Double-Acting Sleeve Muscle Actuator for Bio-Robotic Systems

Science.gov (United States)

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

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

Science.gov (United States)

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.

Ultrathin Alvarez lens system actuated by artificial muscles.

Science.gov (United States)

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.

A magnetorheological actuation system: test and model

International Nuclear Information System (INIS)

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

2008-01-01

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

Choosing Actuators for Automatic Control Systems of Thermal Power Plants

Energy Technology Data Exchange (ETDEWEB)

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.

MOSFET Switching Circuit Protects Shape Memory Alloy Actuators

Science.gov (United States)

Gummin, Mark A.

2011-01-01

A small-footprint, full surface-mount-component printed circuit board employs MOSFET (metal-oxide-semiconductor field-effect transistor) power switches to switch high currents from any input power supply from 3 to 30 V. High-force shape memory alloy (SMA) actuators generally require high current (up to 9 A at 28 V) to actuate. SMA wires (the driving element of the actuators) can be quickly overheated if power is not removed at the end of stroke, which can damage the wires. The new analog driver prevents overheating of the SMA wires in an actuator by momentarily removing power when the end limit switch is closed, thereby allowing complex control schemes to be adopted without concern for overheating. Either an integral pushbutton or microprocessor-controlled gate or control line inputs switch current to the actuator until the end switch line goes from logic high to logic low state. Power is then momentarily removed (switched off by the MOSFET). The analog driver is suited to use with nearly any SMA actuator.

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

Science.gov (United States)

Navarro, Robert

1997-01-01

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

a New ER Fluid Based Haptic Actuator System for Virtual Reality

Science.gov (United States)

Böse, H.; Baumann, M.; Monkman, G. J.; Egersdörfer, S.; Tunayar, A.; Freimuth, H.; Ermert, H.; Khaled, W.

The concept and some steps in the development of a new actuator system which enables the haptic perception of mechanically inhomogeneous virtual objects are introduced. The system consists of a two-dimensional planar array of actuator elements containing an electrorheological (ER) fluid. When a user presses his fingers onto the surface of the actuator array, he perceives locally variable resistance forces generated by vertical pistons which slide in the ER fluid through the gaps between electrode pairs. The voltage in each actuator element can be individually controlled by a novel sophisticated switching technology based on optoelectric gallium arsenide elements. The haptic information which is represented at the actuator array can be transferred from a corresponding sensor system based on ultrasonic elastography. The combined sensor-actuator system may serve as a technology platform for various applications in virtual reality, like telemedicine where the information on the consistency of tissue of a real patient is detected by the sensor part and recorded by the actuator part at a remote location.

High speed hydraulically-actuated operating system for an electric circuit breaker

Science.gov (United States)

Iman, Imdad

1983-06-07

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 breaker-opening 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 dashpotting mechanism operating separately from the hydraulic actuating system is provided, thereby reducing flow restriction interference with breaker opening.

Improved core protection calculator system algorithm

International Nuclear Information System (INIS)

Yoon, Tae Young; Park, Young Ho; In, Wang Kee; Bae, Jong Sik; Baeg, Seung Yeob

2009-01-01

Core Protection Calculator System (CPCS) is a digitized core protection system which provides core protection functions based on two reactor core operation parameters, Departure from Nucleate Boiling Ratio (DNBR) and Local Power Density (LPD). It generates a reactor trip signal when the core condition exceeds the DNBR or LPD design limit. It consists of four independent channels which adapted a two out of four trip logic. CPCS algorithm improvement for the newly designed core protection calculator system, RCOPS (Reactor COre Protection System), is described in this paper. New features include the improvement of DNBR algorithm for thermal margin, the addition of pre trip alarm generation for auxiliary trip function, VOPT (Variable Over Power Trip) prevention during RPCS (Reactor Power Cutback System) actuation and the improvement of CEA (Control Element Assembly) signal checking algorithm. To verify the improved CPCS algorithm, CPCS algorithm verification tests, 'Module Test' and 'Unit Test', would be performed on RCOPS single channel facility. It is expected that the improved CPCS algorithm will increase DNBR margin and enhance the plant availability by reducing unnecessary reactor trips

Adaptive Non-linear Control of Hydraulic Actuator Systems

DEFF Research Database (Denmark)

Hansen, Poul Erik; Conrad, Finn

1998-01-01

Presentation of two new developed adaptive non-liner controllers for hydraulic actuator systems to give stable operation and improved performance.Results from the IMCIA project supported by the Danish Technical Research Council (STVF).......Presentation of two new developed adaptive non-liner controllers for hydraulic actuator systems to give stable operation and improved performance.Results from the IMCIA project supported by the Danish Technical Research Council (STVF)....

Redundant actuator development study. [flight control systems for supersonic transport aircraft

Science.gov (United States)

Ryder, D. R.

1973-01-01

Current and past supersonic transport configurations are reviewed to assess redundancy requirements for future airplane control systems. Secondary actuators used in stability augmentation systems will probably be the most critical actuator application and require the highest level of redundancy. Two methods of actuator redundancy mechanization have been recommended for further study. Math models of the recommended systems have been developed for use in future computer simulations. A long range plan has been formulated for actuator hardware development and testing in conjunction with the NASA Flight Simulator for Advanced Aircraft.

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

Science.gov (United States)

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

2007-04-01

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

Italy: Analysis of Solutions for Passively Actuated Safety Shutdown Devices

International Nuclear Information System (INIS)

Burgazzi, L.

2015-01-01

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

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

Science.gov (United States)

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

2005-05-01

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

Reconfigurable Control of Input Affine Nonlinear Systems under Actuator Fault

DEFF Research Database (Denmark)

Tabatabaeipour, Mojtaba; Galeazzi, Roberto

2015-01-01

loop is preserved. The RB is realized by a virtual actuator and a reference model. Using notions of incremental and input-to-state stability (ISS), it is shown that ISS of the closed-loop reconfigured system can be achieved by the separate design of the virtual actuator. The proposed method does...... not need any knowledge of the nominal controller and only assumes that the nominal closed-loop system is ISS. The method is demonstrated on a dynamic positioning system for an offshore supply vessel, where the virtual actuator is designed using backstepping....

High-temperature gas-cooled reactor steam-cycle/cogeneration lead plant. Plant Protection and Instrumentation System design description

International Nuclear Information System (INIS)

1983-01-01

The Plant Protection and Instrumentation System provides plant safety system sense and command features, actuation of plant safety system execute features, preventive features which maintain safety system integrity, and safety-related instrumentation which monitors the plant and its safety systems. The primary function of the Plant Protection and Instrumentation system is to sense plant process variables to detect abnormal plant conditions and to provide input to actuation devices directly controlling equipment required to mitigate the consequences of design basis events to protect the public health and safety. The secondary functions of the Plant Protection and Instrumentation System are to provide plant preventive features, sybsystems that monitor plant safety systems status, subsystems that monitor the plant under normal operating and accident conditions, safety-related controls which allow control of reactor shutdown and cooling from a remote shutdown area

Design of Transputer Controllers for Hydraulic Actuator Systems

DEFF Research Database (Denmark)

Conrad, Finn

1996-01-01

The paper deals with how transputers can be applied for fast controllers for hydraulic actuator systems. A general transputer-based control systems including a data acquisition transputer subsystem is presented. An application case: development of a mechatronic test facility with a fast hydraulic...... test robot controlled by a transputer-basec controller is presented. Some experimental path-tracking results with adaptive control algorithms are presented and discussed. The results confirm that transputers have significant advantages for intelligent control of actuator systems and robots for high...

Intelligent fault diagnosis and failure management of flight control actuation systems

Science.gov (United States)

Bonnice, William F.; Baker, Walter

1988-01-01

The real-time fault diagnosis and failure management (FDFM) of current operational and experimental dual tandem aircraft flight control system actuators was investigated. Dual tandem actuators were studied because of the active FDFM capability required to manage the redundancy of these actuators. The FDFM methods used on current dual tandem actuators were determined by examining six specific actuators. The FDFM capability on these six actuators was also evaluated. One approach for improving the FDFM capability on dual tandem actuators may be through the application of artificial intelligence (AI) technology. Existing AI approaches and applications of FDFM were examined and evaluated. Based on the general survey of AI FDFM approaches, the potential role of AI technology for real-time actuator FDFM was determined. Finally, FDFM and maintainability improvements for dual tandem actuators were recommended.

Solar photovoltaic water pumping system using a new linear actuator

OpenAIRE

Andrada Gascón, Pedro; Castro, Javier

2007-01-01

In this paper a photovoltaic solar pumping system using a new linear actuator is presented. This linear actuator is a double-sided flat two-phase variable-reluctance linear stepper motor that moves a piston-type water pump with the help of a rope, a pulley and a counterweight. The entire actuator pump ensemble is controlled by a simple electronic unit that manages the electric power generated by a photovoltaic array. The proposed system is suitable for rural communities in developing...

Development of an air-operated actuator performance monitoring system for regulatory usage

International Nuclear Information System (INIS)

Sung, K. Y.; Kwon, S. J.

2004-01-01

The performance monitoring system of air-operated actuators for regulatory usage has been being developed. Essential elements and operating parameters affecting the actuator performance have been investigated to provide basic information for system development. The monitoring system including an air-operated actuator testing facility and analysis softwares for monitoring and evaluation are also introduced in this paper. As a result of simulated tests, it was known that the system could be a useful tool for the effective monitoring of actuator performance change and fault conditions. This system would be applied to regulatory inspection for utility's data validation and to the training of regulatory staff in future after some modification and expansion

Technical evaluation of the noise and isolation testing of the safety features actuation system at the Davis Besse Nuclear Power Station, Unit 1

International Nuclear Information System (INIS)

Selan, J.C.

1981-07-01

This report documents the technical evaluation of the noise and isolation testing of the safety features actuation system at the Davis Besse Nuclear Power Station, Unit 1. The tests were to verify that faults on the non-Class 1E circuits would not propagate to the Class 1E circuits and degrade them below acceptable levels. The tests conducted demonstrated that the safety features actuation system did not degrade below acceptable levels nor was the system's ability to perform its protective functions affected

Verification of operation of the actuator control system using the integration the B&R Automation Studio software with a virtual model of the actuator system

Science.gov (United States)

Herbuś, K.; Ociepka, P.

