Barrier Discharge (DBD) Plasma Actuators Thrust-Measurement Methodology Incorporating New Anti-Thrust Hypothesis

    Ashpis, David E.; Laun, Matthew C.

    2014-01-01

    We discuss thrust measurements of Dielectric Barrier Discharge (DBD) plasma actuators devices used for aerodynamic active flow control. After a review of our experience with conventional thrust measurement and significant non-repeatability of the results, we devised a suspended actuator test setup, and now present a methodology of thrust measurements with decreased uncertainty. The methodology consists of frequency scans at constant voltages. The procedure consists of increasing the frequency in a step-wise fashion from several Hz to the maximum frequency of several kHz, followed by frequency decrease back down to the start frequency of several Hz. This sequence is performed first at the highest voltage of interest, then repeated at lower voltages. The data in the descending frequency direction is more consistent and selected for reporting. Sample results show strong dependence of thrust on humidity which also affects the consistency and fluctuations of the measurements. We also observed negative values of thrust or "anti-thrust", at low frequencies between 4 Hz and up to 64 Hz. The anti-thrust is proportional to the mean-squared voltage and is frequency independent. Departures from the parabolic anti-thrust curve are correlated with appearance of visible plasma discharges. We propose the anti-thrust hypothesis. It states that the measured thrust is a sum of plasma thrust and anti-thrust, and assumes that the anti-thrust exists at all frequencies and voltages. The anti-thrust depends on actuator geometry and materials and on the test installation. It enables the separation of the plasma thrust from the measured total thrust. This approach enables more meaningful comparisons between actuators at different installations and laboratories. The dependence on test installation was validated by surrounding the actuator with a large diameter, grounded, metal sleeve.

  14. Another Lesson from Plants: The Forward Osmosis-Based Actuator

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

    2014-01-01

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

  15. Another lesson from plants: the forward osmosis-based actuator.

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

    2014-01-01

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

  16. Another lesson from plants: the forward osmosis-based actuator.

    Edoardo Sinibaldi

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

  17. Experimental Investigation on Airfoil Shock Control by Plasma Aerodynamic Actuation

    Sun Quan; Cheng Bangqin; Li Yinghong; Cui Wei; Jin Di; Li Jun

    2013-01-01

    An experimental investigation on airfoil (NACA64—215) shock control is performed by plasma aerodynamic actuation in a supersonic tunnel (Ma = 2). The results of schlieren and pressure measurement show that when plasma aerodynamic actuation is applied, the position moves forward and the intensity of shock at the head of the airfoil weakens. With the increase in actuating voltage, the total pressure measured at the head of the airfoil increases, which means that the shock intensity decreases and the control effect increases. The best actuation effect is caused by upwind-direction actuation with a magnetic field, and then downwind-direction actuation with a magnetic field, while the control effect of aerodynamic actuation without a magnetic field is the most inconspicuous. The mean intensity of the normal shock at the head of the airfoil is relatively decreased by 16.33%, and the normal shock intensity is relatively reduced by 27.5% when 1000 V actuating voltage and upwind-direction actuation are applied with a magnetic field. This paper theoretically analyzes the Joule heating effect generated by DC discharge and the Lorentz force effect caused by the magnetic field. The discharge characteristics are compared for all kinds of actuation conditions to reveal the mechanism of shock control by plasma aerodynamic actuation

  18. Development of thermal actuators with multi-locking positions

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

    2006-04-01

    To reduce power consumption and operation temperature for micro-thermal actuators, metal-based micro-mechanical locks with multi-locking positions were analyzed and fabricated. The micro-locks consist of two or three U-shaped thermal actuators. The devices were made by a single mask process using electroplated Ni as the active material. Tests showed that the metal based thermal actuators deliver a maximum displacement of ~20µm at a much lower temperature than that of Si-based actuators. However Ni-actuators showed a severe back bending, which increases with increasing applied power. The temperature to initiate the back bending is as low as ~240°C. Back bending increases the distance between the two actuators, and leads to locking function failure. For practical application, Ni-based thermal actuators must be operated below 200°C.

  19. Remotely powered and controlled EAPap actuator by amplitude modulated microwaves

    Yang, Sang Yeol; Mahadeva, Suresha K; Kim, Jaehwan

    2013-01-01

    This paper reports on a remotely powered and controlled Electro-Active Paper (EAPap) actuator without onboard controller using amplitude modulated microwaves. A rectenna is a key element for microwave power transmission that converts microwaves into dc power through coupling and rectification. In this study, the concept of a remotely controlled and powered EAPap actuator is proposed by means of modulating microwaves with a control signal and demodulating it through the rectenna rectification. This concept is applied to a robust EAPap actuator, namely cellulose–polypyrrole–ionic liquid (CPIL) EAPap. Details of fabrication and characterization of the rectenna and the CPIL-EAPap actuator are explained. Also, the charge accumulation problem of the actuator is explained and resolved by connecting an additional resistor. Since this idea can eliminate the onboard controller by supplying the operating signal through modulation, a compact and lightweight actuator can be achieved, which is useful for biomimetic robots and remotely driven actuators. (technical note)

  20. Mechatronics and Bioinspiration in Actuator Design and Control

    J. L. Pons

    2008-01-01

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

  1. Cyclic degradation of antagonistic shape memory actuated structures

    Sofla, A Y N; Elzey, D M; Wadley, H N G

    2008-01-01

    Antagonistic shape memory actuated structures exploit opposing pairs of one-way shape memory alloy (SMA) linear actuators to create devices capable of a fully reversible response. Unlike many conventional reversible SMA devices they do not require bias force components (springs) to return them to their pre-actuated configuration. However, the repeated use of SMA antagonistic devices results in the accumulation of plastic strain in the actuators which can diminish their actuation stroke. We have investigated this phenomenon and the effect of shape memory alloy pre-strain upon it for near equi-atomic NiTi actuators. We find that the degradation eventually stabilizes during cycling. A thermomechanical treatment has been found to significantly reduce degradation in cyclic response of the actuators

  2. Analytical dynamic modeling of fast trilayer polypyrrole bending actuators

    Amiri Moghadam, Amir Ali; Moavenian, Majid; Tahani, Masoud; Torabi, Keivan

    2011-01-01

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

  3. Evaluation of piezoceramic actuators for control of aircraft interior noise

    Silcox, Richard J.; Lefebvre, Sylvie; Metcalf, Vern L.; Beyer, Todd B.; Fuller, Chris R.

    1992-01-01

    Results of an experiment to evaluate piezoceramic actuators as the control actuator for active control of interior noise in a large-scale fuselage model are presented. Control was demonstrated for tonal excitation using a time domain least mean squares algorithm. A maximum of four actuator channels and six error signals were used. The actuators were employed for control of noise at frequencies where interior cavity modes were the dominant response and for driven acoustic responses where a structure resonance was dominant. Global reductions of 9 to 12 dB were obtained for the cases examined. The most effective configuration of skin-mounted actuators was found to be a pure in-plane forcing function as opposed to a bending excitation. The frame-mounted actuators were found to be equally effective as the skin-mounted actuators. However, both configurations resulted in local regions of unacceptably high vibration response in the structure.

  4. A smart experimental technique for the optimization of dielectric elastomer actuator (DEA) systems

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

    2015-01-01

    In order to aid in moving dielectric elastomer actuator (DEA) technology from the laboratory into a commercial product DEA prototypes should be tested against a variety of loading conditions and eventually in the end user conditions. An experimental test setup to seamlessly perform mechanical characterization and loading of the DEA would be a great asset toward this end. Therefore, this work presents the design, control and systematic validation of a benchtop testing station for miniature silicon based circular DEAs. A versatile benchtop tester is able to characterize and apply programmable loading forces to the DEA while measuring actuator performance. The tester successfully applied mechanical loads to the DEA (including positive, constant and negative stiffness loads) simulating biasing systems via an electromagnetic linear motor operating in closed loop with a force/mechanical impedance control scheme. The tester expedites mechanical testing of the DEA by eliminating the need to build intricate pre-load mechanisms or use multiple testing jigs for characterizing the DEA response. The results show that proper mechanical loading of the DEA increases the overall electromechanical sensitivity of the system and thereby the actuator output. This approach to characterize and apply variable loading forces to DEAs in a single test system will enable faster realization of higher performance actuators. (paper)

  5. Centrifugal forming and mechanical properties of silicone-based elastomers for soft robotic actuators

    Kulkarni, Parth

    This thesis describes the centrifugal forming and resulting mechanical properties of silicone-based elastomers for the manufacture of soft robotic actuators. This process is effective at removing bubbles that get entrapped within 3D-printed, enclosed molds. Conventional methods for rapid prototyping of soft robotic actuators to remove entrapped bubbles typically involve degassing under vacuum, with open-faced molds that limit the layout of formed parts to raised 2D geometries. As the functionality and complexity of soft robots increase, there is a need to mold complete 3D structures with controlled thicknesses or curvatures on multiples surfaces. In addition, characterization of the mechanical properties of common elastomers for these soft robots has lagged the development of new designs. As such, relationships between resulting material properties and processing parameters are virtually non-existent. One of the goals of this thesis is to provide guidelines and physical insights to relate the design, processing conditions, and resulting properties of soft robotic components to each other. Centrifugal forming with accelerations on the order of 100 g's is capable of forming bubble-free, true 3D components for soft robotic actuators, and resulting demonstrations in this work include an aquatic locomotor, soft gripper, and an actuator that straightens when pressurized. Finally, this work shows that the measured mechanical properties of 3D geometries fabricated within enclosed molds through centrifugal forming possess comparable mechanical properties to vacuumed materials formed from open-faced molds with raised 2D features.

  6. Distributed Fault-Tolerant Control of Networked Uncertain Euler-Lagrange Systems Under Actuator Faults.

    Chen, Gang; Song, Yongduan; Lewis, Frank L

    2016-05-03

    This paper investigates the distributed fault-tolerant control problem of networked Euler-Lagrange systems with actuator and communication link faults. An adaptive fault-tolerant cooperative control scheme is proposed to achieve the coordinated tracking control of networked uncertain Lagrange systems on a general directed communication topology, which contains a spanning tree with the root node being the active target system. The proposed algorithm is capable of compensating for the actuator bias fault, the partial loss of effectiveness actuation fault, the communication link fault, the model uncertainty, and the external disturbance simultaneously. The control scheme does not use any fault detection and isolation mechanism to detect, separate, and identify the actuator faults online, which largely reduces the online computation and expedites the responsiveness of the controller. To validate the effectiveness of the proposed method, a test-bed of multiple robot-arm cooperative control system is developed for real-time verification. Experiments on the networked robot-arms are conduced and the results confirm the benefits and the effectiveness of the proposed distributed fault-tolerant control algorithms.

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

    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.

  8. Omni Directional Multimaterial Soft Cylindrical Actuator and Its Application as a Steerable Catheter.

    Gul, Jahan Zeb; Yang, Young Jin; Su, Kim Young; Choi, Kyung Hyun

    2017-09-01

    Soft actuators with complex range of motion lead to strong interest in applying devices like biomedical catheters and steerable soft pipe inspectors. To facilitate the use of soft actuators in devices where controlled, complex, precise, and fast motion is required, a structurally controlled Omni directional soft cylindrical actuator is fabricated in a modular way using multilayer composite of polylactic acid based conductive Graphene, shape memory polymer, shape memory alloy, and polyurethane. Multiple fabrication techniques are discussed step by step that mainly include fused deposition modeling based 3D printing, dip coating, and UV curing. A mathematical control model is used to generate patterned electrical signals for the Omni directional deformations. Characterizations like structural control, bending, recovery, path, and thermal effect are carried out with and without load (10 g) to verify the new cylindrical design concept. Finally, the application of Omni directional actuator as a steerable catheter is explored by fabricating a scaled version of carotid artery through 3D printing using a semitransparent material.

  9. Solid electroytes for CNT-based actuators

    Riemenschneider, Johannes; Geier, Sebastian; Mahrholz, Thorsten; Mosch, Jürgen; Monner, Hans Peter; Sinapius, Michael

    2009-03-01

    Actuators based on carbon nanotubes (CNT) have the potential to generate high forces at very low voltages. The density of the raw material is just 1330 kg/m3, which makes them well applicable for lightweight applications. Moreover, active strains of up to 1% can be achieved - due to the CNTs dimensional changes on charge injection. Therefore the nanotubes have to be arranged and electrically wired like electrodes of a capacitor. In previous works the system's response of the Nanotubes comprising a liquid electrolyte was studied in detail. The major challenge is to repeat such experiments with solid electrolytes, which is a prerequisite for structural integration. In this paper a method is proposed which makes sure the expansion is not based on thermal expansion. This is done by analysing the electrical system response. As thermal expansion is dominated by ohmic resistance the CNT based actuators show a strong capacitive behavior. This behavior is referable to the constitution of the electrochemical double layer around the nanotubes, which causes the tubes to expand. Also a novel test setup is described, which guarantees that the displacement which is measured will not be caused by bending of a bimorph but due to expansion of a single layer of nanotubes. This paper also presents experimental results demonstrating both, the method of electrical characterization of CNT based actuators with implemented solid electrolytes and the novel test setup which is used to measure the needed data. The actuators which were characterized are hybrids of CNT and the solid electrolyte NAFION which is supplying the ions needed to constitute the electrochemical double layer. The manufacturing, processing of these actuators and also some first experimental results are shown. Unfortunately, the results are not as clear as those for liquid electrolytes, which depend on the hybrid character of the analyzed devices. In the liquid electrolyte based case the CNTs are the only source of

  10. Ground Pollution Science

    Oh, Jong Min; Bae, Jae Geun

    1997-08-01

    This book deals with ground pollution science and soil science, classification of soil and fundamentals, ground pollution and human, ground pollution and organic matter, ground pollution and city environment, environmental problems of the earth and ground pollution, soil pollution and development of geological features of the ground, ground pollution and landfill of waste, case of measurement of ground pollution.

  11. A comparison of the effects of visual deprivation and regular body weight support treadmill training on improving over-ground walking of stroke patients: a multiple baseline single subject design.

    Kim, Jeong-Soo; Kang, Sun-Young; Jeon, Hye-Seon

    2015-01-01

    The body-weight-support treadmill (BWST) is commonly used for gait rehabilitation, but other forms of BWST are in development, such as visual-deprivation BWST (VDBWST). In this study, we compare the effect of VDBWST training and conventional BWST training on spatiotemporal gait parameters for three individuals who had hemiparetic strokes. We used a single-subject experimental design, alternating multiple baselines across the individuals. We recruited three individuals with hemiparesis from stroke; two on the left side and one on the right. For the main outcome measures we assessed spatiotemporal gait parameters using GAITRite, including: gait velocity; cadence; step time of the affected side (STA); step time of the non-affected side (STN); step length of the affected side (SLA); step length of the non-affected side (SLN); step-time asymmetry (ST-asymmetry); and step-length asymmetry (SL-asymmetry). Gait velocity, cadence, SLA, and SLN increased from baseline after both interventions, but STA, ST-asymmetry, and SL-asymmetry decreased from the baseline after the interventions. The VDBWST was significantly more effective than the BWST for increasing gait velocity and cadence and for decreasing ST-asymmetry. VDBWST is more effective than BWST for improving gait performance during the rehabilitation for ground walking.

  12. Nanoscale Assembly of Actuating Cilia-Mimetic

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

    2009-03-01

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

  13. 2D Electrostatic Actuation of Microshutter Arrays

    Burns, Devin E.; Oh, Lance H.; Li, Mary J.; Jones, Justin S.; Kelly, Daniel P.; Zheng, Yun; Kutyrev, Alexander S.; Moseley, Samuel H.

    2015-01-01

    An electrostatically actuated microshutter array consisting of rotational microshutters (shutters that rotate about a torsion bar) were designed and fabricated through the use of models and experiments. Design iterations focused on minimizing the torsional stiffness of the microshutters, while maintaining their structural integrity. Mechanical and electromechanical test systems were constructed to measure the static and dynamic behavior of the microshutters. The torsional stiffness was reduced by a factor of four over initial designs without sacrificing durability. Analysis of the resonant behavior of the microshutter arrays demonstrates that the first resonant mode is a torsional mode occurring around 3000 Hz. At low vacuum pressures, this resonant mode can be used to significantly reduce the drive voltage necessary for actuation requiring as little as 25V. 2D electrostatic latching and addressing was demonstrated using both a resonant and pulsed addressing scheme.

  14. Bucky gel actuator displacement: experiment and model

    Ghamsari, A K; Zegeye, E; Woldesenbet, E; Jin, Y

    2013-01-01

    Bucky gel actuator (BGA) is a dry electroactive nanocomposite which is driven with a few volts. BGA’s remarkable features make this tri-layered actuator a potential candidate for morphing applications. However, most of these applications would require a better understanding of the effective parameters that influence the BGA displacement. In this study, various sets of experiments were designed to investigate the effect of several parameters on the maximum lateral displacement of BGA. Two input parameters, voltage and frequency, and three material/design parameters, carbon nanotube type, thickness, and weight fraction of constituents were selected. A new thickness ratio term was also introduced to study the role of individual layers on BGA displacement. A model was established to predict BGA maximum displacement based on the effect of these parameters. This model showed good agreement with reported results from the literature. In addition, an important factor in the design of BGA-based devices, lifetime, was investigated. (paper)

  15. Temperature sensitive self-actuated scram mechanism

    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.)

  16. Actuation response of polyacrylate dielectric elastomers

    Kofod, G.; Kornbluh, R.; Pelrine, R.

    2001-01-01

    Polyacrylate dielectric elastomers have yielded extremely large strain and elastic energy density suggesting that they are useful for many actuator applications. A thorough understanding of the physics underlying the mechanism of the observed response to an electric field can help develop improved......, though there are discrepancies. Further analysis suggests that these arise mostly from imperfect manufacture of the actuators, though there is a small contribution from an explicitly electrostrictive behavior of the acrylic adhesive. Measurements of the dielectric constant of stretched polymer reveal...... that the dielectric constant drops, when the polymer is strained, indicating the existence of a small electrostrictive effect. Finally, measurements of the electric breakdown field were made. These also show a dependence upon the strain. In the unstrained state the breakdown field is 20 WV/m, which grows to 218MV...

  17. Stabilization of Neutral Systems with Saturating Actuators

    F. El Haoussi

    2012-01-01

    to determine stabilizing state-feedback controllers with large domain of attraction, expressed as linear matrix inequalities, readily implementable using available numerical tools and with tuning parameters that make possible to select the most adequate solution. These conditions are derived by using a Lyapunov-Krasovskii functional on the vertices of the polytopic description of the actuator saturations. Numerical examples demonstrate the effectiveness of the proposed technique.

  18. Dynamic Electromechanical Coupling of Piezoelectric Bending Actuators

    Mostafa R. A. Nabawy

    2016-01-01

    Full Text Available Electromechanical coupling defines the ratio of electrical and mechanical energy exchanged during a flexure cycle of a piezoelectric actuator. This paper presents an analysis of the dynamic electromechanical coupling factor (dynamic EMCF for cantilever based piezoelectric actuators and provides for the first time explicit expressions for calculation of dynamic EMCF based on arrangement of passive and active layers, layer geometry, and active and passive materials selection. Three main cantilever layer configurations are considered: unimorph, dual layer bimorph and triple layer bimorph. The actuator is modeled using standard constitutive dynamic equations that relate deflection and charge to force and voltage. A mode shape formulation is used for the cantilever dynamics that allows the generalized mass to be the actual mass at the first resonant frequency, removing the need for numerical integration in the design process. Results are presented in the form of physical insight from the model structure and also numerical evaluations of the model to provide trends in dynamic EMCF with actuator design parameters. For given material properties of the active and passive layers and given system overall damping ratio, the triple layer bimorph topology is the best in terms of theoretically achievable dynamic EMCF, followed by the dual layer bimorph. For a damping ratio of 0.035, the dynamic EMCF for an example dual layer bimorph configuration is 9% better than for a unimorph configuration. For configurations with a passive layer, the ratio of thicknesses for the passive and active layers is the primary geometric design variable. Choice of passive layer stiffness (Young’s modulus relative to the stiffness of the material in the active layer is an important materials related design choice. For unimorph configurations, it is beneficial to use the highest stiffness possible passive material, whereas for triple layer bimorph configurations, the passive

  19. Bio-Inspired Flexible Cellular Actuating Systems

    2013-11-21

    S. Hong, “Robust adaptive boundary control of a flexible marine riser with vessel dynamics,” Automatica, vol. 47, pp. 722–732, 2011. [22] D. H...conditionally accepted. [6] W. He, S. S. Ge, B. V. E. How, Y. S. Choo, and K. S. Hong, “Robust adaptive boundary control of a flexible marine riser ... flexible robotic actuators, often represented by a distributed parameter system or a partial differential equation. We establish a model-guided

  20. Radiation pressure actuation of test masses

    Garoi, F; Ju, L; Zhao, C; Blair, D G

    2004-01-01

    In this paper, we investigate the use of radiation pressure force as test mass actuation for laser interferometer gravitational wave detectors. It is shown that it is viable to provide radiation pressure control on test masses for frequencies above ∼0.2 Hz in high performance vibration isolation systems. A very low mass, low frequency resonator has been used to verify that radiation pressure force is not corrupted by other forces such as due to radiometer effects

  1. Bistable (latching) solenoid actuated propellant isolation valve

    Wichmann, H.; Deboi, H. H.

    1979-01-01

    The design, fabrication, assembly and test of a development configuration bistable (latching) solenoid actuated propellant isolation valve suitable for the control hydrazine and liquid fluorine to an 800 pound thrust rocket engine is described. The valve features a balanced poppet, utilizing metal bellows, a hard poppet/seat interface and a flexure support system for the internal moving components. This support system eliminates sliding surfaces, thereby rendering the valve free of self generated particles.

  2. Induction thermoelastic actuator with controllable operation regime

    Doležel, Ivo; Kotlan, V.; Krónerová, E.; Ulrych, B.

    2010-01-01

    Roč. 29, č. 4 (2010), s. 1004-1014 ISSN 0332-1649 R&D Projects: GA ČR GA102/09/1305 Institutional research plan: CEZ:AV0Z20570509 Keywords : control of position * thermoelastic actuator * electromagnetic field Subject RIV: JA - Electronics ; Optoelectronics, Electrical Engineering Impact factor: 0.386, year: 2010 www.emeraldinsight.com/compel.htm

  3. Design and demonstration of a fish robot actuated by a SMA-driven actuation system

    Le, Chan H.; Nguyen, Quang S.; Park, Hoon C.

    2010-04-01

    This paper presents a concept of a fish robot actuated by an SMA-based actuator. The bending-type actuator system is composed of a 0.1mm diameter SMA wire and a 0.5mm thick glass/epoxy strip. The SMA wire is installed to the bent composite strip. The actuator can produce about 200gf of blocking force and 3.5mm displacement at the center of the glass/epoxy strip. The bending motion of the actuator is converted into the tail-beat motion of a fish robot through a linkage system. The fish robot is evaluated by measuring the tail-beat angle, swimming speed and thrust produced by the fish robot. The tail-beat angle is about 20° and the maximum swimming speed is about 1.6cm/s. The measured thrust is about 0.4gf when the fish robot is operated at 0.9Hz.

  4. Evaluation of multimodal ground cues

    Nordahl, Rolf; Lecuyer, Anatole; Serafin, Stefania

    2012-01-01

    This chapter presents an array of results on the perception of ground surfaces via multiple sensory modalities,with special attention to non visual perceptual cues, notably those arising from audition and haptics, as well as interactions between them. It also reviews approaches to combining...... synthetic multimodal cues, from vision, haptics, and audition, in order to realize virtual experiences of walking on simulated ground surfaces or other features....

  5. Novel compliant actuator for wearable robotics applications.

    Claros, M; Soto, R; Rodríguez, J J; Cantú, C; Contreras-Vidal, José L

    2013-01-01

    In the growing fields of wearable robotics, rehabilitation robotics, prosthetics, and walking robots, variable impedance and force actuators are being designed and implemented because of their ability to dynamically modulate the intrinsic viscoelastic properties such as stiffness and damping. This modulation is crucial to achieve an efficient and safe human-robot interaction that could lead to electronically generate useful emergent dynamical behaviors. In this work we propose a novel actuation system in which is implemented a control scheme based on equilibrium forces for an active joint capable to provide assistance/resistance as needed and also achieve minimal mechanical impedance when tracking the movement of the user limbs. The actuation system comprises a DC motor with a built in speed reducer, two force-sensing resistors (FSR), a mechanism which transmits to the FSRs the torque developed in the joint and a controller which regulate the amount of energy that is delivered to the DC motor. The proposed system showed more impedance reduction, by the effect of the controlled contact forces, compared with the ones in the reviewed literature.

  6. Considerations for Contractile Electroactive Materials and Actuators

    Rasmussen, Lenore; Erickson, Carl J.; Meixler, Lewis D.; Ascione, George; Gentile, Charles A.; Tilson, Carl; Bernasek, Stephen L.; Abelev, Esta

    2010-02-19

    Ras Labs produces electroactive polymer (EAP) based materials and actuators that bend, swell, ripple and now contract (new development) with low electric input. This is an important attribute because of the ability of contraction to produce life-like motion. The mechanism of contraction is not well understood. Radionuclide-labeled experiments were conducted to follow the movement of electrolytes and water in these EAPs when activated. Extreme temperature experiments were performed on the contractile EAPs with very favorable results. One of the biggest challenges in developing these actuators, however, is the electrode-EAP interface because of the pronounced movement of the EAP. Plasma treatments of metallic electrodes were investigated in order to improve the attachment of the embedded electrodes to the EAP material. Surface analysis, adhesive testing, and mechanical testing were conducted to test metal surfaces and metal-polymer interfaces. The nitrogen plasma treatment of titanium produced a strong metal-polymer interface; however, oxygen plasma treatment of both stainless steel and titanium produced even stronger metal-polymer interfaces. Plasma treatment of the electrodes allows for the embedded electrodes and the EAP material of the actuator to work and move as a unit, with no detachment, by significantly improving the metal-polymer interface.