2017-08-01

In the work is analysed a sequential control system of a machine for separating and grouping work pieces for processing. Whereas, the area of the considered problem is related with verification of operation of an actuator system of an electro-pneumatic control system equipped with a PLC controller. Wherein to verification is subjected the way of operation of actuators in view of logic relationships assumed in the control system. The actuators of the considered control system were three drives of linear motion (pneumatic cylinders). And the logical structure of the system of operation of the control system is based on the signals flow graph. The tested logical structure of operation of the electro-pneumatic control system was implemented in the Automation Studio software of B&R company. This software is used to create programs for the PLC controllers. Next, in the FluidSIM software was created the model of the actuator system of the control system of a machine. To verify the created program for the PLC controller, simulating the operation of the created model, it was utilized the approach of integration these two programs using the tool for data exchange in the form of the OPC server.

Optimal Sensor and Actuator Location for Unstable Systems

DEFF Research Database (Denmark)

Shaker, Hamid Reza; Tahavori, Maryamsadat

2013-01-01

on the processes. Dually the problem of placing actuators on the processes is equally important. In this paper, the problem of determining optimal sensor and actuator locations for the linear systems is addressed. The problem of the sensor locations is viewed as the problem of maximizing the output energy...... generated by a given state and for the actuator locations is viewed as the problem of minimizing the input energy required to reach a given state. Such design problems occur in many applications, and therefore have been studied extensively. Unfortunately, the results in this context, which have been...

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

Science.gov (United States)

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

2000-01-01

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

OMS engine shutoff valve and actuation system design and evaluation. [for space shuttles

Science.gov (United States)

Wichmann, H.

1974-01-01

Shutoff valve and actuation system concepts that are most suitable for the Orbital Maneuvering Systems engine application were determined. Emphasis was placed on the ten year and 100 mission life requirement, propellant and propellant residue compatibility and weight. It was found that poppet or ball valves utilizing electric or electropneumatic actuation were most applicable. Preliminary design layouts of a number of valve and actuation concepts were prepared and analyzed to make the optimum concept selection. Pneumatic actuation systems were required to feature their own pneumatic supply so that for the quad redundant valve, it was necessary to include two pneumatic supply systems, one for each of the series legs of the quad redundant package. The requirement for the pneumatic package placed heavy reliability, weight, and maintenance penalties upon electropneumatic actuation systems. The two valve and actuation systems concepts selected featured electric torque motor operation and a poppet as well as a ball valve concept with a retractable seal.

Sensor-actuator system for dynamic chloride ion determination.

Science.gov (United States)

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.

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

Science.gov (United States)

Chan, Kwong Wah; Liao, Wei-Hsin

2006-03-01

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

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

International Nuclear Information System (INIS)

Langeron, Y.; Grall, A.; Barros, A.

2015-01-01

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

Linear Actuator System for the NASA Docking System

Science.gov (United States)

Dick, Brandon N.; Oesch, Christopher; Rupp, Timothy W.

2017-01-01

The Linear Actuator System (LAS) is a major sub-system within the NASA Docking System (NDS). The NDS Block 1 will be used on the Boeing Crew Space Transportation (CST-100) system to achieve docking with the International Space Station. Critical functions in the Soft Capture aspect of docking are performed by the LAS. This paper describes the general function of the LAS, the system's key requirements and technical challenges, and the development and qualification approach for the system.

Distributed sensor and actuator reconfiguration for fault-tolerant networked control systems

NARCIS (Netherlands)

Herdeiro Teixeira, A.M.; Araujo, Jose; Sandberg, Henrik; Johansson, Karl H.

2017-01-01

In this paper, we address the problem of distributed reconfiguration of networked control systems upon the removal of misbehaving sensors and actuators. In particular, we consider systems with redundant sensors and actuators cooperating to recover from faults. Reconfiguration is performed while

Integration of Flex Nozzle System and Electro Hydraulic Actuators to Solid Rocket Motors

Science.gov (United States)

Nayani, Kishore Nath; Bajaj, Dinesh Kumar

2017-10-01

A rocket motor assembly comprised of solid rocket motor and flex nozzle system. Integration of flex nozzle system and hydraulic actuators to the solid rocket motors are done after transportation to the required place where integration occurred. The flex nozzle system is integrated to the rocket motor in horizontal condition and the electro hydraulic actuators are assembled to the flex nozzle systems. The electro hydraulic actuators are connected to the hydraulic power pack to operate the actuators. The nozzle-motor critical interface are insulation diametrical compression, inhibition resin-28, insulation facial compression, shaft seal `O' ring compression and face seal `O' ring compression.

Hydraulically-actuated operating system for an electric circuit breaker

Science.gov (United States)

Barkan, Philip; Imam, Imdad

1978-01-01

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

Piezoelectric Multilayer-Stacked Hybrid Actuation/Transduction System

Science.gov (United States)

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

2014-01-01

A novel full piezoelectric multilayer stacked hybrid actuation/transduction system. The system demonstrates significantly-enhanced electromechanical performance by utilizing the cooperative contributions of the electromechanical responses of multilayer stacked negative and positive strain components. Both experimental and theoretical studies indicate that for this system, the displacement is over three times that of a same-sized conventional flextensional actuator/transducer. The system consists of at least 2 layers which include electromechanically active components. The layers are arranged such that when electric power is applied, one layer contracts in a transverse direction while the second layer expands in a transverse direction which is perpendicular to the transverse direction of the first layer. An alternate embodiment includes a third layer. In this embodiment, the outer two layers contract in parallel transverse directions while the middle layer expands in a transverse direction which is perpendicular to the transverse direction of the outer layers.

Stability and stabilization of linear systems with saturating actuators

CERN Document Server

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.

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

International Nuclear Information System (INIS)

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

2016-01-01

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

A system look at electromechanical actuation for primary flight control

NARCIS (Netherlands)

Lomonova, E.A.

1997-01-01

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

A review on optical actuators for microfluidic systems

Science.gov (United States)

Yang, Tie; Chen, Yue; Minzioni, Paolo

2017-12-01

During the last few decades microfluidic systems have become more and more popular and their relevance in different fields is continually growing. In fact, the use of microchannels allows a significant reduction of the required sample-volume and opens the way to a completely new set of possible investigations, including the study of the properties of cells, the development of new cells’ separation techniques and the analysis of single-cell proteins. One of the main differences between microscopic and macroscopic systems is obviously dictated by the need for suitable actuation mechanisms, which should allow precise control of microscopic fluid volumes and of micro-samples inside the fluid. Even if both syringe-pump and pneumatic-pump technologies significantly evolved and they currently enable sub-μL samples control, completely new approaches were recently developed for the manipulation of samples inside the microchannel. This review is dedicated to describing different kinds of optical actuators that can be applied in microfluidic systems for sample manipulation as well as for pumping. The basic principles underlying the optical actuation mechanisms will be described first, and then several experimental demonstrations will be reviewed and compared.

Multi-actuators vehicle collision avoidance system - Experimental validation

Science.gov (United States)

Hamid, Umar Zakir Abdul; Zakuan, Fakhrul Razi Ahmad; Akmal Zulkepli, Khairul; Zulfaqar Azmi, Muhammad; Zamzuri, Hairi; Rahman, Mohd Azizi Abdul; Aizzat Zakaria, Muhammad

2018-04-01

The Insurance Institute for Highway Safety (IIHS) of the United States of America in their reports has mentioned that a significant amount of the road mishaps would be preventable if more automated active safety applications are adopted into the vehicle. This includes the incorporation of collision avoidance system. The autonomous intervention by the active steering and braking systems in the hazardous scenario can aid the driver in mitigating the collisions. In this work, a real-time platform of a multi-actuators vehicle collision avoidance system is developed. It is a continuous research scheme to develop a fully autonomous vehicle in Malaysia. The vehicle is a modular platform which can be utilized for different research purposes and is denominated as Intelligent Drive Project (iDrive). The vehicle collision avoidance proposed design is validated in a controlled environment, where the coupled longitudinal and lateral motion control system is expected to provide desired braking and steering actuation in the occurrence of a frontal static obstacle. Results indicate the ability of the platform to yield multi-actuators collision avoidance navigation in the hazardous scenario, thus avoiding the obstacle. The findings of this work are beneficial for the development of a more complex and nonlinear real-time collision avoidance work in the future.

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

DEFF Research Database (Denmark)

Hansen, Poul Erik

1997-01-01

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

Cavity opto-electromechanical system combining strong electrical actuation with ultrasensitive transduction

OpenAIRE

McRae, Terry G.; Lee, Kwan H.; Harris, Glen I.; Knittel, Joachim; Bowen, Warwick P.

2010-01-01

A cavity opto-electromechanical system is reported which combines the ultrasensitive transduction of cavity optomechanical systems with the electrical actuation of nanoelectromechanical systems. Ultrasensitive mechanical transduction is achieved via opto-mechanical coupling. Electrical gradient forces as large as 0.40 $\\mu$N are realized, facilitating strong actuation with ultralow dissipation. A scanning probe microscope is implemented, capable of characterizing the mechanical modes. The int...

WASTE HANDLING BUILDING FIRE PROTECTION SYSTEM DESCRIPTION DOCUMENT

Energy Technology Data Exchange (ETDEWEB)

J. D. Bigbee

2000-06-21

The Waste Handling Building Fire Protection System provides the capability to detect, control, and extinguish fires and/or mitigate explosions throughout the Waste Handling Building (WHB). Fire protection includes appropriate water-based and non-water-based suppression, as appropriate, and includes the distribution and delivery systems for the fire suppression agents. The Waste Handling Building Fire Protection System includes fire or explosion detection panel(s) controlling various detectors, system actuation, annunciators, equipment controls, and signal outputs. The system interfaces with the Waste Handling Building System for mounting of fire protection equipment and components, location of fire suppression equipment, suppression agent runoff, and locating fire rated barriers. The system interfaces with the Waste Handling Building System for adequate drainage and removal capabilities of liquid runoff resulting from fire protection discharges. The system interfaces with the Waste Handling Building Electrical Distribution System for power to operate, and with the Site Fire Protection System for fire protection water supply to automatic sprinklers, standpipes, and hose stations. The system interfaces with the Site Fire Protection System for fire signal transmission outside the WHB as needed to respond to a fire emergency, and with the Waste Handling Building Ventilation System to detect smoke and fire in specific areas, to protect building high-efficiency particulate air (HEPA) filters, and to control portions of the Waste Handling Building Ventilation System for smoke management and manual override capability. The system interfaces with the Monitored Geologic Repository (MGR) Operations Monitoring and Control System for annunciation, and condition status.

WASTE HANDLING BUILDING FIRE PROTECTION SYSTEM DESCRIPTION DOCUMENT

International Nuclear Information System (INIS)

J. D. Bigbee

2000-01-01

The Waste Handling Building Fire Protection System provides the capability to detect, control, and extinguish fires and/or mitigate explosions throughout the Waste Handling Building (WHB). Fire protection includes appropriate water-based and non-water-based suppression, as appropriate, and includes the distribution and delivery systems for the fire suppression agents. The Waste Handling Building Fire Protection System includes fire or explosion detection panel(s) controlling various detectors, system actuation, annunciators, equipment controls, and signal outputs. The system interfaces with the Waste Handling Building System for mounting of fire protection equipment and components, location of fire suppression equipment, suppression agent runoff, and locating fire rated barriers. The system interfaces with the Waste Handling Building System for adequate drainage and removal capabilities of liquid runoff resulting from fire protection discharges. The system interfaces with the Waste Handling Building Electrical Distribution System for power to operate, and with the Site Fire Protection System for fire protection water supply to automatic sprinklers, standpipes, and hose stations. The system interfaces with the Site Fire Protection System for fire signal transmission outside the WHB as needed to respond to a fire emergency, and with the Waste Handling Building Ventilation System to detect smoke and fire in specific areas, to protect building high-efficiency particulate air (HEPA) filters, and to control portions of the Waste Handling Building Ventilation System for smoke management and manual override capability. The system interfaces with the Monitored Geologic Repository (MGR) Operations Monitoring and Control System for annunciation, and condition status

Actuation and system design and evaluation OMS engine shutoff valve, Volume 1. [space shuttles

Science.gov (United States)

Dunn, V. B.

1975-01-01

A technology program was conducted to identify and verify the optimum valve and actuation system concept for the Space Shuttle Orbit Maneuvering System engine. Of major importance to the valve and actuation system selection was the ten-year, 100-mission, 10,000-cycle life requirement, while maintaining high reliability, low leakage, and low weight. Valve and actuation system concepts were comparatively evaluated against past valve failure reports and potential failure modes due to the shuttle mission profile to aid in the selection of the most optimum concept for design, manufacture and verification testing. Two valve concepts were considered during the preliminary design stage; i.e., the moving seat and lifting ball. Two actuation systems were manufactured and tested. Test results demonstrate the viability of a lifting ball concept as well as the applicability of an ac motor actuation system to best meet the requirements of the shuttle mission.

Electromechanical actuation of buckypaper actuator: Material properties and performance relationships

International Nuclear Information System (INIS)

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

2012-01-01

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

Control of a perturbed under-actuated mechanical system

KAUST Repository

Zayane, Chadia; Laleg-Kirati, Taous-Meriem; Chemori, Ahmed

2015-01-01

In this work, the trajectory tracking problem for an under-actuated mechanical system in presence of unknown input disturbances is addressed. The studied inertia wheel inverted pendulum falls in the class of non minimum phase systems. The proposed

Integral isolation valve systems for loss of coolant accident protection

Science.gov (United States)

Kanuch, David J.; DiFilipo, Paul P.

2018-03-20

A nuclear reactor includes a nuclear reactor core comprising fissile material disposed in a reactor pressure vessel having vessel penetrations that exclusively carry flow into the nuclear reactor and at least one vessel penetration that carries flow out of the nuclear reactor. An integral isolation valve (IIV) system includes passive IIVs each comprising a check valve built into a forged flange and not including an actuator, and one or more active IIVs each comprising an active valve built into a forged flange and including an actuator. Each vessel penetration exclusively carrying flow into the nuclear reactor is protected by a passive IIV whose forged flange is directly connected to the vessel penetration. Each vessel penetration carrying flow out of the nuclear reactor is protected by an active IIV whose forged flange is directly connected to the vessel penetration. Each active valve may be a normally closed valve.

Investigation and Development of the Thermal Preparation System of the Trailbuilder Machinery Hydraulic Actuator

Science.gov (United States)

Konev, V.; Polovnikov, E.; Krut, O.; Merdanov, Sh; Zakirzakov, G.

2017-07-01

It’s determined that the main part of trailbuilders operated in the North is the technology equipped by the hydraulic actuator. Further development of the northern territories will demand using of various means and ways machinery thermal preparation, and also the machinery of the northern fulfillment. On this basis problems in equipment operation are defined. One of the main is efficiency supplying of a hydraulic actuator. On the basis of the operating conditions’ analysis of trailbuilder hydraulic actuator operation it is determined, that under low negative temperatures the means of thermal preparation are necessary. The existing systems warm up only a hydraulic tank or warming up of the hydro equipment before the machinery operation is carried out under loading with intensive wears. Thus, with the purpose to raise the efficiency of thermal hydraulic actuator, operated far from stationary bases autonomous, energy saving, not expensive in creation and operation systems are necessary. In accordance with the analysis of means and ways of the thermal preparation of the hydraulic actuator and the thermal balance calculations of the (internal) combustion engine the system of the hydraulic actuator heating is offered and is being investigated. It contains a local hydraulic actuator warming up and the system of internal combustion engine heat utilization. Within research operation conditions of the local hydraulic actuator heating are viewed and determined, taking into account constructive changes to the local hydraulic actuator heating. Mathematical modelling of the heat technical process in the modernized hydraulic actuator is considered. As a result temperature changes of the heat-transfer and the hydraulic cylinder in time are determined. To check the theoretical researches and to define dependences on hydraulic actuator warming up, the experimental installation is made. It contains the measuring equipment, a small tank with the heat exchanger of the burnt gases

Experimental StudyHigh Altitude Forced Convective Cooling of Electromechanical Actuation Systems

Science.gov (United States)

2016-01-01

34 Massachusetts Institute of Technology , 1989. [3] FedBizOps.Gov, " Integrated Vehicle Energy Technology (INVENT) Development Program for the 6th...AFRL-RQ-WP-TR-2016-0043 EXPERIMENTAL STUDY—HIGH ALTITUDE FORCED CONVECTIVE COOLING OF ELECTROMECHANICAL ACTUATION SYSTEMS Evan M. Racine...TITLE AND SUBTITLE EXPERIMENTAL STUDY—HIGH ALTITUDE FORCED CONVECTIVE COOLING OF ELECTROMECHANICAL ACTUATION SYSTEMS 5a. CONTRACT NUMBER In-house

Design of a linear-motion dual-stage actuation system for precision control

International Nuclear Information System (INIS)

Dong, W; Tang, J; ElDeeb, Y

2009-01-01

Actuators with high linear-motion speed, high positioning resolution and a long motion stroke are needed in many precision machining systems. In some current systems, voice coil motors (VCMs) are implemented for servo control. While the voice coil motors may provide the long motion stroke needed in many applications, the main obstacle that hinders the improvement of the machining accuracy and efficiency is their limited bandwidth. To fundamentally solve this issue, we propose to develop a dual-stage actuation system that consists of a voice coil motor that covers the coarse motion, and a piezoelectric stack actuator that induces the fine motion, thus enhancing the positioning accuracy. The focus of this present research is the mechatronics design and synthesis of the new actuation system. In particular, a flexure hinge based mechanism is developed to provide a motion guide and preload to the piezoelectric stack actuator that is serially connected to the voice coil motor. This mechanism is built upon parallel plane flexure hinges. A series of numerical and experimental studies are carried out to facilitate the system design and the model identification. The effectiveness of the proposed system is demonstrated through open-loop studies and preliminary closed-loop control practice. While the primary goal of this particular design is aimed at enhancing optical lens machining, the concept and approach outlined are generic and can be extended to a variety of applications

Reconfigurability of Piecewise Affine Systems Against Actuator Faults

DEFF Research Database (Denmark)

Tabatabaeipour, Seyed Mojtaba; Gholami, Mehdi; Bak, Thomas

2011-01-01

In this paper, we consider the problem of recongurability of peicewise ane (PWA) systems. Actuator faults are considered. A system subject to a fault is considered as recongurable if it can be stabilized by a state feedback controller and the optimal cost of the performance of the systems...

Three-dimensional Locomotion and Drilling Microrobot Using Electromagnetic Actuation System

International Nuclear Information System (INIS)

Li, Girl; Choi, Hyun Chul; Cha, Kyoung Rae; Jeong, Se Mi; Park, Jong Oh; Park, Suk Ho

2011-01-01

In this study, a novel electromagnetic microrobot system with locomotion and drilling functions in three dimensional space was developed. Because of size limitations, the microrobot does not have actuator, battery, and controller. Therefore, an electromagnetic actuation (EMA) system was used to drive the robot. The proposed EMA system consists of three rectangular Helmholtz coil pairs in x-, y- and z-axes and a Maxwell coil pair in the z-axis. The magnetic field generated in the EMA coil system could be controlled by the input current of the EMA coil. Finally, through various experiments, the locomotion and drilling performances of the proposed EMA microrobot system were verified

Three-dimensional Locomotion and Drilling Microrobot Using Electromagnetic Actuation System

Energy Technology Data Exchange (ETDEWEB)

Li, Girl; Choi, Hyun Chul; Cha, Kyoung Rae; Jeong, Se Mi; Park, Jong Oh; Park, Suk Ho [Chonnam National University, Gwangju (Korea, Republic of)

2011-12-15

In this study, a novel electromagnetic microrobot system with locomotion and drilling functions in three dimensional space was developed. Because of size limitations, the microrobot does not have actuator, battery, and controller. Therefore, an electromagnetic actuation (EMA) system was used to drive the robot. The proposed EMA system consists of three rectangular Helmholtz coil pairs in x-, y- and z-axes and a Maxwell coil pair in the z-axis. The magnetic field generated in the EMA coil system could be controlled by the input current of the EMA coil. Finally, through various experiments, the locomotion and drilling performances of the proposed EMA microrobot system were verified.