  7. Orthopaedic Rehabilitation Device Actuated with Pneumatic Muscles

    Ioana Petre

    2014-07-01

    Full Text Available Year after year recovery clinics worldwide report significant numbers of lower limb bearing joint disabilities. An effective method for the speedy rehabilitation of patients with such afflictions is Continuous Passive Motion (CPM, drawing upon a range of specific equipment. This paper presents an innovative constructive solution for such orthopaedic rehabilitation equipment, designed to ensure a swift reintegration of patients at as low a cost as possible. The absolute novelty consists in the utilization of the linear pneumatic muscle as actuator of the orthopaedic rehabilitation equipment, thus achieving a light and highly compliant construction that satisfies safety requirements related to man-machine interaction. Pneumatic muscles are bio-inspired actuation systems characterized by a passive variable compliant behaviour. This property, deployed in rehabilitation systems, enables the development of human friendly devices, which are comfortable for the patients, and capable of safe interaction. This paper presents the constructive schematic of the orthopaedic rehabilitation equipment, the structure of the actuation and positioning system, and several of its functional characteristics.

  8. Fabrication of a New Electrostatic Linear Actuator

    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.

  9. Experimental Research on Fluid Coupling Flexible Actuator

    Xiangli Zeng

    2018-02-01

    Full Text Available In the field of micromechanics, piezoelectric actuator has attracted great attention for its high-frequency response, high displacement resolution, and high output force. However, its prospect of practical application has been largely limited by the displacement of micrometer. A fluid coupling flexible actuator was proposed, which utilizes resonance to enlarge the output displacement. The actuator uses a piezoelectric oscillator as an excitation source, fluid as the transmission medium and a flexible diaphragm for the displacement output. On the condition that the fluid is inviscid and incompressible, mathematical formulation of the membrane vibration theory has been analyzed. Then, the prototype is made. The displacement is amplified 21 times to 1.106 mm when driving frequency is 127 Hz. The flexible diaphragm appears the largest displacement output when driving frequency is close to one of the system’s natural frequency. Then, the points with zero amplitude form a circle on the surface of flexible diaphragm and the movement direction of the flexible diaphragm is opposite on different sides of the circle. In fact, rather than vibrates at the first resonance frequency, the membrane in the essay is vibrating at a certain higher-order resonance frequency. The experimental results are mainly consistent with the theoretical analysis.

  10. Fpga-based control of piezoelectric actuators

    Juhász László

    2011-01-01

    Full Text Available In many industrial applications like semiconductor production and optical inspection systems, the availability of positioning systems capable to follow trajectory paths in the range of several centimetres, featuring at the same time a nanometre-range precision, is demanding. Pure piezoelectric stages and standard positioning systems with motor and spindle are not able to meet such requirements, because of the small operation range and inadequacies like backlash and friction. One concept for overcoming these problems consists of a hybrid positioning system built through the integration of a DC-drive in series with a piezoelectric actuator. The wide range of potential applications enables a considerable market potential for such an actuator, but due to the high variety of possible positioned objects and dynamic requirements, the required control complexity may be significant. In this paper, a real-time capable state-space control concept for the piezoelectric actuators, embedded in such a hybrid micropositioning system, is presented. The implementation of the controller together with a real-time capable hysteresis compensation measure is performed using a low-budget FPGA-board, whereas the superimposed integrated controller is realized with a dSPACE RCP-system. The advantages of the designed control over a traditional proportional-integral control structure are proven through experimental results using a commercially available hybrid micropositioning system. Positioning results by different dynamic requirements featuring positioning velocities from 1 μm/s up to 5 cm/s are given.

  11. Highly Tunable Electrothermally and Electrostatically Actuated Resonators

    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

  12. Considerations for Electroactive Polymeric Materials and Actuators

    Rasmussen, Lenore; Erickson, Carl J.; Meixler, Lewis D.; Ascione, George; Gentile, Charles A.; Tilson, Carl; Bernasek, Stephen L.; Abelev, Esta

    2010-01-01

    Ras Labs produces electroactive polymer (EAP) based materials and actuators that bend, swell, ripple and now contract (new development) with low electric input. This is an important attribute because of the ability of contraction to produce life-like motion. The mechanism of contraction is not well understood. Radionuclide-labeled experiments were conducted to follow the movement of electrolytes and water in these EAPs when activated. Extreme temperature experiments were performed on the contractile EAPs with very favorable results. One of the biggest challenges in developing these actuators, however, is the electrode-EAP interface because of the pronounced movement of the EAP. Plasma treatments of metallic electrodes were investigated in order to improve the attachment of the embedded electrodes to the EAP material. Surface analysis, adhesive testing, and mechanical testing were conducted to test metal surfaces and metal-polymer interfaces. The nitrogen plasma treatment of titanium produced a strong metal-polymer interface; however, oxygen plasma treatment of both stainless steel and titanium produced even stronger metal-polymer interfaces. Plasma treatment of the electrodes allows for the embedded electrodes and the EAP material of the actuator to work and move as a unit, with no detachment, by significantly improving the metal-polymer interface.

  13. Navigation Solution for a Multiple Satellite and Multiple Ground Architecture

    2014-09-14

    fuel case. Specific to the application at hand, Ng, Brietfeller and Ledebuhr [34] derive a cost function that harnesses the multi-objective nature of...differential correction algorithm. 3.4 Coordinate System Throughout this research the coordinate system used is the Geocentric Inertial Coordinate...achieving a successful fly-by for a minimum fuel cost . Further information from the TMN differential correction algorithm can be gleaned from Figure 4.4

  14. Communication grounding facility

    Lee, Gye Seong

    1998-06-01

    It is about communication grounding facility, which is made up twelve chapters. It includes general grounding with purpose, materials thermal insulating material, construction of grounding, super strength grounding method, grounding facility with grounding way and building of insulating, switched grounding with No. 1A and LCR, grounding facility of transmission line, wireless facility grounding, grounding facility in wireless base station, grounding of power facility, grounding low-tenton interior power wire, communication facility of railroad, install of arrester in apartment and house, install of arrester on introduction and earth conductivity and measurement with introduction and grounding resistance.

  15. AWARE: Platform for Autonomous self-deploying and operation of Wireless sensor-actuator networks cooperating with unmanned AeRial vehiclEs

    Ollero, Anibal; Bernard, Markus; La Civita, Marco; van Hoesel, L.F.W.; Marron, Pedro J.; Lepley, Jason; de Andres, Eduardo

    This paper presents the AWARE platform that seeks to enable the cooperation of autonomous aerial vehicles with ground wireless sensor-actuator networks comprising both static and mobile nodes carried by vehicles or people. Particularly, the paper presents the middleware, the wireless sensor network,

  16. Concept of a Series-Parallel Elastic Actuator for a Powered Transtibial Prosthesis

    Bram Vanderborght

    2013-07-01

    Full Text Available The majority of the commercial transtibial prostheses are purely passive devices. They store energy in an elastic element during the beginning of a step and release it at the end. A 75 kg human, however, produces on average 26 J of energy during one stride at the ankle joint when walking at normal cadence and stores/releases 9 J of energy, contributing to energy efficient locomotion. According to Winter, a subject produces on average of 250W peak power at a maximum joint torque of 125 Nm. As a result, powering a prosthesis with traditional servomotors leads to excessive motors and gearboxes at the outer extremities of the legs. Therefore, research prototypes use series elastic actuation (SEA concepts to reduce the power requirements of the motor. In the paper, it will be shown that SEAs are able to reduce the power of the electric motor, but not the torque. To further decrease the motor size, a novel human-centered actuator concept is developed, which is inspired by the variable recruitment of muscle fibers of a human muscle. We call this concept series-parallel elastic actuation (SPEA, and the actuator consists of multiple parallel springs, each connected to an intermittent mechanism with internal locking and a single motor. As a result, the motor torque requirements can be lowered and the efficiency drastically increased. In the paper, the novel actuation concept is explained, and a comparative study between a stiff motor, an SEA and an SPEA, which all aim at mimicking human ankle behavior, is performed.

  17. Electromechanical actuation for thrust vector control applications

    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

  18. Robust adaptive multivariable higher-order sliding mode flight control for air-breathing hypersonic vehicle with actuator failures

    Peng Li

    2016-10-01

    Full Text Available This article proposes an adaptive multivariable higher-order sliding mode control for the longitudinal model of an air-breathing vehicle under system uncertainties and actuator failures. Firstly, a fast finite-time control law is designed for a chain of integrators. Secondly, based on the input/output feedback linearization technique, the system uncertainty and external disturbances are modeled as additive certainty and the actuator failures are modeled as multiplicative uncertainty. By using the proposed fast finite-time control law, a robust multivariable higher-order sliding mode control is designed for the air-breathing hypersonic vehicle with actuator failures. Finally, adaptive laws are proposed for the adaptation of the parameters in the robust multivariable higher-order sliding mode control. Thus, the bounds of the uncertainties are not needed in the control system design. Simulation results show the effectiveness of the proposed robust adaptive multivariable higher-order sliding mode control.

  19. Indirect adaptive fuzzy fault-tolerant tracking control for MIMO nonlinear systems with actuator and sensor failures.

    Bounemeur, Abdelhamid; Chemachema, Mohamed; Essounbouli, Najib

    2018-05-10

    In this paper, an active fuzzy fault tolerant tracking control (AFFTTC) scheme is developed for a class of multi-input multi-output (MIMO) unknown nonlinear systems in the presence of unknown actuator faults, sensor failures and external disturbance. The developed control scheme deals with four kinds of faults for both sensors and actuators. The bias, drift, and loss of accuracy additive faults are considered along with the loss of effectiveness multiplicative fault. A fuzzy adaptive controller based on back-stepping design is developed to deal with actuator failures and unknown system dynamics. However, an additional robust control term is added to deal with sensor faults, approximation errors, and external disturbances. Lyapunov theory is used to prove the stability of the closed loop system. Numerical simulations on a quadrotor are presented to show the effectiveness of the proposed approach. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

  20. Self-Sensing Ionic Polymer Actuators: A Review

    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.

  1. Paper actuators made with cellulose and hybrid materials.

    Kim, Jaehwan; Yun, Sungryul; Mahadeva, Suresha K; Yun, Kiju; Yang, Sang Yeol; Maniruzzaman, Mohammad

    2010-01-01

    Recently, cellulose has been re-discovered as a smart material that can be used as sensor and actuator materials, which is termed electro-active paper (EAPap). This paper reports recent advances in paper actuators made with cellulose and hybrid materials such as multi-walled carbon nanotubes, conducting polymers and ionic liquids. Two distinct actuator principles in EAPap actuators are demonstrated: piezoelectric effect and ion migration effect in cellulose. Piezoelectricity of cellulose EAPap is quite comparable with other piezoelectric polymers. But, it is biodegradable, biocompatible, mechanically strong and thermally stable. To enhance ion migration effect in the cellulose, polypyrrole conducting polymer and ionic liquids were nanocoated on the cellulose film. This hybrid cellulose EAPap nanocomposite exhibits durable bending actuation in an ambient humidity and temperature condition. Fabrication, characteristics and performance of the cellulose EAPap and its hybrid EAPap materials are illustrated. Also, its possibility for remotely microwave-driven paper actuator is demonstrated.

  2. Dielectric elastomer actuators used for pneumatic valve technology

    Giousouf, Metin; Kovacs, Gabor

    2013-01-01

    Dielectric elastomer actuators have been investigated for applications in the field of pneumatic automation technology. We have developed different valve designs with stacked dielectric elastomer actuators and with integrated high voltage converters. The actuators were made using VHB-4910 material and a stacker machine for automated fabrication of the cylindrical actuators. Typical characteristics of pneumatic valves such as flow rate, power consumption and dynamic behaviour are presented. For valve construction the force and stroke parameters of the dielectric elastomer actuator have been measured. Further, benefits for valve applications using dielectric elastomers are shown as well as their potential operational area. Finally, challenges are discussed that are relevant for the use of elastomer actuators in valves for industrial applications. (paper)

  3. A multi-purpose electromagnetic actuator for magnetic resonance elastography.

    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.

  4. Characterization and design of antagonistic shape memory alloy actuators

    Georges, T; Brailovski, V; Terriault, P

    2012-01-01

    Antagonistic shape memory actuators use opposing shape memory alloy (SMA) elements to create devices capable of producing differential motion paths and two-way mechanical work in a very efficient manner. There is no requirement for additional bias elements to ‘re-arm’ the actuators and allow repetitive actuation. The work generation potential of antagonistic shape memory actuators is determined by specific SMA element characteristics and their assembly conditions. In this study, the selected SMA wires are assembled in antagonistic configuration and characterized using a dedicated test bench to evaluate their stress–strain characteristics as a function of the number of cycles. Using these functional characteristics, a so-called ‘working envelope’ is built to assist in the design of such an actuator. Finally, the test bench is used to simulate a real application of an antagonistic actuator (case study). (paper)

  5. Active Vibration Isolation Devices with Inertial Servo Actuators

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

    2018-03-01

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

  6. Demonstrating Optothermal Actuators for an Autonomous Mems Microrobot

    2004-03-01

    of Toggled Microthermal Actuators,” Journal of Micromechanics and Microengineering, Vol. 14, pp 49-56, 2004. [10] S. Baglio, S. Castorina, L...127-132, 2000. [8] Y. Lai, J. McDonald, M. Kujath and T. Hubbard, “Force, Deflection and Power Measurements of Toggled Microthermal Actuators...Hubbard, "Force, Deflection and Power Measurements of Toggled Microthermal Actuators", Journal of Micromechanics and Microengineering, Vol. 14, pp 49

  7. Robust sampled-data control of hydraulic flight control actuators

    Kliffken, Markus Gustav

    1997-01-01

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

  8. MRI Compatibility of Robot Actuation Techniques – A Comparative Study

    Fischer, Gregory S.; Krieger, Axel; Iordachita, Iulian; Csoma, Csaba; Whitcomb, Louis L.; Fichtinger, Gabor

    2008-01-01

    This paper reports an experimental evaluation of the following three different MRI-compatible actuators: a Shinsei ultrasonic motor, a Nanomotion ultrasonic motor and a pneumatic cylinder actuator. We report the results of a study comparing the effect of these actuators on the signal to noise ratio (SNR) of MRI images under a variety of experimental conditions. Evaluation was performed with the controller inside and outside the scanner room and with both 1.5T and 3T MRI scanners. Pneumatic cy...