Simulation of an actuator & drive of a wire drawing machine's mechatronic system using Matlab/Simulink

Energy Technology Data Exchange (ETDEWEB)

Tasevski, Gotse; Petreski, Zlatko; Shishkovski, Dejan [Faculty of Mechanical Engineering, ' Ss. Cyril and Methodius' University, Skopje (Macedonia, The Former Yugoslav Republic of)

2014-07-01

Simulation of a mechatronic system actuator, implemented in a wire drawing machine, developed in Matlab/Simulink environment is presented in this paper. AC induction motor with vector control drive is chosen as an actuator. Mathematical model of the actuator is expressed in d-q reference frame rotating at synchronous speed. Diagrams for calculation of the important parameters for the simulation of the actuator were constructed. Simulation results from the model behaviour were discussed in comparison with the specified parameters by the manufacturer of the existing actuator integrated in such mechatronic system. (Author)

Power supply for wireless sensor or actuator systems

International Nuclear Information System (INIS)

Reindl, L. M.

2011-01-01

Portable wireless sensor or actuator systems, like portable phones, remote control, or ID cards play an ever growing role in our industrialized environment. Those systems and many more were enabled due to the steady decreasing power consumption of high integrated ICs. Most such systems are powered by batteries or inductive coupling. In this presentation several concepts for an alternative power supply of wireless sensor or actuator systems are discussed in detail. Batteries, although today mostly used, suffer from a limited storage capacity, which induce a labour and sometimes cost-intensive periodic maintenance, and a problematic ecological impact. The operating range of inductive coupling systems is due to the near ?eld limited to the aperture of the coupling coil. UHF systems operate in the far field and reach higher distances. Their operating range is limited by the distance where the voltage at the feeding point of the antenna becomes too low to drive the rectifier circuit. Larger read out ranges become feasible by omitting the rectifier stage. In this case we need either a passive frequency modulating device to shift the read out signal to a side band, or a resonator with a high quality factor, like a SAW or BAW device, to store the energy until all environmental echoes are feed away. For many applications, both indoor and outdoor, energy harvesting system become feasible which convert ambient power densities like light, RF fields, special or temporal thermal gradients, or mechanical vibrations into electrical supply power of the wireless system. All those systems strongly suffer from a lack of energy. Thus new concepts for low-ering the power consumption of a wireless sensor or actuator system by keeping their features remain extreme important. Herby, a new wake up receiver is presented which operates on a current requirement as low as 3 micro A.

Design and control of electromagnetic clutch actuation system for automated manual transmission

Science.gov (United States)

Ranjan, Ashish; Prasanth, S.; Cherian, Fenin; Baskar, P.

2017-11-01

There is a growing interest towards Automatic Transmission in India as it provides better comfort and drivability. But the high cost of this system is limiting itself to be successful in the Indian markets. Due to this, Automated Manual Transmission (AMT) is considered which provides a better solution towards automation as it enhances the drivability and fuel consumption characteristics of a manual transmission at lower costs. However, torque lag and comfort are major issues with AMT which can be addressed by reducing the shift time. In this paper we describe an Electromagnetic Linear Clutch Actuator as a replacement to current electrohydraulic and electromechanical actuator. A control system for the actuator is presented and a clutch engagement strategy is also implemented which reduces the engagement time to 0.78 seconds while reducing jerk and torque lag. The actuator and control system is simulated on a MATLAB Simulink and agreeable results have been obtained.

Pneumatic Rotary Actuator Position Servo System Based on ADE-PD Control

Directory of Open Access Journals (Sweden)

Yeming Zhang

2018-03-01

Full Text Available In order to accurately control the rotation position of a pneumatic rotary actuator, the flow state of the gas and the motion state of the pneumatic rotary actuator in the pneumatic rotary actuator position servo system are analyzed in this paper. The mathematical model of the system and the experiment platform are established after that. An Adaptive Differential Evolution (ADE algorithm which adaptively ameliorates the scaling factor and crossover probability in the process of individual evolution is proposed and applied to the parameter optimization of PD controller. The experimental platform is used to compare the controller with Differential Evolution (DE algorithm and NCD-PID controller. Finally, the characteristics of the system are tested by increasing the inertial load. The experimental results illustrate that system using ADE-PD control strategy has greater position precision and faster response than using DE-PD and NCD-PID strategies, and shows great robustness.

Adaptive tracking control for active suspension systems with non-ideal actuators

Science.gov (United States)

Pan, Huihui; Sun, Weichao; Jing, Xingjian; Gao, Huijun; Yao, Jianyong

2017-07-01

As a critical component of transportation vehicles, active suspension systems are instrumental in the improvement of ride comfort and maneuverability. However, practical active suspensions commonly suffer from parameter uncertainties (e.g., the variations of payload mass and suspension component parameters), external disturbances and especially the unknown non-ideal actuators (i.e., dead-zone and hysteresis nonlinearities), which always significantly deteriorate the control performance in practice. To overcome these issues, this paper synthesizes an adaptive tracking control strategy for vehicle suspension systems to achieve suspension performance improvements. The proposed control algorithm is formulated by developing a unified framework of non-ideal actuators rather than a separate way, which is a simple yet effective approach to remove the unexpected nonlinear effects. From the perspective of practical implementation, the advantages of the presented controller for active suspensions include that the assumptions on the measurable actuator outputs, the prior knowledge of nonlinear actuator parameters and the uncertain parameters within a known compact set are not required. Furthermore, the stability of the closed-loop suspension system is theoretically guaranteed by rigorous mathematical analysis. Finally, the effectiveness of the presented adaptive control scheme is confirmed using comparative numerical simulation validations.

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

Science.gov (United States)

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

2018-05-01

Hydraulic actuators play a key role in experimental structural dynamics. In a previous study, a physics-based model for a servo-hydraulic actuator coupled with a nonlinear physical system was developed. Later, this dynamical model was transformed into controllable canonical form for position tracking control purposes. For this study, a nonlinear device is designed and fabricated to exhibit various nonlinear force-displacement profiles depending on the initial condition and the type of materials used as replaceable coupons. Using this nonlinear system, the controllable canonical dynamical model is experimentally validated for a servo-hydraulic actuator coupled with a nonlinear physical system.

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

Science.gov (United States)

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).

Development of a hybrid safety system: Actuation of the secondary automatic depressurization system at an early stage

International Nuclear Information System (INIS)

Nishimoto, Masae; Umezawa, Shigemitsu; Okabe, Kazuharu; Matsuoka, Tsuyoshi

1996-01-01

A Hybrid Safety System, which is an optimum combination of active and passive safety systems, has been developed in order to improve the safety, reliability and economic features of the next generation of PWRs. The passive safety systems include Automatic primary Depressurization System (ADS), Secondary Automatic Depressurization System (SADS), advanced accumulators, gravity injection system and so on. In this study the authors have improved the actuation logic of the passive safety systems. The original logic in the previous study actuates ADS at an early stage of an event such as a Loss-of-Coolant Accident (LOCA), and this is followed by the actuation of SADS. In this study they divide SADS into two systems. The first, small SADS, uses small valves corresponding to the relief valves of the conventional PWR plants. The second, large SADS, corresponds to the original SADS using multiple valves of large capacity. With the new logic, the passive systems are actuated during a typical small LOCA. Small LOCA analyses using several break areas were performed for a 1,400 MWe PWR plant with a Hybrid Safety System. The results predict that core uncovery does not occur in the case of a relatively small break area and that core heat removal during a small LOCA is improved in comparison with the analyses for conventional PWR plants, where the secondary pressure remains higher during the event. The results also predict that this new logic make it possible to reduce the ADS valve size and the actuation pressure setpoint of the passive safety systems

Powered Upper Limb Orthosis Actuation System Based on Pneumatic Artificial Muscles

Science.gov (United States)

Chakarov, Dimitar; Veneva, Ivanka; Tsveov, Mihail; Venev, Pavel

2018-03-01

The actuation system of a powered upper limb orthosis is studied in the work. To create natural safety in the mutual "man-robot" interaction, an actuation system based on pneumatic artificial muscles (PAM) is selected. Experimentally obtained force/contraction diagrams for bundles, consisting of different number of muscles are shown in the paper. The pooling force and the stiffness of the pneumatic actuators is assessed as a function of the number of muscles in the bundle and the supply pressure. Joint motion and torque is achieved by antagonistic actions through pulleys, driven by bundles of pneumatic muscles. Joint stiffness and joint torques are determined on condition of a power balance, as a function of the joint position, pressure, number of muscles and muscles

Design and Calibration of an RF Actuator for Low-Level RF Systems

Science.gov (United States)

Geng, Zheqiao; Hong, Bo

2016-02-01

X-ray free electron laser (FEL) machines like the Linac Coherent Light Source (LCLS) at SLAC require high-quality electron beams to generate X-ray lasers for various experiments. Digital low-level RF (LLRF) systems are widely used to control the high-power RF klystrons to provide a highly stable RF field in accelerator structures for beam acceleration. Feedback and feedforward controllers are implemented in LLRF systems to stabilize or adjust the phase and amplitude of the RF field. To achieve the RF stability and the accuracy of the phase and amplitude adjustment, low-noise and highly linear RF actuators are required. Aiming for the upgrade of the S-band Linac at SLAC, an RF actuator is designed with an I/Qmodulator driven by two digital-to-analog converters (DAC) for the digital LLRF systems. A direct upconversion scheme is selected for RF actuation, and an on-line calibration algorithm is developed to compensate the RF reference leakage and the imbalance errors in the I/Q modulator, which may cause significant phase and amplitude actuation errors. This paper presents the requirements on the RF actuator, the design of the hardware, the calibration algorithm, and the implementation in firmware and software and the test results at LCLS.

Temperature sensitive self-actuated scram mechanism

International Nuclear Information System (INIS)

1980-01-01

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

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

Science.gov (United States)

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.

Vibration isolation and dual-stage actuation pointing system for space precision payloads

Science.gov (United States)

Kong, Yongfang; Huang, Hai

2018-02-01

Pointing and stability requirements for future space missions are becoming more and more stringent. This work follows the pointing control method which consists of a traditional spacecraft attitude control system and a payload active pointing loop, further proposing a vibration isolation and dual-stage actuation pointing system for space precision payloads based on a soft Stewart platform. Central to the concept is using the dual-stage actuator instead of the traditional voice coil motor single-stage actuator to improve the payload active pointing capability. Based on a specified payload, the corresponding platform was designed to be installed between the spacecraft bus and the payload. The performance of the proposed system is demonstrated by preliminary closed-loop control investigations in simulations. With the ordinary spacecraft bus, the line-of-sight pointing accuracy can be controlled to below a few milliarcseconds in tip and tilt. Meanwhile, utilizing the voice coil motor with the softening spring in parallel, which is a portion of the dual-stage actuator, the system effectively achieves low-frequency motion transmission and high-frequency vibration isolation along the other four degree-of-freedom directions.