  9. Untethered Recyclable Tubular Actuators with Versatile Locomotion for Soft Continuum Robots.

    Qian, Xiaojie; Chen, Qiaomei; Yang, Yang; Xu, Yanshuang; Li, Zhen; Wang, Zhenhua; Wu, Yahe; Wei, Yen; Ji, Yan

    2018-05-27

    Stimuli-responsive materials offer a distinguished platform to build tether-free compact soft robots, which can combine sensing and actuation without a linked power supply. In the past, tubular soft robots have to be made by multiple components with various internal channels or complex cavities assembled together. Moreover, robust processing, complex locomotion, simple structure, and easy recyclability represent major challenges in this area. Here, it is shown that those challenges can be tackled by liquid crystalline elastomers with allyl sulfide functional groups. The light-controlled exchange reaction between allyl sulfide groups allows flexible processing of tubular soft robots/actuators, which does not need any assisting materials. Complex locomotion demonstrated here includes reversible simultaneous bending and elongation; reversible diameter expansion; and omnidirectional bending via remote infrared light control. Different modes of actuation can be programmed into the same tube without the routine assembly of multiple tubes as used in the past. In addition, the exchange reaction also makes it possible to use the same single tube repeatedly to perform different functions by erasing and reprogramming. © 2018 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

  10. Design and manufacturing rules for maximizing the performance of polycrystalline piezoelectric bending actuators

    Jafferis, Noah T; Smith, Michael J; Wood, Robert J

    2015-01-01

    Increasing the energy and power density of piezoelectric actuators is very important for any weight-sensitive application, and is especially crucial for enabling autonomy in micro/milli-scale robots and devices utilizing this technology. This is achieved by maximizing the mechanical flexural strength and electrical dielectric strength through the use of laser-induced melting or polishing, insulating edge coating, and crack-arresting features, combined with features for rigid ground attachments to maximize force output. Manufacturing techniques have also been developed to enable mass customization, in which sheets of material are pre-stacked to form a laminate from which nearly arbitrary planar actuator designs can be fabricated using only laser cutting. These techniques have led to a 70% increase in energy density and an increase in mean lifetime of at least 15× compared to prior manufacturing methods. In addition, measurements have revealed a doubling of the piezoelectric coefficient when operating at the high fields necessary to achieve maximal energy densities, along with an increase in the Young’s modulus at the high compressive strains encountered—these two effects help to explain the higher performance of our actuators as compared to that predicted by linear models. (paper)

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

    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.

  12. 'Grounded' Politics

    Schmidt, Garbi

    2012-01-01

    play within one particular neighbourhood: Nørrebro in the Danish capital, Copenhagen. The article introduces the concept of grounded politics to analyse how groups of Muslim immigrants in Nørrebro use the space, relationships and history of the neighbourhood for identity political statements....... The article further describes how national political debates over the Muslim presence in Denmark affect identity political manifestations within Nørrebro. By using Duncan Bell’s concept of mythscape (Bell, 2003), the article shows how some political actors idealize Nørrebro’s past to contest the present...... ethnic and religious diversity of the neighbourhood and, further, to frame what they see as the deterioration of genuine Danish identity....

  13. Fast electrochemical membrane actuator: Design, fabrication and preliminary testing

    Uvarov, I. V.; Postnikov, A. V.; Shlepakov, P. S.; Naumov, V. V.; Koroleva, O. M.; Izyumov, M. O.; Svetovoy, V. B.

    2017-11-01

    An actuator based on water electrolysis with a fast change of voltage polarity is presented. It demonstrates a new actuation principle allowing significant increase the operation frequency of the device due to fast termination of the produced gas. The actuator consists of a working chamber with metallic electrodes and supplying channels filled with an electrolyte. The chamber is formed in a layer of SU-8 and covered by a flexible polydimethylsiloxane membrane, which deforms as the pressure in the chamber increases. Design, fabrication procedure, and first tests of the actuator are described.

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

    Maziar Ahmad Sharbafi

    2017-10-01

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

  15. Frequency-dependent electrostatic actuation in microfluidic MEMS.

    Zavadil, Kevin Robert; Michalske, Terry A.; Sounart, Thomas L.

    2003-09-01

    Electrostatic actuators exhibit fast response times and are easily integrated into microsystems because they can be fabricated with standard IC micromachining processes and materials. Although electrostatic actuators have been used extensively in 'dry' MEMS, they have received less attention in microfluidic systems probably because of challenges such as electrolysis, anodization, and electrode polarization. Here we demonstrate that ac drive signals can be used to prevent electrode polarization, and thus enable electrostatic actuation in many liquids, at potentials low enough to avoid electrochemistry. We measure the frequency response of an interdigitated silicon comb-drive actuator in liquids spanning a decade of dielectric permittivities and four decades of conductivity, and present a simple theory that predicts the characteristic actuation frequency. The analysis demonstrates the importance of the native oxide on silicon actuator response, and suggests that the actuation frequency can be shifted by controlling the thickness of the oxide. For native silicon devices, actuation is predicted at frequencies less than 10 MHz, in electrolytes of ionic strength up to 100 mmol/L, and thus electrostatic actuation may be feasible in many bioMEMS and other microfluidic applications.

  16. Micromachined Piezoelectric Actuators for Cryogenic Adaptive Optics, Phase I

    National Aeronautics and Space Administration — TRS Technologies proposes micromachined single crystal piezoelectric actuator arrays to enable ultra-large stroke, high precision shape control for large aperture,...

  17. Magnetic Shape Memory (MSM) actuators in practical use

    Majewska, K; Zak, A; Ostachowicz, W

    2009-01-01

    Limited practical applications of MSM actuators motivates the authors to start experimental and theoretical research in the field of multifunctional materials. The authors present a concept of using MSM actuators for control, altering and tuning of forced vibrations of a rotor. The main goal of their experimental research is to show how the activation of MSM actuators can influence forced vibration responses of a rotor system in terms of altering and tuning selected rotor resonant frequencies and vibration amplitudes. Experimental results show that MSM actuators can be successfully applied for vibration reduction and vibration control in the case of rotor systems.

  18. Energy Efficient Wireless Vehicular-Guided Actuator Network

    Boudellioua, Imene

    2013-06-09

    In this paper, we present an energy-efficient vehicular guided system for environmental disaster management using wireless sensor/actuator networks. Sensor nodes within clusters are controlled by a master node that is dynamically selected. Actuators support mobility for every sensor node in the area of interest. The system maintains energy efficiency using statistical, correlation, and confidence for determining actuator actions and implements an adaptive energy scheme to prolong the system lifespan. Experimental results show that the system is capable of saving up to 2.7Watt for every 28KByte of data exchanged. We also show that actuator actions are correct with a 90% confidence.

  19. Design and control of a linearity-enhanced SMA actuator

    Son, Hyung-Min; Tak, Chul-Gon; Lee, Yun-Jung; Kang, Seok-Won; Nam, Tae-Hyun; Kim, Jae-Il

    2010-01-01

    For the accurate and dexterous operation of mechanical systems, continuous-type actuation, rather than on/off-type actuation, is an indispensable function. However, conventional Ti-Ni alloys present difficulties for continuous positioning control, due to their hysteretic and abruptly changing relationship between strain and temperature. Therefore, this paper proposes a new linearity-enhanced SMA actuator using a temperature-gradient annealed alloy and an inverse hysteresis controller. In comparative experiments, the proposed controller and alloy exhibit superior performance for continuous actuation.

  20. Reliable Actuator for Cryo Propellant Fluid Control, Phase II

    National Aeronautics and Space Administration — Fluid handling applications in cryogenic and extreme environments require reliable actuation technology that can handle extreme temperatures, mechanical bind-up from...

  1. High Reliability Cryogenic Piezoelectric Valve Actuator, Phase II

    National Aeronautics and Space Administration — Cryogenic fluid valves are subject to harsh exposure and actuators to drive these valves require robust performance and high reliability. DSM's piezoelectric...

  2. Advanced Modified High Performance Synthetic Jet Actuator with Curved Chamber

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

    2014-01-01

    The advanced modified high performance synthetic jet actuator with optimized curvature shape chamber (ASJA-M) is a synthetic jet actuator (SJA) with a lower volume reservoir or chamber. A curved chamber is used, instead of the conventional cylinder chamber, to reduce the dead volume of the jet chamber and increase the efficiency of the synthetic jet actuator. The shape of the curvature corresponds to the maximum displacement (deformation) profile of the electroactive diaphragm. The jet velocity and mass flow rate for the ASJA-M will be several times higher than conventional piezoelectric actuators.

  3. Nanoporous carbon actuator and methods of use thereof

    Biener, Juergen [San Leandro, CA; Baumann, Theodore F [Discovery Bay, CA; Shao, Lihua [Karlsruhe, DE; Weissmueller, Joerg [Stutensee, DE

    2012-07-31

    An electrochemically driveable actuator according to one embodiment includes a nanoporous carbon aerogel composition capable of exhibiting charge-induced reversible strain when wetted by an electrolyte and a voltage is applied thereto. An electrochemically driven actuator according to another embodiment includes a nanoporous carbon aerogel composition wetted by an electrolyte; and a mechanism for causing charge-induced reversible strain of the composition. A method for electrochemically actuating an object according to one embodiment includes causing charge-induced reversible strain of a nanoporous carbon aerogel composition wetted with an electrolyte to actuate the object by the strain.

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

    Sawyer, R. V. (Inventor)

    1981-01-01

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

  5. Sensitivity study on Duty cycles for Actuator fatigue analysis

    Jacamon, Pauline

    2016-01-01

    During the aircraft's ight, the control surfaces that enable the aircraft to perform the required maneuvers and the actuator that control them have to withstand loads. Those loads will a ect the actuators lifetime and that is why it is very important to be able to predict their amplitude in order to make sure the actuators will last long enough and be ecient enough during the aircraft lifetime. Duty cycles are thus computed in order to compute the actuators fatigue severity and endurance crit...

  6. An earthworm-like actuator using segmented solenoids

    Shin, Bu Hyun; Choi, Seung-Wook; Lee, Seung-Yop; Bang, Young-Bong

    2011-01-01

    A biomimetic actuator is developed using four segmented solenoids mimicking earthworm locomotion. The proposed actuator not only has a simple structure composed of cores and coils, but also enables bi-directional actuation and high speed locomotion regardless of friction conditions. We have implemented theoretical analysis to design the optimal profiles of input current signal for maximum speed and predict the output force and stroke. Experiments using a prototype show that the earthworm-like actuator travels with a speed above 60 mm s −1 regardless of friction conditions

  7. Micro-mechanics of ionic electroactive polymer actuators

    Punning, Andres; Põldsalu, Inga; Kaasik, Friedrich; Vunder, Veiko; Aabloo, Alvo

    2015-04-01

    Commonly, modeling of the bending behavior of the ionic electroactive polymer (IEAP) actuators is based on the classical mechanics of cantilever beam. It is acknowledged, that the actuation of the ionic electroactive polymer (IEAP) actuators is symmetric about the centroid - the convex side of the actuator is expanding and the concave side is contracting for exactly the same amount, while the thickness of the actuator remains invariant. Actuating the IEAP actuators and sensors under scanning electron microscope (SEM), in situ, reveals that for some types of them this approach is incorrect. Comparison of the SEM micrographs using the Digital Image Correction (DIC) method results with the precise strain distribution of the IEAP actuators in two directions: in the axial direction, and in the direction of thickness. This information, in turn, points to the physical processes taking place within the electrodes as well as membrane of the trilayer laminate of sub-millimeter thickness. Comparison of the EAP materials, engaged as an actuator as well as a sensor, reveals considerable differences between the micro-mechanics of the two modes.

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

    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.

  9. Acoustic emission characteristics during bending fracture process of piezoelectric composite actuators

    Woo, Sung Choong; Goo, Nam Seo

    2006-01-01

    The objective of this study is to investigate the damage mechanisms in a thin monolithic PZT wafer and an asymmetrically laminated piezoelectric composite actuator (PCA) under bending loading by the acoustic emission (AE) technique. Fracture surface examinations were conducted using a scanning electron microscope (SEM) and an optical microscope. Using the fabricated PCAs, correlations were established between the observed damage growth mechanisms and the AE results in terms of the AE amplitude and dominant frequency band which was processed by fast Fourier transform (FFT). These correlations can be used to monitor the damage evolution in the plate-type piezoelectric composite actuators exhibiting multiple modes of damage. Results from this study revealed that the AE technique is a powerful and effective tool for identifying damage mechanisms such as brittle fracture in the PZT, matrix cracking, fiber-matrix debonding, fiber breakage and delamination between the PZT layer and fiber composite layer in the asymmetrically laminated PCAs.

  10. Robust Nonlinear Regulation of Limit Cycle Oscillations in UAVs Using Synthetic Jet Actuators

    Natalie Ramos Pedroza

    2014-09-01

    Full Text Available In this paper, a synthetic jet actuators (SJA-based nonlinear robust controller is developed, which is capable of completely suppressing limit cycle oscillations (LCO in UAV systems with parametric uncertainty in the SJA dynamics and unmodeled external disturbances. Specifically, the control law compensates for uncertainty in an input gain matrix, which results from the unknown airflow dynamics generated by the SJA. Challenges in the control design include compensation for input-multiplicative parametric uncertainty in the actuator dynamic model. The result was achieved via innovative algebraic manipulation in the error system development, along with a Lyapunov-based robust control law. A rigorous Lyapunov-based stability analysis is utilized to prove asymptotic LCO suppression, considering a detailed dynamic model of the pitching and plunging dynamics. Numerical simulation results are provided to demonstrate the robustness and practical performance of the proposed control law.

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

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

    2010-01-01

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

  12. Iridium oxide as actuator material for the ISFET-based sensor-actuator system

    Olthuis, Wouter; Bomer, Johan G.; Bergveld, Piet; van der Linden, W.E.; Bos, M.; Bos, M.

    1991-01-01

    Acid or base concentrations can be determined by performing an acid-base titration with Coulometrically generated OH- or H+ ions at a noble-metal actuator electrode in close proximity to the pH-sensitive gate of an ISFET. The ISFET is used as the indicator electrode to detect the equivalence point

  13. Biomimetic photo-actuation: sensing, control and actuation in sun-tracking plants

    Dicker, M P M; Bond, I P; Weaver, P M; Rossiter, J M

    2014-01-01

    Although the actuation mechanisms that drive plant movement have been investigated from a biomimetic perspective, few studies have looked at the wider sensing and control systems that regulate this motion. This paper examines photo-actuation—actuation induced by, and controlled with light—through a review of the sun-tracking functions of the Cornish Mallow. The sun-tracking movement of the Cornish Mallow leaf results from an extraordinarily complex—yet extremely elegant—process of signal perception, generation, filtering and control. Inspired by this process, a concept for a simplified biomimetic analogue of this leaf is proposed: a multifunctional structure employing chemical sensing, signal transmission, and control of composite hydrogel actuators. We present this multifunctional structure, and show that the success of the concept will require improved selection of materials and structural design. This device has application in the solar-tracking of photovoltaic panels for increased energy yield. More broadly it is envisaged that the concept of chemical sensing and control can be expanded beyond photo-actuation to many other stimuli, resulting in new classes of robust solid-state devices. (paper)

  14. A finite element model of rigid body structures actuated by dielectric elastomer actuators

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

    2018-06-01

    This paper presents on finite element (FE) modeling and simulation of dielectric elastomer actuators (DEAs) coupled with articulated structures. DEAs have proven to represent an effective transduction technology for the realization of large deformation, low-power consuming, and fast mechatronic actuators. However, the complex dynamic behavior of the material, characterized by nonlinearities and rate-dependent phenomena, makes it difficult to accurately model and design DEA systems. The problem is further complicated in case the DEA is used to activate articulated structures, which increase both system complexity and implementation effort of numerical simulation models. In this paper, we present a model based tool which allows to effectively implement and simulate complex articulated systems actuated by DEAs. A first prototype of a compact switch actuated by DEA membranes is chosen as reference study to introduce the methodology. The commercially available FE software COMSOL is used for implementing and coupling a physics-based dynamic model of the DEA with the external structure, i.e., the switch. The model is then experimentally calibrated and validated in both quasi-static and dynamic loading conditions. Finally, preliminary results on how to use the simulation tool to optimize the design are presented.

  15. Parallel 3-D numerical simulation of dielectric barrier discharge plasma actuators

    Houba, Tomas

    Dielectric barrier discharge plasma actuators have shown promise in a range of applications including flow control, sterilization and ozone generation. Developing numerical models of plasma actuators is of great importance, because a high-fidelity parallel numerical model allows new design configurations to be tested rapidly. Additionally, it provides a better understanding of the plasma actuator physics which is useful for further innovation. The physics of plasma actuators is studied numerically. A loosely coupled approach is utilized for the coupling of the plasma to the neutral fluid. The state of the art in numerical plasma modeling is advanced by the development of a parallel, three-dimensional, first-principles model with detailed air chemistry. The model incorporates 7 charged species and 18 reactions, along with a solution of the electron energy equation. To the author's knowledge, a parallel three-dimensional model of a gas discharge with a detailed air chemistry model and the solution of electron energy is unique. Three representative geometries are studied using the gas discharge model. The discharge of gas between two parallel electrodes is used to validate the air chemistry model developed for the gas discharge code. The gas discharge model is then applied to the discharge produced by placing a dc powered wire and grounded plate electrodes in a channel. Finally, a three-dimensional simulation of gas discharge produced by electrodes placed inside a riblet is carried out. The body force calculated with the gas discharge model is loosely coupled with a fluid model to predict the induced flow inside the riblet.

  16. Active control of massively separated high-speed/base flows with electric arc plasma actuators

    DeBlauw, Bradley G.

    The current project was undertaken to evaluate the effects of electric arc plasma actuators on high-speed separated flows. Two underlying goals motivated these experiments. The first goal was to provide a flow control technique that will result in enhanced flight performance for supersonic vehicles by altering the near-wake characteristics. The second goal was to gain a broader and more sophisticated understanding of these complex, supersonic, massively-separated, compressible, and turbulent flow fields. The attainment of the proposed objectives was facilitated through energy deposition from multiple electric-arc plasma discharges near the base corner separation point. The control authority of electric arc plasma actuators on a supersonic axisymmetric base flow was evaluated for several actuator geometries, frequencies, forcing modes, duty cycles/on-times, and currents. Initially, an electric arc plasma actuator power supply and control system were constructed to generate the arcs. Experiments were performed to evaluate the operational characteristics, electromagnetic emission, and fluidic effect of the actuators in quiescent ambient air. The maximum velocity induced by the arc when formed in a 5 mm x 1.6 mm x 2 mm deep cavity was about 40 m/s. During breakdown, the electromagnetic emission exhibited a rise and fall in intensity over a period of about 340 ns. After breakdown, the emission stabilized to a near-constant distribution. It was also observed that the plasma formed into two different modes: "high-voltage" and "low-voltage". It is believed that the plasma may be switching between an arc discharge and a glow discharge for these different modes. The two types of plasma do not appear to cause substantial differences on the induced fluidic effects of the actuator. In general, the characterization study provided a greater fundamental understanding of the operation of the actuators, as well as data for computational model comparison. Preliminary investigations

  17. Pneumatic Artificial Muscle Actuation and Modeling

    Leephakpreeda, Thananchai; Wickramatunge, Kanchana C.

    2009-10-01

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

  18. Geometric optimization of magnetically actuated MEMS micromirrors

    Pieri, Francesco

    2016-01-01

    In this paper we develop a set of self-consistent equations describing the static and resonance characteristics of a rectangular micromirror actuated by driving a current into a multicoil inductor fabricated on the micromirror surface. Under fairly general assumptions, these equations can be solved analytically for the most common design targets, such as the driving current, deflection angle, resonance frequency, and overall dimensions. We use this solutions to optimize the micromirror geometry by minimization of a linear objective function. The tradeoffs that emerge from optimization data allow simple quantitative design of low current, low size mirrors. (paper)

  19. Temperature actuated automatic safety rod release

    Hutter, E.; Pardini, J.A.; Walker, D.E.

    1984-03-13

    A temperature-actuated apparatus is disclosed for releasably supporting a safety rod in a nuclear reactor, comprising a safety rod upper adapter having a retention means, a drive shaft which houses the upper adapter, and a bimetallic means supported within the drive shaft and having at least one ledge which engages a retention means of the safety rod upper adapter. A pre-determined increase in temperature causes the bimetallic means to deform so that the ledge disengages from the retention means, whereby the bimetallic means releases the safety rod into the core of the reactor.

  20. Elastohydrodynamics of microfilament under distributed body actuation

    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.

  1. Robust PID Controller for a Pneumatic Actuator

    Skarpetis Michael G.

    2016-01-01

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

  2. The Overtone Fiddle: an Actuated Acoustic Instrument

    Overholt, Daniel

    2011-01-01

    both traditional violin techniques, as well as extended playing techniques that incorporate shared man/machine control of the resulting sound. A magnetic pickup system is mounted to the end of the fiddle’s fingerboard in order to detect the signals from the vibrating strings, deliberately not capturing...... vibrations from the full body of the instrument. This focused sensing approach allows less restrained use of DSP-generated feedback signals, as there is very little direct leakage from the actuator embedded in the body of the instrument back to the pickup....

  3. Considerations for Contractile Electroactive Materials and Actuators

    Rasmussen, Lenore; Schramm, David; Meixler, Lewis D.; Gentile, Charles A.; Ascione, George; Tilson, Carl; Pagdon, Kelsey

    2010-01-01

    Ras Labs produces electroactive polymer (EAP) based materials and actuators that bend, swell, ripple, and now contract (new development) with low electric input. In addition, Ras Labs produces EAP materials that quickly contract and expand, repeatedly, by reversing the polarity of the electric input. These recent developments are important attributes in the field of electroactivity because of the ability of contraction and contraction-expansion to produce biomimetric motion. The mechanism of contraction is not well understood. Radionuclide-labeled experiments were conducted to determine the mechanisms during contraction of these EAPs.

  4. A novel multi-actuation CMOS RF MEMS switch

    Lee, Chiung-I.; Ko, Chih-Hsiang; Huang, Tsun-Che

    2008-12-01

    This paper demonstrates a capacitive shunt type RF MEMS switch, which is actuated by electro-thermal actuator and electrostatic actuator at the same time, and than latching the switching status by electrostatic force only. Since thermal actuators need relative low voltage compare to electrostatic actuators, and electrostatic force needs almost no power to maintain the switching status, the benefits of the mechanism are very low actuation voltage and low power consumption. Moreover, the RF MEMS switch has considered issues for integrated circuit compatible in design phase. So the switch is fabricated by a standard 0.35um 2P4M CMOS process and uses wet etching and dry etching technologies for postprocess. This compatible ability is important because the RF characteristics are not only related to the device itself. If a packaged RF switch and a packaged IC wired together, the parasitic capacitance will cause the problem for optimization. The structure of the switch consists of a set of CPW transmission lines and a suspended membrane. The CPW lines and the membrane are in metal layers of CMOS process. Besides, the electro-thermal actuators are designed by polysilicon layer of the CMOS process. So the RF switch is only CMOS process layers needed for both electro-thermal and electrostatic actuations in switch. The thermal actuator is composed of a three-dimensional membrane and two heaters. The membrane is a stacked step structure including two metal layers in CMOS process, and heat is generated by poly silicon resistors near the anchors of membrane. Measured results show that the actuation voltage of the switch is under 7V for electro-thermal added electrostatic actuation.

  5. Quasi-static analysis and control of planer and spatial bending fluidic actuator

    Chang, Benjamin Che-Ming

    2011-01-01

    This work presents a novel silicone-based millimetre scale bending fluidic actuator. Two designs of the bending fluidic actuator are studied: a planer actuator that bends about one axis; and a spatial actuator able to bend about two orthogonal axes. The unique parallel micro-channel design of the fluidic actuators enables operation at low working pressures, while at the same time having a very limited thickness expansion during pressurization. The fluidic actuators can be easily scaled to des...

  6. Goal-oriented path planning for ground and aerial vehicles

    Signifredi, Andrea

    2017-01-01

    Nowadays autonomous robots are used in everyday life more than ever. The idea that motivate the develop of new autonomous application is to lessen the fatigue of repetitive works and to make safer the work that are difficult if done by humans alone. Another goal of autonomous robots is to improve precision and repetitiveness in the actuation of actions. Car makers are now showing to consider autonomous driving a ground braking functionality and one of the most important additions to their ass...

  7. Electric actuator for the sempell gate valve

    Herbstritt, E.C.

    1996-12-01

    The automation of valves has a primary importance in the scope of central control and regulation of power generation processes in power plants and especially in nuclear power plants. AUMA WERNER RIESTER GmbH & Co. KG is considered a leading manufacturer of electric actuators for the automation of valves. More than 30 years experience in designing, developing, and manufacturing provide a sound basis for offering reliable products, especially for nuclear applications. The quality assurance system of AUMA was developed according to 10 CFR 50, Appendix B and has been consistently accomplished. The program was certified by the TUV Germany (Technical Authorized Inspection Agency), according to ISO-9001, in 1994. AUMA offers two actuator type ranges for application in nuclear power plants. The range SAI is qualified according to IEEE 382-1978 and is designed for inside containment. The range SAN is qualified according to IEEE 382-1985 and KTA 3504-1988 for use in non-radioactive applications in the nuclear power plants.