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

Directory of Open Access Journals (Sweden)

Yongling FU

2018-03-01

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

Distributed illumination control with local sensing and actuation in networked lighting systems

NARCIS (Netherlands)

Caicedo Fernandez, D.R.; Pandharipande, A.

2013-01-01

We consider the problem of illumination control in a networked lighting system wherein luminaires have local sensing and actuation capabilities. Each luminaire (i) consists of a light emitting diode (LED) based light source dimmable by a local controller, (ii) is actuated based on sensing

Actuator-Assisted Calibration of Freehand 3D Ultrasound System.

Science.gov (United States)

Koo, Terry K; Silvia, Nathaniel

2018-01-01

Freehand three-dimensional (3D) ultrasound has been used independently of other technologies to analyze complex geometries or registered with other imaging modalities to aid surgical and radiotherapy planning. A fundamental requirement for all freehand 3D ultrasound systems is probe calibration. The purpose of this study was to develop an actuator-assisted approach to facilitate freehand 3D ultrasound calibration using point-based phantoms. We modified the mathematical formulation of the calibration problem to eliminate the need of imaging the point targets at different viewing angles and developed an actuator-assisted approach/setup to facilitate quick and consistent collection of point targets spanning the entire image field of view. The actuator-assisted approach was applied to a commonly used cross wire phantom as well as two custom-made point-based phantoms (original and modified), each containing 7 collinear point targets, and compared the results with the traditional freehand cross wire phantom calibration in terms of calibration reproducibility, point reconstruction precision, point reconstruction accuracy, distance reconstruction accuracy, and data acquisition time. Results demonstrated that the actuator-assisted single cross wire phantom calibration significantly improved the calibration reproducibility and offered similar point reconstruction precision, point reconstruction accuracy, distance reconstruction accuracy, and data acquisition time with respect to the freehand cross wire phantom calibration. On the other hand, the actuator-assisted modified "collinear point target" phantom calibration offered similar precision and accuracy when compared to the freehand cross wire phantom calibration, but it reduced the data acquisition time by 57%. It appears that both actuator-assisted cross wire phantom and modified collinear point target phantom calibration approaches are viable options for freehand 3D ultrasound calibration.

Sensor-integrated polymer actuators for closed-loop drug delivery system

Science.gov (United States)

Xu, Han; Wang, Chunlei; Kulinsky, Lawrence; Zoval, Jim; Madou, Marc

2006-03-01

This work presents manufacturing and testing of a closed-loop drug delivery system where drug release is achieved by an electrochemical actuation of an array of polymeric valves on a set of drug reservoirs. The valves are based on bi-layer structures made of polypyrrole/gold in the shape of a flap that is hinged on one side of a valve seat. Drugs stored in the underlying chambers are released by bending the bi-layer flaps back with a small applied bias. These polymeric valves simultaneously function as both drug release components and biological/chemical sensors responding to a specific biological or environmental stimulus. The sensors may send signals to the control module to realize closed-loop control of the drug release. In this study a glucose sensor has been integrated with the polymeric actuators through immobilization of glucose oxidase(GOx) within polypyrrole(PPy) valves. Sensitivities per unit area of the integrated glucose sensor have been measured and compared before and after the actuation of the sensor/actuator PPy/DBS/GOx film. Other sensing parameters such as linear range and response time were discussed as well. Using an array of these sensor/actuator cells, the amount of released drug, e.g. insulin, can be precisely controlled according to the surrounding glucose concentration detected by the glucose sensor. Activation of these reservoirs can be triggered either by the signal from the sensor, or by the signal from the operator. This approach also serves as the initial step to use the proposed system as an implantable drug delivery platform in the future.

Actuator prototype system by voice commands using free software

Directory of Open Access Journals (Sweden)

Jaime Andrango

2016-06-01

Full Text Available This prototype system is a software application that through the use of techniques of digital signal processing, extracts information from the user's speech, which is then used to manage the on/off actuator on a peripheral computer when vowels are pronounced. The method applies spectral differences. The application uses the parallel port as actuator, with the information recorded in the memory address 378H. This prototype was developed using free software tools for its versatility and dynamism, and to allow other researchers to base on it for further studies.

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

Science.gov (United States)

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.

Fuzzy Adaptive Compensation Control of Uncertain Stochastic Nonlinear Systems With Actuator Failures and Input Hysteresis.

Science.gov (United States)

Wang, Jianhui; Liu, Zhi; Chen, C L Philip; Zhang, Yun

2017-10-12

Hysteresis exists ubiquitously in physical actuators. Besides, actuator failures/faults may also occur in practice. Both effects would deteriorate the transient tracking performance, and even trigger instability. In this paper, we consider the problem of compensating for actuator failures and input hysteresis by proposing a fuzzy control scheme for stochastic nonlinear systems. Compared with the existing research on stochastic nonlinear uncertain systems, it is found that how to guarantee a prescribed transient tracking performance when taking into account actuator failures and hysteresis simultaneously also remains to be answered. Our proposed control scheme is designed on the basis of the fuzzy logic system and backstepping techniques for this purpose. It is proven that all the signals remain bounded and the tracking error is ensured to be within a preestablished bound with the failures of hysteretic actuator. Finally, simulations are provided to illustrate the effectiveness of the obtained theoretical results.

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

Science.gov (United States)

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.

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

Energy Technology Data Exchange (ETDEWEB)

Dupen, C.F.G.

1978-08-01

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

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

International Nuclear Information System (INIS)

Dupen, C.F.G.

1978-08-01

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

INTEGRATED DRILLING SYSTEM USING MUD ACTUATED DOWN HOLE HAMMER AS PRIMARY ENGINE

Energy Technology Data Exchange (ETDEWEB)

John V. Fernandez; David S. Pixton

2005-12-01

A history and project summary of the development of an integrated drilling system using a mud-actuated down-hole hammer as its primary engine are given. The summary includes laboratory test results, including atmospheric tests of component parts and simulated borehole tests of the hammer system. Several remaining technical hurdles are enumerated. A brief explanation of commercialization potential is included. The primary conclusion for this work is that a mud actuated hammer can yield substantial improvements to drilling rate in overbalanced, hard rock formations. A secondary conclusion is that the down-hole mud actuated hammer can serve to provide other useful down-hole functions including generation of high pressure mud jets, generation of seismic and sonic signals, and generation of diagnostic information based on hammer velocity profiles.

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

Science.gov (United States)

Kurian, Priya C.; Gopinath, Anish; Shinoy, K. S.; Santhi, P.; Sundaramoorthy, K.; Sebastian, Baby; Jaya, B.; Namboodiripad, M. N.; Mookiah, T.

2017-12-01

Reusable Launch Vehicle-Technology Demonstrator (RLV-TD) is a system which has the ability to carry a payload from the earth's surface to the outer space more than once. The control actuation forms the major component of the control system and it actuates the control surfaces of the RLV-TD based on the control commands. Eight electro hydraulic actuators were used in RLV-TD for vectoring the control surfaces about their axes. A centralised Hydraulic Power Generating Unit (HPU) was used for powering the eight actuators located in two stages. The actuation system had to work for the longest ever duration of about 850 s for an Indian launch vehicle. High bandwidth requirement from autopilot was met by the servo design using the nonlinear mathematical model. Single Control Electronics which drive four electrohydraulic actuators was developed for each stage. High power electronics with soft start scheme was realized for driving the BLDC motor which is the prime mover for hydraulic pump. Many challenges arose due to single HPU for two stages, uncertainty of aero load, higher bandwidth requirements etc. and provisions were incorporated in the design to successfully overcome them. This paper describes the servo design and control electronics architecture of control actuation system.

Active Elastic Support/Dry Friction Damper with Piezoelectric Ceramic Actuator

Directory of Open Access Journals (Sweden)

Liao Mingfu

2014-01-01

Full Text Available The basic operation principle of elastic support/dry friction damper in rotor system was introduced and the unbalance response of the rotor with elastic support/dry friction damper was analyzed theoretically. Based on the previous structure using an electromagnet as actuator, an active elastic support/dry friction damper using piezoelectric ceramic actuator was designed and its effectiveness of reducing rotor vibration when rotor traverses its critical speed and blade-out event happened was experimentally verified. The experimental results show that the active elastic support/dry friction damper with piezoelectric ceramic actuator can significantly reduce vibration in rotor system; the vibration amplitude of the rotor in critical speed region decreased more than 2 times, and the active damper can protect the rotor when a blade-out event happened, so the rotor can traverse the critical speed and shut down smoothly. In addition, the structure is much simpler than the previous, the weight was reduced by half and the power consumption was only 5 W.

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

Directory of Open Access Journals (Sweden)

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

A novel magnetic suspension cum linear actuator system for satellite cryo coolers

International Nuclear Information System (INIS)

Sivadasan, K.K.

1994-01-01

Stirling cycle cryogenic coolers have been widely used for device cooling in satellites. Various types of magnetic bearings and linear actuators find application in such systems. The most widely used configurations have two-axis-radially-active suspension stations placed at either ends of a reciprocating shaft in the compression and expansion sections. Separate or integral liner motors are provided in each section for axial shaft movement. It may be noted that such configurations are rather complicated and less reliable because of the presence of numerous electro-mechanical components, sensors and electronic servo channels. In this paper, a simple and reliable scheme is suggested which axially stabilizes and linearly perturbs the piston so that the need for a separate motor for axial actuation can be totally dispensed with. The piston is radially supported by passive repulsive bearings. In the axial direction, a servo actuator ''balances'' the piston and also actuates it bi-directionally. Implemented of this ''bearing cum motor theme,'' reduces the number of electromechanical and electronic components required to operate the system and hence minimizes the chances of system failure. Apart from this, the system's power consumption is reduced and efficiency is improved as electrical heating losses caused by quiescent-operating currents are removed and electromagnetic losses on the moving parts are minimized. The necessary system parameters have been derived using finite element analysis techniques. Finally, the proposed design is validated by computer-aided system simulation

A portable air jet actuator device for mechanical system identification

Science.gov (United States)

Belden, Jesse; Staats, Wayne L.; Mazumdar, Anirban; Hunter, Ian W.