  8. Development of PZT Actuated Valveless Micropump

    Fathima Rehana Munas

    2018-04-01

    Full Text Available A piezoelectrically actuated valveless micropump has been designed and developed. The principle components of this system are piezoelectrically actuated (PZT metal diaphragms and a complete fluid flow system. The design of this pump mainly focuses on a cross junction, which is generated by a nozzle jet attached to a pump chamber and the intersection of two inlet channels and an outlet channel respectively. During each PZT diaphragm vibration cycle, the junction connecting the inlet and outlet channels with the nozzle jet permits consistencies in fluidic momentum and resistances in order to facilitate complete fluidic path throughout the system, in the absence of any physical valves. The entire micropump structure is fabricated as a plate-by-plate element of polymethyl methacrylate (PMMA sheets and sandwiched to get required fluidic network as well as the overall device. In order to identify the flow characteristics, and to validate the test results with numerical simulation data, FEM analysis using ANSYS was carried out and an eigenfrequency analysis was performed to the PZT diaphragm using COMSOL Multiphysics. In addition, the control system of the pump was designed and developed to change the applied frequency to the piezoelectric diaphragms. The experimental data revealed that the maximum flow rate is 31.15 mL/min at a frequency of 100 Hz. Our proposed design is not only for a specific application but also useful in a wide range of biomedical applications.

  9. Cfd modeling of a synthetic jet actuator

    Dghim, Marouane; Ben Chiekh, Maher; Ben Nasrallah, Sassi

    2009-01-01

    Synthetic jet actuators show good promise as an enabling technology for innovative boundary layer flow control applied to external surfaces, like airplane wings, and to internal flows, like those occurring in a curved engine inlet. The appealing characteristics of a synthetic jet are zero-net-mass flux operation and an efficient control effect that takes advantages of unsteady fluid phenomena. The formation of a synthetic jet in a quiescent external air flow is only beginning to be understood and a rational understanding of these devices is necessary before they can be applied to the control of flows outside of the laboratory. The synthetic jet flow generated by a planar orifice is investigated here using computational approach. Computations of the 2D synthetic jet are performed with unsteady RANS modeled with the Realizable κ - ε turbulence model available in FLUENT environment. In this present work, the ability of the first order turbulence model, employed in our computations, to model the formation of the counter-rotating-vortex pair (CVP) that appears in the flow-field was investigated. Computational results were in good agreement with experimental measurements. The effectiveness of such control actuator was tested on separated boundary layer. Preliminary investigation were presented and discussed

  10. Stress measurements of planar dielectric elastomer actuators

    Osmani, Bekim; Aeby, Elise A.; Müller, Bert

    2016-01-01

    Dielectric elastomer actuator (DEA) micro- and nano-structures are referred to artificial muscles because of their specific continuous power and adequate time response. The bending measurement of an asymmetric, planar DEA is described. The asymmetric cantilevers consist of 1 or 5 μm-thin DEAs deposited on polyethylene naphthalate (PEN) substrates 16, 25, 38, or 50 μm thick. The application of a voltage to the DEA electrodes generates an electrostatic pressure in the sandwiched silicone elastomer layer, which causes the underlying PEN substrate to bend. Optical beam deflection enables the detection of the bending angle vs. applied voltage. Bending radii as large as 850 m were reproducibly detected. DEA tests with electric fields of up to 80 V/μm showed limitations in electrode’s conductivity and structure failures. The actuation measurement is essential for the quantitative characterization of nanometer-thin, low-voltage, single- and multi-layer DEAs, as foreseen for artificial sphincters to efficiently treat severe urinary and fecal incontinence.

  11. Development of PZT Actuated Valveless Micropump.

    Munas, Fathima Rehana; Melroy, Gehan; Abeynayake, Chamitha Bhagya; Chathuranga, Hiniduma Liyanage; Amarasinghe, Ranjith; Kumarage, Pubudu; Dau, Van Thanh; Dao, Dzung Viet

    2018-04-24

    A piezoelectrically actuated valveless micropump has been designed and developed. The principle components of this system are piezoelectrically actuated (PZT) metal diaphragms and a complete fluid flow system. The design of this pump mainly focuses on a cross junction, which is generated by a nozzle jet attached to a pump chamber and the intersection of two inlet channels and an outlet channel respectively. During each PZT diaphragm vibration cycle, the junction connecting the inlet and outlet channels with the nozzle jet permits consistencies in fluidic momentum and resistances in order to facilitate complete fluidic path throughout the system, in the absence of any physical valves. The entire micropump structure is fabricated as a plate-by-plate element of polymethyl methacrylate (PMMA) sheets and sandwiched to get required fluidic network as well as the overall device. In order to identify the flow characteristics, and to validate the test results with numerical simulation data, FEM analysis using ANSYS was carried out and an eigenfrequency analysis was performed to the PZT diaphragm using COMSOL Multiphysics. In addition, the control system of the pump was designed and developed to change the applied frequency to the piezoelectric diaphragms. The experimental data revealed that the maximum flow rate is 31.15 mL/min at a frequency of 100 Hz. Our proposed design is not only for a specific application but also useful in a wide range of biomedical applications.

  12. Electrostatically actuated resonant switches for earthquake detection

    Ramini, Abdallah H.

    2013-04-01

    The modeling and design of electrostatically actuated resonant switches (EARS) for earthquake and seismic applications are presented. The basic concepts are based on operating an electrically actuated resonator close to instability bands of frequency, where it is forced to collapse (pull-in) if operated within these bands. By careful tuning, the resonator can be made to enter the instability zone upon the detection of the earthquake signal, thereby pulling-in as a switch. Such a switching action can be functionalized for useful functionalities, such as shutting off gas pipelines in the case of earthquakes, or can be used to activate a network of sensors for seismic activity recording in health monitoring applications. By placing a resonator on a printed circuit board (PCB) of a natural frequency close to that of the earthquake\\'s frequency, we show significant improvement on the detection limit of the EARS lowering it considerably to less than 60% of the EARS by itself without the PCB. © 2013 IEEE.

  13. Stress measurements of planar dielectric elastomer actuators

    Osmani, Bekim; Aeby, Elise A.; Müller, Bert [Biomaterials Science Center, University of Basel, Gewerbestrasse 14, 4123 Allschwil (Switzerland)

    2016-05-15

    Dielectric elastomer actuator (DEA) micro- and nano-structures are referred to artificial muscles because of their specific continuous power and adequate time response. The bending measurement of an asymmetric, planar DEA is described. The asymmetric cantilevers consist of 1 or 5 μm-thin DEAs deposited on polyethylene naphthalate (PEN) substrates 16, 25, 38, or 50 μm thick. The application of a voltage to the DEA electrodes generates an electrostatic pressure in the sandwiched silicone elastomer layer, which causes the underlying PEN substrate to bend. Optical beam deflection enables the detection of the bending angle vs. applied voltage. Bending radii as large as 850 m were reproducibly detected. DEA tests with electric fields of up to 80 V/μm showed limitations in electrode’s conductivity and structure failures. The actuation measurement is essential for the quantitative characterization of nanometer-thin, low-voltage, single- and multi-layer DEAs, as foreseen for artificial sphincters to efficiently treat severe urinary and fecal incontinence.

  14. Single coil bistable, bidirectional micromechanical actuator

    Tabat, Ned; Guckel, Henry

    1998-09-15

    Micromechanical actuators capable of bidirectional and bistable operation can be formed on substrates using lithographic processing techniques. Bistable operation of the microactuator is obtained using a single coil and a magnetic core with a gap. A plunger having two magnetic heads is supported for back and forth linear movement with respect to the gap in the magnetic core, and is spring biased to a neutral position in which the two heads are on each side of the gap in the core. The single electrical coil is coupled to the core and is provided with electrical current to attract one of the heads toward the core by reluctance action to drive the plunger to a limit of travel in one direction. The current is then cut off and the plunger returns by spring action toward the gap, whereafter the current is reapplied to the coil to attract the other head of the plunger by reluctance action to drive the plunger to its other limit of travel. This process can be repeated at a time when switching of the actuator is required.

  15. Dynamic Stall Control Using Plasma Actuators

    Webb, Nathan; Singhal, Achal; Castaneda, David; Samimy, Mo

    2017-11-01

    Dynamic stall occurs in many applications, including sharp maneuvers of fixed wing aircraft, wind turbines, and rotorcraft and produces large unsteady aerodynamic loads that can lead to flutter and mechanical failure. This work uses flow control to reduce the unsteady loads by excitation of instabilities in the shear layer over the separated region using nanosecond pulse driven dielectric barrier discharge (NS-DBD) plasma actuators. These actuators have been shown to effectively delay or mitigate static stall. A wide range of flow parameters were explored in the current work: Reynolds number (Re = 167,000 to 500,000), reduced frequency (k = 0.025 to 0.075), and excitation Strouhal number (Ste = 0 to 10). Based on the results, three major conclusions were drawn: (a) Low Strouhal number excitation (Ste <0.5) results in oscillatory aerodynamic loads in the stalled stage of dynamic stall; (b) All excitation resulted in earlier flow reattachment; and (c) Excitation at progressively higher Ste weakened and eventually eliminated the dynamic stall vortex (DSV), thereby dramatically reducing the unsteady loading. The decrease in the strength of the DSV is achieved by the formation of shear layer coherent structures that bleed the leading-edge vorticity prior to the ejection of the DSV.

  16. Adaptive lenses using transparent dielectric elastomer actuators

    Shian, Samuel; Diebold, Roger; Clarke, David

    2013-03-01

    Variable focal lenses, used in a vast number of applications such as endoscope, digital camera, binoculars, information storage, communication, and machine vision, are traditionally constructed as a lens system consisting of solid lenses and actuating mechanisms. However, such lens system is complex, bulky, inefficient, and costly. Each of these shortcomings can be addressed using an adaptive lens that performs as a lens system. In this presentation, we will show how we push the boundary of adaptive lens technology through the use of a transparent electroactive polymer actuator that is integral to the optics. Detail of our concepts and lens construction will be described as well as electromechanical and optical performances. Preliminary data indicate that our adaptive lens prototype is capable of varying its focus by more than 100%, which is higher than that of human eyes. Furthermore, we will show how our approach can be used to achieve certain controls over the lens characteristics such as adaptive aberration and optical axis, which are difficult or impossible to achieve in other adaptive lens configurations.

  17. Development of a soft untethered robot using artificial muscle actuators

    Cao, Jiawei; Qin, Lei; Lee, Heow Pueh; Zhu, Jian

    2017-04-01

    Soft robots have attracted much interest recently, due to their potential capability to work effectively in unstructured environment. Soft actuators are key components in soft robots. Dielectric elastomer actuators are one class of soft actuators, which can deform in response to voltage. Dielectric elastomer actuators exhibit interesting attributes including large voltage-induced deformation and high energy density. These attributes make dielectric elastomer actuators capable of functioning as artificial muscles for soft robots. It is significant to develop untethered robots, since connecting the cables to external power sources greatly limits the robots' functionalities, especially autonomous movements. In this paper we develop a soft untethered robot based on dielectric elastomer actuators. This robot mainly consists of a deformable robotic body and two paper-based feet. The robotic body is essentially a dielectric elastomer actuator, which can expand or shrink at voltage on or off. In addition, the two feet can achieve adhesion or detachment based on the mechanism of electroadhesion. In general, the entire robotic system can be controlled by electricity or voltage. By optimizing the mechanical design of the robot (the size and weight of electric circuits), we put all these components (such as batteries, voltage amplifiers, control circuits, etc.) onto the robotic feet, and the robot is capable of realizing autonomous movements. Experiments are conducted to study the robot's locomotion. Finite element method is employed to interpret the deformation of dielectric elastomer actuators, and the simulations are qualitatively consistent with the experimental observations.

  18. A system look at electromechanical actuation for primary flight control

    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)

  19. Stretchable Materials for Robust Soft Actuators towards Assistive Wearable Devices

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

    2016-09-01

    Soft actuators made from elastomeric active materials can find widespread potential implementation in a variety of applications ranging from assistive wearable technologies targeted at biomedical rehabilitation or assistance with activities of daily living, bioinspired and biomimetic systems, to gripping and manipulating fragile objects, and adaptable locomotion. In this manuscript, we propose a novel two-component soft actuator design and design tool that produces actuators targeted towards these applications with enhanced mechanical performance and manufacturability. Our numerical models developed using the finite element method can predict the actuator behavior at large mechanical strains to allow efficient design iterations for system optimization. Based on two distinctive actuator prototypes’ (linear and bending actuators) experimental results that include free displacement and blocked-forces, we have validated the efficacy of the numerical models. The presented extensive investigation of mechanical performance for soft actuators with varying geometric parameters demonstrates the practical application of the design tool, and the robustness of the actuator hardware design, towards diverse soft robotic systems for a wide set of assistive wearable technologies, including replicating the motion of several parts of the human body.

  20. Iterative Learning Control of Hysteresis in Piezoelectric Actuators

    Guilin Zhang

    2014-01-01

    input in hysteretic systems. In the analysis, the Prandtl-Ishlinskii model is utilized to capture the nonlinear behavior in piezoelectric actuators. Finally, we apply the control algorithm to an experimental piezoelectric actuator and conclude that the tracking error is reduced to 0.15% of the total displacement, which is approximately the noise level of the sensor measurement.

  1. Contactless linear electromechanical actuator : experimental verification of the improved design

    Lebedev, A.; Thakkar, D.; Laro, D.A.H.; Lomonova, E.A.; Vandenput, A.J.A.

    2009-01-01

    This paper describes ways to overcome the major applicability limitations of a novel linear electromechanical actuator. Guidelines for selecting a proper soft magnetic material for a magnetic system of the actuator are presented. Conventional laminated electric steel and a soft magnetic composite

  2. Design and development of a linear thermal actuator

    Bush, G.; Osborne, D.

    1985-01-01

    The design and development of a linear thermal actuator (LTA) for space applications is described. The actuator is driven by thermal energy and utilizes the property of thermal expansion to do work. Equations to predict performance are developed and used to optimize the design of the development model LTA. Design details and test results are presented and discussed.

  3. Parallel-beams/lever electrothermal out-of-plane actuator

    Deladi, S.; Krijnen, Gijsbertus J.M.; Elwenspoek, Michael Curt

    2004-01-01

    We report on the design, modeling, fabrication and testing of a powerful electrothermal actuator allowing for various modes of movement and exhibiting forces large enough to be usable in a micro-tribotester. The performance of the actuator has been simulated combining numerical and analytical

  4. Design method for marine direct drive volume control ahead actuator

    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.

  5. Limit cycles and stiffness control with variable stiffness actuators

    Carloni, Raffaella; Marconi, L.

    2012-01-01

    Variable stiffness actuators realize highly dynamic systems, whose inherent mechanical compliance can be properly exploited to obtain a robust and energy-efficient behavior. The paper presents a control strategy for variable stiffness actuators with the primarily goal of tracking a limit cycle

  6. Modeling Populations of Thermostatic Loads with Switching Rate Actuation

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

    2015-01-01

    We model thermostatic devices using a stochastic hybrid description, and introduce an external actuation mechanism that creates random switch events in the discrete dynamics. We then conjecture the form of the Fokker-Planck equation and successfully verify it numerically using Monte Carlo...... simulations. The actuation mechanism and subsequent modeling result are relevant for power system operation....

  7. Environmentally responsive optical microstructured hybrid actuator assemblies and applications thereof

    Aizenberg, Joanna; Aizenberg, Michael; Kim, Philseok

    2016-01-05

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

  8. Nonlinear Tracking Control of a Conductive Supercoiled Polymer Actuator.

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

    2018-04-01

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

  9. Sensor-actuator system for dynamic chloride ion determination.

    de Graaf, Derk Balthazar; Abbas, Yawar; Gerrit Bomer, Johan; Olthuis, Wouter; van den Berg, Albert

    2015-08-12

    Chloride is a crucial anion for various analytical applications from biological to environmental applications. In order to measure the chloride ion concentration, a measurement system is needed which can detect this concentration for prolonged times reliably. Chronopotentiometry is a technique which does not need a long term stable reference electrode and is therefore very suitable for prolonged ion concentration measurements. As the used electrode might be fouled by reaction products, this work focuses on a chronopotentiometric approach with a separated sensing electrode (sensor) and actuating electrode (actuator). Both actuation and sensor electrode are made of Ag/AgCl. A constant current is applied to the actuator and will start the reaction between Ag and Cl-, while the resulting Cl- ion concentration change is observed through the sensor, which is placed close to the actuator. The time it takes to locally deplete the Cl- ions is called transition time. Experiments were performed to verify the feasibility of this approach. The performed experiments show that the sensor detects the local concentration changes resulting from the current applied to the actuator. A linear relation between the Cl- ion concentration and the square root of the transition time was observed, just as was predicted by theory. The calibration curves for different chips showed that both a larger sensor and a larger distance between sensor and actuator resulted in a larger time delay between the transition time detected at the actuator and the sensor. Copyright © 2015 Elsevier B.V. All rights reserved.

  10. Pedot and PPy Conducting Polymer Bilayer and Trilayer Actuators

    Zainudeen, Umer Lebbe; Careem, Mohamed Abdul; Skaarup, Steen

    2008-01-01

    attempts have been made to improve the actuator performance. We report electromechanical measurements on actuators of bilayer and trilayer free standing films prepared with polypyrrole (PPy) and poly(3,4-ethylenedioxythiophene) (PEDOT) conducting polymers. Both types of conducting polymer are pre...

  11. A high resolution pneumatic stepping actuator for harsh reactor environments

    Tippetts, Thomas B.; Evans, Paul S.; Riffle, George K.

    1993-01-01

    A reactivity control actuator for a high-power density nuclear propulsion reactor must be installed in close proximity to the reactor core. The energy input from radiation to the actuator structure could exceed hundreds of W/cc unless low-cross section, low-absorptivity materials are chosen. Also, for post-test handling and subsequent storage, materials should not be used that are activated into long half-life isotopes. Pneumatic actuators can be constructed from various reactor-compatible materials, but conventional pneumatic piston actuators generally lack the stiffness required for high resolution reactivity control unless electrical position sensors and compensated electronic control systems are used. To overcome these limitations, a pneumatic actuator is under development that positions an output shaft in response to a series of pneumatic pulses, comprising a pneumatic analog of an electrical stepping motor. The pneumatic pulses are generated remotely, beyond the strong radiation environment, and transmitted to the actuator through tubing. The mechanically simple actuator uses a nutating gear harmonic drive to convert motion of small pistons directly to high-resolution angular motion of the output shaft. The digital nature of this actuator is suitable for various reactor control algorithms but is especially compatible with the three bean salad algorithm discussed by Ball et al. (1991).

  12. Disc type thermal actuator with straight beams for angular motion

    Anwar, M. Arefin; Packirisamy, Muthukumaran; Ahmed, A.K. Waiz

    2013-01-01

    Motion of a micro thermal actuator largely depends on its structural topology. This paper presents designs for a novel rotary type micro thermal actuator. This actuator has unique arrangement of hot segments around the cold segment. Upon application of potential difference, hot segments expand against the cold segment of disc and make the cold disc rotate about its center. This rotary motion can be used for various optical applications like, switching, attenuation and diffraction. The actuator has been fabricated using poly MUMPS process technology. An analytical model was used for predicting steady state temperature profile along the actuator length and rotational behavior of the cold disc under different applied voltages. A finite element analysis (FEA) was carried out to predict the behavior of the actuator by defining an air volume around the structure and also between structure and substrate. Finally testing was done for predicting feasibility of the actuator. Comparison of the rotational behavior obtained from both analytical model and FEA with that of obtained from testing shows close agreement. -- Highlights: ► Electro-thermo-mechanical modeling and verification of rotary micro thermal actuator. ► Modeling with conduction, convection and radiation modes for the air gap below 3 micron. ► In micro level, shape factor and material resistivity were estimated and verified through I–V characteristics. ► Two different designs of different shape factors were designed, fabricated and tested. ► The devices were fabricated using surface micromachining technology and tested for verification

  13. Multiscale modeling and topology optimization of poroelastic actuators

    Andreasen, Casper Schousboe; Sigmund, Ole

    2012-01-01

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

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

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

  15. EMC design for actuators in the FAST reflector

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

    2018-04-01

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

  16. Optimization of actuator arrays for aircraft interior noise control

    Cabell, R. H.; Lester, H. C.; Mathur, G. P.; Tran, B. N.

    1993-01-01

    A numerical procedure for grouping actuators in order to reduce the number of degrees of freedom in an active noise control system is evaluated using experimental data. Piezoceramic actuators for reducing aircraft interior noise are arranged into groups using a nonlinear optimization routine and clustering algorithm. An actuator group is created when two or more actuators are driven with the same control input. This procedure is suitable for active control applications where actuators are already mounted on a structure. The feasibility of this technique is demonstrated using measured data from the aft cabin of a Douglas DC-9 fuselage. The measured data include transfer functions between 34 piezoceramic actuators and 29 interior microphones and microphone responses due to the primary noise produced by external speakers. Control inputs for the grouped actuators were calculated so that a cost function, defined as a quadratic pressure term and a penalty term, was a minimum. The measured transfer functions and microphone responses are checked by comparing calculated noise reductions with measured noise reductions for four frequencies. The grouping procedure is then used to determine actuator groups that improve overall interior noise reductions by 5.3 to 15 dB, compared to the baseline experimental configuration.

  17. Hydraulically-actuated operating system for an electric circuit breaker

    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.

  18. Natural fibres actuators for smart bio-inspired hygromorph biocomposites

    Le Duigou, Antoine; Requile, Samuel; Beaugrand, Johnny; Scarpa, Fabrizio; Castro, Mickael

    2017-12-01

    Hygromorph biocomposite (HBC) actuators make use of the transport properties of plant fibres to generate an out-of-plane displacement when a moisture gradient is present. HBC actuators possess a design based on the bilayer configuration of natural hygromorph actuators (like pine cone, wheat awn, Selaginella lepidophyll). In this work we present a series of design guidelines for HBCs with improved performance, low environmental footprints and high durability in severe environments. We develop a theoretical actuating response (curvature) formulation of maleic anhydride polypropylene (MAPP)/plant fibres based on bimetallic actuators theory. The actuation response is evaluated as a function of the fibre type (flax, jute, kenaf and coir). We demonstrate that the actuation is directly related to the fibre microstructure and its biochemical composition. The jute and flax fibres appear to be the best candidates for use in HBCs. Flax/MAPP and jute/MAPP HBCs exhibit similar actuating behaviours during the sorption phase (amplitude and speed), but different desorption characteristics due to the combined effect of the lumen size, fibre division and biochemical composition on the desorption mechanism. During hygromechanical fatigue tests the jute/MAPP HBCs exhibit a drastic improvement in durability compared to their flax counterparts. We also provide a demonstration on how HBCs can be used to trigger deployment of more complex structures based on Origami and Kirigami designs.

  19. New ankle actuation mechanism for a humanoid robot

    van Oort, Gijs; Reinink, R.; Stramigioli, Stefano

    2011-01-01

    In this article we discuss the design of a new ankle actuation mechanism for the humanoid robot TUlip. The new mechanism consists of two coupled series-elastic systems. We discuss the choice of actuators according to calculations for maximum achievable walking speed. Some control issues, MIMO and

  20. Stability and stabilization of linear systems with saturating actuators

    Tarbouriech, Sophie; Gomes da Silva Jr, João Manoel; Queinnec, Isabelle

    2011-01-01

    Gives the reader an in-depth understanding of the phenomena caused by the more-or-less ubiquitous problem of actuator saturation. Proposes methods and algorithms designed to avoid, manage or overcome the effects of actuator saturation. Uses a state-space approach to ensure local and global stability of the systems considered. Compilation of fifteen years' worth of research results.

  1. Tip loss correction for actuator / Navier Stokes computations

    Shen, Wen Zhong; Sørensen, Jens Nørkær; Mikkelsen, Robert Flemming

    2004-01-01

    The new tip loss correction, initially developed for ID BEM computations [1], is now extended to 2D Actuator Disc / Navier-Stokes (AD/NS) computations and 3D Actuator Line / Navier-Stokes (AL/NS) computations. As shown in the paper, the tip loss correction is an important and necessary step...

  2. Advanced Electroactive Single Crystal and Polymer Actuator Concepts for Passive Optics, Phase I

    National Aeronautics and Space Administration — TRS Technologies proposes large stroke and high precision piezoelectric single crystal and electroactive polymer actuator concepts?HYBrid Actuation System (HYBAS)...

  3. Actuators based on polyurethanes with different types of polyol

    Lim, Hyun-Ok; Bark, Geong-Mi; Jo, Nam-Ju

    2007-07-01

    This study dealt with the electrostrictive responses of polyurethane (PU) actuators with different microphase separation structure, which was a promising candidate for a material used in polymer actuators. In order to construct PUs with different higher-order structure, we synthesized PUs with different diols; poly(neopentyl glycol adipate) (PNAD), poly(tetramethylene glycol) (PTMG), and poly(dimethyl siloxnae) (PDMS). Synthesized PU was characterized by FT-IR spectroscopy and GPC. Thermal analysis and mechanical properties of PU films were carried out with DSC and UTM, respectively. And PU actuator was formed in a monomorph type which made by carbon black electrodes on the both surfaces of PU film by spin coating method. Actuation behavior was mainly influenced on microphase separation structure and mechanical property of PU. In result, PU actuator with PNAD, polyester urethane, had the largest field-induced displacement.

  4. Ultrathin Alvarez lens system actuated by artificial muscles.

    Petsch, S; Grewe, A; Köbele, L; Sinzinger, S; Zappe, H

    2016-04-01

    A key feature of Alvarez lenses is that they may be tuned in focal length using lateral rather than axial translation, thus reducing the overall length of a focus-tunable optical system. Nevertheless the bulk of classical microsystems actuators limits further miniaturization. We present here a new, ultrathin focus-tunable Alvarez lens fabricated using molding techniques and actuated using liquid crystal elastomer (LCE) artificial muscle actuators. The large deformation generated by the LCE actuators permits the integration of the actuators in-plane with the mechanical and optical system and thus reduces the device thickness to only 1.6 mm. Movement of the Alvarez lens pair of 178 μm results in a focal length change of 3.3 mm, based on an initial focal length of 28.4 mm. This design is of considerable interest for realization of ultraflat focus-tunable and zoom systems.