2011-03-01

System identification of limb mechanics can help diagnose ailments and can aid in the optimization of robotic limb control parameters and designs. An interesting fluid phenomenon—the Coandă effect—is utilized in a portable actuator to provide a stochastic binary force disturbance to a limb system. The design of the actuator is approached with the goal of creating a portable device which could be deployed on human or robotic limbs for in situ mechanical system identification. The viability of the device is demonstrated by identifying the parameters of an underdamped elastic beam system with fixed inertia and stiffness and variable damping. The nonparametric compliance impulse response yielded from the system identification is modeled as a second-order system and the resultant parameters are found to be in excellent agreement with those found using more traditional system identification techniques. The current design could be further miniaturized and developed as a portable, wireless, unrestrained mechanical system identification instrument for less intrusive and more widespread use.

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

Science.gov (United States)

1973-01-01

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

Design of a Compact Actuation and Control System for Flexible Medical Robots.

Science.gov (United States)

Morimoto, Tania K; Hawkes, Elliot Wright; Okamura, Allison M

2017-07-01

Flexible medical robots can improve surgical procedures by decreasing invasiveness and increasing accessibility within the body. Using preoperative images, these robots can be designed to optimize a procedure for a particular patient. To minimize invasiveness and maximize biocompatibility, the actuation units of flexible medical robots should be placed fully outside the patient's body. In this letter, we present a novel, compact, lightweight, modular actuation, and control system for driving a class of these flexible robots, known as concentric tube robots. A key feature of the design is the use of three-dimensional printed waffle gears to enable compact control of two degrees of freedom within each module. We measure the precision and accuracy of a single actuation module and demonstrate the ability of an integrated set of three actuation modules to control six degrees of freedom. The integrated system drives a three-tube concentric tube robot to reach a final tip position that is on average less than 2 mm from a given target. In addition, we show a handheld manifestation of the device and present its potential applications.

Bio-Inspired Flexible Cellular Actuating Systems

Science.gov (United States)

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

Development of a Novel Guided Wave Generation System Using a Giant Magnetostrictive Actuator for Nondestructive Evaluation.

Science.gov (United States)

Luo, Mingzhang; Li, Weijie; Wang, Junming; Wang, Ning; Chen, Xuemin; Song, Gangbing

2018-03-04

As a common approach to nondestructive testing and evaluation, guided wave-based methods have attracted much attention because of their wide detection range and high detection efficiency. It is highly desirable to develop a portable guided wave testing system with high actuating energy and variable frequency. In this paper, a novel giant magnetostrictive actuator with high actuation power is designed and implemented, based on the giant magnetostrictive (GMS) effect. The novel GMS actuator design involves a conical energy-focusing head that can focus the amplified mechanical energy generated by the GMS actuator. This design enables the generation of stress waves with high energy, and the focusing of the generated stress waves on the test object. The guided wave generation system enables two kinds of output modes: the coded pulse signal and the sweep signal. The functionality and the advantages of the developed system are validated through laboratory testing in the quality assessment of rock bolt-reinforced structures. In addition, the developed GMS actuator and the supporting system are successfully implemented and applied in field tests. The device can also be used in other nondestructive testing and evaluation applications that require high-power stress wave generation.

Design optimization of a novel pMDI actuator for systemic drug delivery.

Science.gov (United States)

Kakade, Prashant P; Versteeg, Henk K; Hargrave, Graham K; Genova, Perry; Williams Iii, Robert C; Deaton, Daniel

2007-01-01

Pressurized metered dose inhalers (pMDIs) are the most widely prescribed and economical respiratory drug delivery systems. Conventional pMDI actuators-those based on "two-orifice-and-sump" designs-produce an aerosol with a reasonable respirable fraction, but with high aerosol velocity. The latter is responsible for high oropharyngeal deposition, and consequently low drug delivery efficiency. Kos' pMDI technology is based on a proprietary vortex nozzle actuator (VNA), an innovative actuator configuration that seeks to reduce aerosol plume velocity, thereby promoting deep lung deposition. Using VNA development as a case study, this paper presents a systematic design optimization process to improve the actuator performance through use of advanced optical characterization tools. The optimization effort mainly relied on laser-based optical diagnostics to provide an improved understanding of the fundamentals of aerosol formation and interplay of various geometrical factors. The performance of the optimized VNA design thus evolved was characterized using phase Doppler anemometry and cascade impaction. The aerosol velocities for both standard and optimized VNA designs were found to be comparable, with both notably less than conventional actuators. The optimized VNA design also significantly reduces drug deposition in the actuator as well as USP throat adapter, which in turn, leads to a significantly higher fine particle fraction than the standard design (78 +/- 3% vs. 63 +/- 2% on an ex valve basis). This improved drug delivery efficiency makes VNA technology a practical proposition as a systemic drug delivery platform. Thus, this paper demonstrates how advanced optical diagnostic and characterization tools can be used in the development of high efficiency aerosol drug delivery devices.

Modeling and Simulation of Control Actuation System with Fuzzy-PID Logic Controlled Brushless Motor Drives for Missiles Glider Applications.

Science.gov (United States)

Muniraj, Murali; Arulmozhiyal, Ramaswamy

2015-01-01

A control actuation system has been used extensively in automotive, aerospace, and defense applications. The major challenges in modeling control actuation system are rise time, maximum peak to peak overshoot, and response to nonlinear system with percentage error. This paper addresses the challenges in modeling and real time implementation of control actuation system for missiles glider applications. As an alternative fuzzy-PID controller is proposed in BLDC motor drive followed by linkage mechanism to actuate fins in missiles and gliders. The proposed system will realize better rise time and less overshoot while operating in extreme nonlinear dynamic system conditions. A mathematical model of BLDC motor is derived in state space form. The complete control actuation system is modeled in MATLAB/Simulink environment and verified by performing simulation studies. A real time prototype of the control actuation is developed with dSPACE-1104 hardware controller and a detailed analysis is carried out to confirm the viability of the proposed system.

Experimental analysis of chaos in under actuated electromechanical systems

Energy Technology Data Exchange (ETDEWEB)

Gonzalez Hernandez, H. G. [Universidad la Salle, Mexico, D.F. (Mexico); Alvarez Gallegos, Jaime [Instituto Politecnico Nacional (Mexico); Alvarez Gallegos Joaquin [Centro de Investigacion Cientifica y de Educacion Superior de Ensenada, Ensenada, Baja California (Mexico)

2001-10-01

An under actuated system is a kind of non-autonomous robotic system in which there are more links than actuators. The complexity of the dynamical behavior of these systems allows a wide variety of steady-state responses. The reconstruction of attractors based on time series obtained from measurements of one of the variables of a two-link, planar, under actuated robot called Pendubot, is developed. Time-delay coordinates, average mutual information, and percentage of false nearest neighbors' methods are used to reconstruct the invariant sets. It is shown that, under the action of a periodic torque, the Pendubot can display a variety of steady-state dynamics, including strange attractors. [Spanish] Un sistema electromecanico subactuado es un tipo de sistema robotico no autonomo que cuenta con mas eslabones que actuadores. La complejidad del comportamiento dinamico de estos sistemas permite una gran variedad de respuestas en estado estacionario. En este trabajo se desarrolla la reconstruccion de atractores basada en series de tiempo obtenidas a partir de mediciones de una de las variables de un robot planar de dos grados de libertad subactuado llamado Pendubot. A fin de reconstruir los conjuntos invariantes, se utilizan tecnica como retraso de coordenadas, promedio de informacion mutua y porcentaje de falsos vecinos cercanos. Se muestra que bajo la accion de un torque periodico, el Pendubot puede desplegar una variedad de comportamientos dinamicos en estado estacionario incluyendo atractores extranos.

System Identification and Embedded Controller Design for Pneumatic Actuator with Stiffness Characteristic

Directory of Open Access Journals (Sweden)

Khairuddin Osman

2014-01-01

Full Text Available This paper presents model and controller design applications to pneumatic actuator embedded system. Two model strategies of position and force are proposed to realize compliance control for stiffness characteristic. Model of the pneumatic actuator system (transfer function is obtained from system identification (SI method. Next, combination of predictive functional control with observer (PFC-O design is selected as a new control strategy for pneumatic system. Performance assessment of the controller is performed in MATLAB and validated through real-time experiments using national instrument (NI devices and programmable system on chip (PSoC microcontroller. Result shows that the new controller is adapted to the system and able to successfully control both simulation and real-time experiments.

Bio-Inspired Control of an Arm Exoskeleton Joint with Active-Compliant Actuation System

Directory of Open Access Journals (Sweden)

Michele Folgheraiter

2009-01-01

Full Text Available This paper presents the methodology followed on the design of a multi-contact point haptic interface that uses a bio-inspired control approach and a novel actuation system. The combination of these components aims at creating a system that increases the operability of the target, and, at the same time, enables an intuitive and safe tele-operation of any complex robotic system of any given morphology. The novelty lies on the combination of a thoughtful kinematic structure driven by an active-compliant actuation system and a bio-inspired paradigm for its regulation. Due to the proposed actuation approach, the final system will achieve the condition of wearable system. On that final solution, each joint will be able to change its stiffness depending on the task to be executed, and on the anatomical features of each individual. Moreover, the system provides a variety of safety mechanisms at different levels to prevent causing any harm to the operator. In future, the system should allow the complete virtual immersion of the user within the working scenario.

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

Science.gov (United States)

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.

Floating electrode microelectromechanical system capacitive switches: A different actuation mechanism

Science.gov (United States)

Papaioannou, G.; Giacomozzi, F.; Papandreou, E.; Margesin, B.

2011-08-01

The paper investigates the actuation mechanism in floating electrode microelectromechanical system capacitive switches. It is demonstrated that in the pull-in state, the device operation turns from voltage to current controlled actuation. The current arises from Poole-Frenkel mechanism in the dielectric film and Fowler-Nordheim in the bridge-floating electrode air gap. The pull-out voltage seems to arise from the abrupt decrease of Fowler-Nordheim electric field intensity. This mechanism seems to be responsible for the very small difference with respect to the pull-in voltage.

A Portable, Air-Jet-Actuator-Based Device for System Identification

Science.gov (United States)

Staats, Wayne; Belden, Jesse; Mazumdar, Anirban; Hunter, Ian

2010-11-01

System identification (ID) of human and robotic limbs could help in diagnosis of ailments and aid in optimization of control parameters and future redesigns. We present a self-contained actuator, which uses the Coanda effect to rapidly switch the direction of a high speed air jet to create a binary stochastic force input to a limb for system ID. The design of the actuator is approached with the goal of creating a portable device, which could deployed on robot or human limbs for in situ identification. The viability of the device is demonstrated by performing stochastic system ID on an underdamped elastic beam system with fixed inertia and stiffness, and variable damping. The non-parametric impulse response yielded from the stochastic system ID is modeled as a second order system, and the resultant parameters are found to be in excellent agreement with those found using more traditional system ID techniques. The current design could be further miniaturized and developed as a portable, wireless, on-site multi-axis system identification system for less intrusive and more widespread use.

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

Science.gov (United States)

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.

Transducer-actuator systems and methods for performing on-machine measurements and automatic part alignment

Science.gov (United States)

Barkman, William E.; Dow, Thomas A.; Garrard, Kenneth P.; Marston, Zachary

2016-07-12

Systems and methods for performing on-machine measurements and automatic part alignment, including: a measurement component operable for determining the position of a part on a machine; and an actuation component operable for adjusting the position of the part by contacting the part with a predetermined force responsive to the determined position of the part. The measurement component consists of a transducer. The actuation component consists of a linear actuator. Optionally, the measurement component and the actuation component consist of a single linear actuator operable for contacting the part with a first lighter force for determining the position of the part and with a second harder force for adjusting the position of the part. The actuation component is utilized in a substantially horizontal configuration and the effects of gravitational drop of the part are accounted for in the force applied and the timing of the contact.

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

NARCIS (Netherlands)

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

1993-01-01

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

Strategic avionics technology definition studies. Subtask 3-1A3: Electrical Actuation (ELA) Systems Test Facility

Science.gov (United States)

Rogers, J. P.; Cureton, K. L.; Olsen, J. R.

1994-01-01

Future aerospace vehicles will require use of the Electrical Actuator systems for flight control elements. This report presents a proposed ELA Test Facility for dynamic evaluation of high power linear Electrical Actuators with primary emphasis on Thrust Vector Control actuators. Details of the mechanical design, power and control systems, and data acquisition capability of the test facility are presented. A test procedure for evaluating the performance of the ELA Test Facility is also included.

SPIN. First Digital Protection System Feedback of experience ... ... after 30 years

International Nuclear Information System (INIS)

Kosicki, M.; Pacuta, J.; Kamga, J.; Burel, J.-P.

2010-01-01

In this lecture Mr Burel presents experience with the software SPIN - the first digital protection system feedback. After thirty years of operation, the results are positive: - System is in correct operation and still maintained with spare parts available; - No spurious trip or actuation due to the system itself. A project for modernization is prepared to replace the digital part with a new digital technology designed with today's: - Components (SPINLINE 3); - methods and tools (Software development); - Standards (EMI/RFI - qualification), in order to allow customer to add some new functional needs and to keep the system in operation for thirty more years.

Improving control and estimation for distributed parameter systems utilizing mobile actuator-sensor network.

Science.gov (United States)

Mu, Wenying; Cui, Baotong; Li, Wen; Jiang, Zhengxian

2014-07-01

This paper proposes a scheme for non-collocated moving actuating and sensing devices which is unitized for improving performance in distributed parameter systems. By Lyapunov stability theorem, each moving actuator/sensor agent velocity is obtained. To enhance state estimation of a spatially distributes process, two kinds of filters with consensus terms which penalize the disagreement of the estimates are considered. Both filters can result in the well-posedness of the collective dynamics of state errors and can converge to the plant state. Numerical simulations demonstrate that the effectiveness of such a moving actuator-sensor network in enhancing system performance and the consensus filters converge faster to the plant state when consensus terms are included. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Vibration control of a camera mount system for an unmanned aerial vehicle using piezostack actuators

International Nuclear Information System (INIS)

Oh, Jong-Seok; Choi, Seung-Bok; Han, Young-Min

2011-01-01

This work proposes an active mount for the camera systems of unmanned aerial vehicles (UAV) in order to control unwanted vibrations. An active actuator of the proposed mount is devised as an inertial type, in which a piezostack actuator is directly connected to the inertial mass. After evaluating the actuating force of the actuator, it is combined with the rubber element of the mount, whose natural frequency is determined based on the measured vibration characteristics of UAV. Based on the governing equations of motion of the active camera mount, a robust sliding mode controller (SMC) is then formulated with consideration of parameter uncertainties and hysteresis behavior of the actuator. Subsequently, vibration control performances of the proposed active mount are experimentally evaluated in the time and frequency domains. In addition, a full camera mount system of UAVs that is supported by four active mounts is considered and its vibration control performance is evaluated in the frequency domain using a hardware-in-the-loop simulation (HILS) method

Time response for sensor sensed to actuator response for mobile robotic system

Science.gov (United States)

Amir, N. S.; Shafie, A. A.

2017-11-01

Time and performance of a mobile robot are very important in completing the tasks given to achieve its ultimate goal. Tasks may need to be done within a time constraint to ensure smooth operation of a mobile robot and can result in better performance. The main purpose of this research was to improve the performance of a mobile robot so that it can complete the tasks given within time constraint. The problem that is needed to be solved is to minimize the time interval between sensor detection and actuator response. The research objective is to analyse the real time operating system performance of sensors and actuators on one microcontroller and on two microcontroller for a mobile robot. The task for a mobile robot for this research is line following with an obstacle avoidance. Three runs will be carried out for the task and the time between the sensors senses to the actuator responses were recorded. Overall, the results show that two microcontroller system have better response time compared to the one microcontroller system. For this research, the average difference of response time is very important to improve the internal performance between the occurrence of a task, sensors detection, decision making and actuator response of a mobile robot. This research helped to develop a mobile robot with a better performance and can complete task within the time constraint.

A Systems Engineering Approach to Electro-Mechanical Actuator Diagnostic and Prognostic Development

Data.gov (United States)

National Aeronautics and Space Administration — The authors have formulated a Comprehensive Systems Engineering approach to Electro-Mechanical Actuator (EMA) Prognostics and Health Management (PHM) system...

Development of self-actuated shutdown system using curie point electromagnet

International Nuclear Information System (INIS)

Kim, Tae Ryong; Park, Jin Ho

1999-01-01

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

Neural network-based robust actuator fault diagnosis for a non-linear multi-tank system.

Science.gov (United States)

Mrugalski, Marcin; Luzar, Marcel; Pazera, Marcin; Witczak, Marcin; Aubrun, Christophe

2016-03-01

The paper is devoted to the problem of the robust actuator fault diagnosis of the dynamic non-linear systems. In the proposed method, it is assumed that the diagnosed system can be modelled by the recurrent neural network, which can be transformed into the linear parameter varying form. Such a system description allows developing the designing scheme of the robust unknown input observer within H∞ framework for a class of non-linear systems. The proposed approach is designed in such a way that a prescribed disturbance attenuation level is achieved with respect to the actuator fault estimation error, while guaranteeing the convergence of the observer. The application of the robust unknown input observer enables actuator fault estimation, which allows applying the developed approach to the fault tolerant control tasks. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Delayed system control in presence of actuator saturation

Directory of Open Access Journals (Sweden)

A. Mahjoub

2014-09-01

Full Text Available The paper is introducing a new design method for systems’ controllers with input delay and actuator saturations and focuses on how to force the system output to track a reference input not necessarily saturation-compatible. We propose a new norm based on the way we quantify tracking performance as a function of saturation errors found using the same norm. The newly defined norm is related to signal average power making possible to account for most common reference signals e.g. step, periodic. It is formally shown that, whatever the reference shape and amplitude, the achievable tracking quality is determined by a well defined reference tracking mismatch error. This latter depends on the reference rate and its compatibility with the actuator saturation constraint. In fact, asymptotic output-reference tracking is achieved in the presence of constraint-compatible step-like references.

Passive Fault-tolerant Control of Discrete-time Piecewise Affine Systems against Actuator Faults

DEFF Research Database (Denmark)

Tabatabaeipour, Seyed Mojtaba; Izadi-Zamanabadi, Roozbeh; Bak, Thomas

2012-01-01

In this paper, we propose a new method for passive fault-tolerant control of discrete time piecewise affine systems. Actuator faults are considered. A reliable piecewise linear quadratic regulator (LQR) state feedback is designed such that it can tolerate actuator faults. A sufficient condition f...... is illustrated on a numerical example and a two degree of freedom helicopter....

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

Science.gov (United States)

Ambur, Ramakrishnan; Rinderknecht, Stephan

2018-03-01

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

Electromagnetic variable degrees of freedom actuator systems and methods

Science.gov (United States)

Montesanti, Richard C [Pleasanton, CA; Trumper, David L [Plaistow, NH; Kirtley, Jr., James L.

2009-02-17

The present invention provides a variable reluctance actuator system and method that can be adapted for simultaneous rotation and translation of a moving element by applying a normal-direction magnetic flux on the moving element. In a beneficial example arrangement, the moving element includes a swing arm that carries a cutting tool at a set radius from an axis of rotation so as to produce a rotary fast tool servo that provides a tool motion in a direction substantially parallel to the surface-normal of a workpiece at the point of contact between the cutting tool and workpiece. An actuator rotates a swing arm such that a cutting tool moves toward and away from a mounted rotating workpiece in a controlled manner in order to machine the workpiece. Position sensors provide rotation and displacement information for a swing arm to a control system. A control system commands and coordinates motion of the fast tool servo with the motion of a spindle, rotating table, cross-feed slide, and in feed slide of a precision lathe.

Event-triggered decentralized adaptive fault-tolerant control of uncertain interconnected nonlinear systems with actuator failures.