  5. Polymer-based actuators for virtual reality devices

    Bolzmacher, Christian; Hafez, Moustapha; Benali Khoudja, Mohamed; Bernardoni, Paul; Dubowsky, Steven

    2004-07-01

    Virtual Reality (VR) is gaining more importance in our society. For many years, VR has been limited to the entertainment applications. Today, practical applications such as training and prototyping find a promising future in VR. Therefore there is an increasing demand for low-cost, lightweight haptic devices in virtual reality (VR) environment. Electroactive polymers seem to be a potential actuation technology that could satisfy these requirements. Dielectric polymers developed the past few years have shown large displacements (more than 300%). This feature makes them quite interesting for integration in haptic devices due to their muscle-like behaviour. Polymer actuators are flexible and lightweight as compared to traditional actuators. Using stacks with several layers of elatomeric film increase the force without limiting the output displacement. The paper discusses some design methods for a linear dielectric polymer actuator for VR devices. Experimental results of the actuator performance is presented.

  6. Piezoelectric Actuator Modeling Using MSC/NASTRAN and MATLAB

    Reaves, Mercedes C.; Horta, Lucas G.

    2003-01-01

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

  7. Development of electrothermal actuation based planar variable optical attenuators (VOAs)

    Lee, Chengkuo; Yeh, J Andrew

    2006-01-01

    Several sorts of MEMS (Microelectromechanical Systems) based have been demonstrated by using electrostatic actuation scheme up to date. The comb drive and parallel plate are the two most common electrostatic actuators that have been well studied in variable optical attenuator (VOA) applications. In addition to the known retro-reflection type of optical attenuation being realized by our new devices driven by electrothermal actuators in present study, a novel planar tilted mirror with rotational and translation moving capability is proposed by using electrothermal actuators as well. Using electrothermal actuators to provide said planar tilted mirror with rotational and translational displacement has granted us a more efficient way to perform the light attenuation for in-plane structure. The static and transient characteristics of devices operated at ambient room temperature environment show good repeatability and stability

  8. Actuators, transducers and motors based on giant magnetostrictive materials

    Claeyssen, F.; Lhermet, N.; Le Letty, R. [Cedrat Recherche, Meylan (France); Bouchilloux, P. [Magsoft Corporation, 1223 People`s Avenue, New York 12180 (United States)

    1997-08-01

    Rare earth-iron magnetostrictive alloys, especially Terfenol-D, feature ``giant`` magnetostrains: static strains of 1000-2000 ppm and dynamic strains of 3500 ppm are reported. These strains permit building various actuating devices (actuators, transducers, motors) both at macro and micro scale. The object of the paper is to recall adapted design methods, especially finite element methods such as ATILA, and to review these different kinds of devices studied at Cedrat Recherche, providing both up-dated experimental and numerical results. The presented devices will include several large displacement longitudinal and shear actuators biased using permanent magnets and used either as characterisation devices or as electromechanical actuators (for active damping, for sonar transducers..), a 1 kHz 4 kW Tonpilz-type sonar transducer called the tripode, a 2 N m torque rotating multi-mode motor, a torsion based drift free micro actuator and a wireless linear micromotor. (orig.)

  9. Vibration analysis of a functionally graded piezoelectric cylindrical actuator

    Zhang, T T; Shi, Z F; Spencer, B F Jr

    2008-01-01

    This paper focuses on the response of a functionally graded piezoelectric cylindrical actuator placed in a harmonic electric field based on elastic membrane theory and shell theory. The actuator is polarized in the radial direction with its piezoelectric coefficient d 31 varying linearly along the axial direction. In the present investigation, non-dimensional expressions are introduced, and analytical solutions for this class of actuator are obtained. The results provided in the present study are compared with other investigations, with good agreement being found. The major differences between a functionally graded actuator and an actuator with homogeneous material properties are identified, and the advantages of the former are demonstrated. In the last section of this paper, limitations of membrane theory and shell theory models are discussed

  10. Measurements on the Thunder TH-6R actuator

    Buhl, T.; Gaunaa, Mac; Bak, Christian

    2005-01-01

    This report is a collection of the measurements carried out on the TH-6R actuator from Face International Co. The work is a part of the ADAPWING project, which aims at developing a method to alleviate some of the fluctuating response of a wind turbine byusing adaptive trailing edge geometry....... The ultimate goal of the project is to make a prototype and test this in a wind tunnel. First step is to clarify whether the actuator can be use for this purpose. The report will include: static and dynamic test ofthe actuator, test in different ranges of its operational range and comparison of two actuators....... One of the important fact that is discovered is that the actuator response has a clear hysteresis loop. This fact must be taken into account when using theactuator as trailing edge geometry on the wind turbine wing....

  11. Analysis of Reconfigured Control Loop with a Virtual Actuator

    Anna Filasova

    2011-01-01

    Full Text Available Control reconfiguration changes the control structure in response to a fault detected in the plant. This becomes necessary, because a major fault like loss of an actuator breaks the corresponding control loop and therefore renders the whole system inoperable.  An important aim of control reconfiguration is to change the control structure as little as possible, since every change bears the potential of practical problems. The proposed solution is to keep the original controller in the loop and to add an extension called virtual actuator that implements the necessary changes of the control structure. The virtual actuator translates between the signals of the nominal controller and the signal of the faulty plants. This paper is concerned with the analysis of reconfigured loop with a virtual actuator for the system with the faulty actuator. The proposed analysis is illustrated on numerical example.

  12. Development of a metal-based composite actuator

    Asanuma, Hiroshi; Haga, Osamu; Ishii, Toshio; Kurihara, Haruki; Ohira, Junichiro; Hakoda, Genji

    2000-06-01

    This paper describes a basic concept and elemental developments to realize a metal based composite actuator to be used for smart structures. In this study, CFRP prepreg was laminated on aluminum plate to develop an actuator and this laminate could perform unidirectional actuation. SiC continuous fiber/Al composite thin plate could also be used for form a modified type of actuator instead of using CFRP. As sensors to be embedded in this actuator, the following ones wee developed. (1) A pre-notched optical fiber filament could be embedded in aluminum matrix without fracture by the interphase forming/bonding method with copper insert and could be fractured in it at the notch, which enabled forming of an optical interference type strain sensor. (2) Nickel wire could be uniformly oxidized and embedded in aluminum matrix without fracture, which could successfully work as a temperature sensor and a strain sensor.

  13. Optimum Actuator Selection with a Genetic Algorithm for Aircraft Control

    Rogers, James L.

    2004-01-01

    The placement of actuators on a wing determines the control effectiveness of the airplane. One approach to placement maximizes the moments about the pitch, roll, and yaw axes, while minimizing the coupling. For example, the desired actuators produce a pure roll moment without at the same time causing much pitch or yaw. For a typical wing, there is a large set of candidate locations for placing actuators, resulting in a substantially larger number of combinations to examine in order to find an optimum placement satisfying the mission requirements and mission constraints. A genetic algorithm has been developed for finding the best placement for four actuators to produce an uncoupled pitch moment. The genetic algorithm has been extended to find the minimum number of actuators required to provide uncoupled pitch, roll, and yaw control. A simplified, untapered, unswept wing is the model for each application.

  14. Shape memory system with integrated actuation using embedded particles

    Buckley, Patrick R [New York, NY; Maitland, Duncan J [Pleasant Hill, CA

    2009-09-22

    A shape memory material with integrated actuation using embedded particles. One embodiment provides a shape memory material apparatus comprising a shape memory material body and magnetic pieces in the shape memory material body. Another embodiment provides a method of actuating a device to perform an activity on a subject comprising the steps of positioning a shape memory material body in a desired position with regard to the subject, the shape memory material body capable of being formed in a specific primary shape, reformed into a secondary stable shape, and controllably actuated to recover the specific primary shape; including pieces in the shape memory material body; and actuating the shape memory material body using the pieces causing the shape memory material body to be controllably actuated to recover the specific primary shape and perform the activity on the subject.

  15. Overview of Actuated Arm Support Systems and Their Applications

    E.A. Lomonova

    2013-10-01

    Full Text Available Arm support systems provide support throughout daily tasks, training or in an industrial environment. During the last decades a large diversity of actuated arm support systems have been developed. To analyze the actuation principles in these systems, an overview of actuated arm support systems is provided. This overview visualizes the current trends on research and development of these support systems and distinguishes three categories. These categories depend mainly on the functional status of the user environment, which defines the specifications. Therefore, the actuated arm support systems are classified according to their user environment, namely: ambulatory, rehabilitation and industrial. Furthermore, three main actuation principles and three mechanical construction principles have been identified.

  16. Adaptive deformable mirror : based on electromagnetic actuators

    Hamelinck, R.F.M.M.

    2010-01-01

    Refractive index variations in the earth's atmosphere cause wavefront aberrations and limit thereby the resolution in ground-based telescopes. With Adaptive Optics (AO) the temporally and spatially varying wavefront distortions can be corrected in real time. Most implementations in a ground based

  17. Topological design of compliant smart structures with embedded movable actuators

    Wang, Yiqiang; Zhang, Xiaopeng; Kang, Zhan; Luo, Zhen

    2014-01-01

    In the optimal configuration design of piezoelectric smart structures, it is favorable to use actuation elements with certain predefined geometries from the viewpoint of manufacturability of fragile piezoelectric ceramics in practical applications. However, preserving the exact shape of these embedded actuators and tracking their dynamic motions presents a more challenging research task than merely allowing them to take arbitrary shapes. This paper proposes an integrated topology optimization method for the systematic design of compliant smart structures with embedded movable PZT (lead zirconate titanate) actuators. Compared with most existing studies, which either optimize positions/sizes of the actuators in a given host structure or design the host structure with pre-determined actuator locations, the proposed method simultaneously optimizes the positions of the movable PZT actuators and the topology of the host structure, typically a compliant mechanism for amplifying the small strain stroke. A combined topological description model is employed in the optimization, where the level set model is used to track the movements of the PZT actuators and the independent point-wise density interpolation (iPDI) approach is utilized to search for the optimal topology of the host structure. Furthermore, we define an integral-type constraint function to prevent overlaps between the PZT actuators and between the actuators and the external boundaries of the design domain. Such a constraint provides a unified and explicit mathematical statement of the non-overlap condition for any number of arbitrarily shaped embedded actuators. Several numerical examples are used to demonstrate the effectiveness of the proposed optimization method. (paper)

  18. A new class of actuator surface models for wind turbines

    Yang, Xiaolei; Sotiropoulos, Fotis

    2018-05-01

    Actuator line model has been widely employed in wind turbine simulations. However, the standard actuator line model does not include a model for the turbine nacelle which can significantly impact turbine wake characteristics as shown in the literature. Another disadvantage of the standard actuator line model is that more geometrical features of turbine blades cannot be resolved on a finer mesh. To alleviate these disadvantages of the standard model, we develop a new class of actuator surface models for turbine blades and nacelle to take into account more geometrical details of turbine blades and include the effect of turbine nacelle. In the actuator surface model for blade, the aerodynamic forces calculated using the blade element method are distributed from the surface formed by the foil chords at different radial locations. In the actuator surface model for nacelle, the forces are distributed from the actual nacelle surface with the normal force component computed in the same way as in the direct forcing immersed boundary method and the tangential force component computed using a friction coefficient and a reference velocity of the incoming flow. The actuator surface model for nacelle is evaluated by simulating the flow over periodically placed nacelles. Both the actuator surface simulation and the wall-resolved large-eddy simulation are carried out. The comparison shows that the actuator surface model is able to give acceptable results especially at far wake locations on a very coarse mesh. It is noted that although this model is employed for the turbine nacelle in this work, it is also applicable to other bluff bodies. The capability of the actuator surface model in predicting turbine wakes is assessed by simulating the flow over the MEXICO (Model experiments in Controlled Conditions) turbine and a hydrokinetic turbine.

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

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

    2015-02-01

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

  20. Testing of Piezo-Actuated Glass Micro-Membranes by Optical Low-Coherence Reflectometry.

    Merlo, Sabina; Poma, Paolo; Crisà, Eleonora; Faralli, Dino; Soldo, Marco

    2017-02-25

    In this work, we have applied optical low-coherence reflectometry (OLCR), implemented with infra-red light propagating in fiberoptic paths, to perform static and dynamic analyses on piezo-actuated glass micro-membranes. The actuator was fabricated by means of thin-film piezoelectric MEMS technology and was employed for modifying the micro-membrane curvature, in view of its application in micro-optic devices, such as variable focus micro-lenses. We are here showing that OLCR incorporating a near-infrared superluminescent light emitting diode as the read-out source is suitable for measuring various parameters such as the micro-membrane optical path-length, the membrane displacement as a function of the applied voltage (yielding the piezo-actuator hysteresis) as well as the resonance curve of the fundamental vibration mode. The use of an optical source with short coherence-time allows performing interferometric measurements without spurious resonance effects due to multiple parallel interfaces of highly planar slabs, furthermore selecting the plane/layer to be monitored. We demonstrate that the same compact and flexible setup can be successfully employed to perform spot optical measurements for static and dynamic characterization of piezo-MEMS in real time.