Science.gov (United States)

Choi, Yun Ho; Yoo, Sung Jin

2018-06-01

This paper investigates the event-triggered decentralized adaptive tracking problem of a class of uncertain interconnected nonlinear systems with unexpected actuator failures. It is assumed that local control signals are transmitted to local actuators with time-varying faults whenever predefined conditions for triggering events are satisfied. Compared with the existing control-input-based event-triggering strategy for adaptive control of uncertain nonlinear systems, the aim of this paper is to propose a tracking-error-based event-triggering strategy in the decentralized adaptive fault-tolerant tracking framework. The proposed approach can relax drastic changes in control inputs caused by actuator faults in the existing triggering strategy. The stability of the proposed event-triggering control system is analyzed in the Lyapunov sense. Finally, simulation comparisons of the proposed and existing approaches are provided to show the effectiveness of the proposed theoretical result in the presence of actuator faults. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Control of a perturbed under-actuated mechanical system

KAUST Repository

Zayane, Chadia

2015-11-05

In this work, the trajectory tracking problem for an under-actuated mechanical system in presence of unknown input disturbances is addressed. The studied inertia wheel inverted pendulum falls in the class of non minimum phase systems. The proposed high order sliding mode control architecture including a controller and differentiator allows to track accurately the predefined trajectory and to stabilize the internal dynamics. The robustness of the proposed approach is illustrated through different perturbation and output noise configurations.

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

International Nuclear Information System (INIS)

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)

Thermoelectric-Driven Sustainable Sensing and Actuation Systems for Fault-Tolerant Nuclear Incidents

Energy Technology Data Exchange (ETDEWEB)

Longtin, Jon [Stony Brook Univ., NY (United States)

2016-02-08

The Fukushima Daiichi nuclear incident in March 2011 represented an unprecedented stress test on the safety and backup systems of a nuclear power plant. The lack of reliable information from key components due to station blackout was a serious setback, leaving sensing, actuation, and reporting systems unable to communicate, and safety was compromised. Although there were several independent backup power sources for required safety function on site, ultimately the batteries were drained and the systems stopped working. If, however, key system components were instrumented with self-powered sensing and actuation packages that could report indefinitely on the status of the system, then critical system information could be obtained while providing core actuation and control during off-normal status for as long as needed. This research project focused on the development of such a self-powered sensing and actuation system. The electrical power is derived from intrinsic heat in the reactor components, which is both reliable and plentiful. The key concept was based around using thermoelectric generators that can be integrated directly onto key nuclear components, including pipes, pump housings, heat exchangers, reactor vessels, and shielding structures, as well as secondary-side components. Thermoelectric generators are solid-state devices capable of converting heat directly into electricity. They are commercially available technology. They are compact, have no moving parts, are silent, and have excellent reliability. The key components to the sensor package include a thermoelectric generator (TEG), microcontroller, signal processing, and a wireless radio package, environmental hardening to survive radiation, flooding, vibration, mechanical shock (explosions), corrosion, and excessive temperature. The energy harvested from the intrinsic heat of reactor components can be then made available to power sensors, provide bi-directional communication, recharge batteries for other

Thermoelectric-Driven Sustainable Sensing and Actuation Systems for Fault-Tolerant Nuclear Incidents

International Nuclear Information System (INIS)

Longtin, Jon

2015-09-01

The Fukushima Daiichi nuclear incident in March 2011 represented an unprecedented stress test on the safety and backup systems of a nuclear power plant. The lack of reliable information from key components due to station blackout was a serious setback, leaving sensing, actuation, and reporting systems unable to communicate, and safety was compromised. Although there were several independent backup power sources for required safety function on site, ultimately the batteries were drained and the systems stopped working. If, however, key system components were instrumented with self-powered sensing and actuation packages that could report indefinitely on the status of the system, then critical system information could be obtained while providing core actuation and control during off-normal status for as long as needed. This research project focused on the development of such a self-powered sensing and actuation system. The electrical power is derived from intrinsic heat in the reactor components, which is both reliable and plentiful. The key concept was based around using thermoelectric generators that can be integrated directly onto key nuclear components, including pipes, pump housings, heat exchangers, reactor vessels, and shielding structures, as well as secondary-side components. Thermoelectric generators are solid-state devices capable of converting heat directly into electricity. They are commercially available technology. They are compact, have no moving parts, are silent, and have excellent reliability. The key components to the sensor package include a thermoelectric generator (TEG), microcontroller, signal processing, and a wireless radio package, environmental hardening to survive radiation, flooding, vibration, mechanical shock (explosions), corrosion, and excessive temperature. The energy harvested from the intrinsic heat of reactor components can be then made available to power sensors, provide bi-directional communication, recharge batteries for other

Robust Adaptive Sliding Mode Consensus of Multiagent Systems with Perturbed Communications and Actuators

Directory of Open Access Journals (Sweden)

Xiao-Zheng Jin

2013-01-01

Full Text Available This paper deals with the asymptotic consensus problem for a class of multiagent systems with time-varying additive actuator faults and perturbed communications. The L2 performance of systems is also considered in the consensus controller designs. The upper and lower bounds of faults and perturbations in actuators and communications and controller gains are assumed to be unknown but can be estimated by designing some indirect adaptive laws. Based on the information from the adaptive estimation mechanism, the distributed robust adaptive sliding mode controllers are constructed to automatically compensate for the effects of faults and perturbations and to achieve any given level of L2 gain attenuation from external disturbance to consensus errors. Through Lyapunov functions and adaptive schemes, the asymptotic consensus of resulting adaptive multiagent system can be achieved with a specified performance criterion in the presence of perturbed communications and actuators. The effectiveness of the proposed design is illustrated via a decoupled longitudinal model of F-18 aircraft.

Full Piezoelectric Multilayer-Stacked Hybrid Actuation/Transduction Systems

Science.gov (United States)

Su, Ji; Jiang, Xiaoning; Zu, Tian-Bing

2011-01-01

The Stacked HYBATS (Hybrid Actuation/Transduction system) demonstrates significantly enhanced electromechanical performance by using the cooperative contributions of the electromechanical responses of multilayer, stacked negative strain components and positive strain components. Both experimental and theoretical studies indicate that, for Stacked HYBATS, the displacement is over three times that of a same-sized conventional flextensional actuator/transducer. The coupled resonance mode between positive strain and negative strain components of Stacked HYBATS is much stronger than the resonance of a single element actuation only when the effective lengths of the two kinds of elements match each other. Compared with the previously invented hybrid actuation system (HYBAS), the multilayer Stacked HYBATS can be designed to provide high mechanical load capability, low voltage driving, and a highly effective piezoelectric constant. The negative strain component will contract, and the positive strain component will expand in the length directions when an electric field is applied on the device. The interaction between the two elements makes an enhanced motion along the Z direction for Stacked-HYBATS. In order to dominate the dynamic length of Stacked-HYBATS by the negative strain component, the area of the cross-section for the negative strain component will be much larger than the total cross-section areas of the two positive strain components. The transverse strain is negative and longitudinal strain positive in inorganic materials, such as ceramics/single crystals. Different piezoelectric multilayer stack configurations can make a piezoelectric ceramic/single-crystal multilayer stack exhibit negative strain or positive strain at a certain direction without increasing the applied voltage. The difference of this innovation from the HYBAS is that all the elements can be made from one-of-a-kind materials. Stacked HYBATS can provide an extremely effective piezoelectric

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

Science.gov (United States)

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

2012-01-01

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

Sensor and Actuator Fault-Hiding Reconfigurable Control Design for a Four-Tank System Benchmark

DEFF Research Database (Denmark)

Hameed, Ibrahim; El-Madbouly, Esam I; Abdo, Mohamed I

2015-01-01

Invariant (LTI) system where virtual sensors and virtual actuators are used to correct faulty performance through the use of a pre-fault performance. Simulation results showed that the developed approach can handle different types of faults and able to completely and instantly recover the original system......Fault detection and compensation plays a key role to fulfill high demands for performance and security in today's technological systems. In this paper, a fault-hiding (i.e., tolerant) control scheme that detects and compensates for actuator and sensor faults in a four-tank system benchmark...

Nature-inspired microfluidic manipulation using magnetic actuators

NARCIS (Netherlands)

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

A space release/deployment system actuated by shape memory wires

Science.gov (United States)

Fragnito, Marino; Vetrella and, Sergio

2002-11-01

In this paper, the design of an innovative hold down/release and deployment device actuated by shape memory wires, to be used for the first time for the S MA RT microsatellite solar wings is shown. The release and deployment mechanisms are actuated by a Shape Memory wire (Nitinol), which allows a complete symmetrical and synchronous release, in a very short time, of the four wings in pairs. The hold down kinematic mechanism is preloaded to avoid vibration nonlinearities and unwanted deployment at launch. The deployment mechanism is a simple pulley system. The stiffness of the deployed panel-hinge system needs to be dimensioned in order to meet the on-orbit requirement for attitude control. One-way roller clutches are used to keep the panel at the desired angle during the mission. An ad hoc software has been developed to simulate both the release and deployment operations, coupling the SMA wire behavior with the system mechanics.

Neuroadaptive Fault-Tolerant Control of Nonlinear Systems Under Output Constraints and Actuation Faults.

Science.gov (United States)

Zhao, Kai; Song, Yongduan; Shen, Zhixi

2018-02-01

In this paper, a neuroadaptive fault-tolerant tracking control method is proposed for a class of time-delay pure-feedback systems in the presence of external disturbances and actuation faults. The proposed controller can achieve prescribed transient and steady-state performance, despite uncertain time delays and output constraints as well as actuation faults. By combining a tangent barrier Lyapunov-Krasovskii function with the dynamic surface control technique, the neural network unit in the developed control scheme is able to take its action from the very beginning and play its learning/approximating role safely during the entire system operational envelope, leading to enhanced control performance without the danger of violating compact set precondition. Furthermore, prescribed transient performance and output constraints are strictly ensured in the presence of nonaffine uncertainties, external disturbances, and undetectable actuation faults. The control strategy is also validated by numerical simulation.

Shape memory system with integrated actuation using embedded particles

Science.gov (United States)

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.

Improved control of distributed parameter systems using wireless sensor and actuator networks: An observer-based method

International Nuclear Information System (INIS)

Jiang Zheng-Xian; Cui Bao-Tong; Lou Xu-Yang; Zhuang Bo

2017-01-01

In this paper, the control problem of distributed parameter systems is investigated by using wireless sensor and actuator networks with the observer-based method. Firstly, a centralized observer which makes use of the measurement information provided by the fixed sensors is designed to estimate the distributed parameter systems. The mobile agents, each of which is affixed with a controller and an actuator, can provide the observer-based control for the target systems. By using Lyapunov stability arguments, the stability for the estimation error system and distributed parameter control system is proved, meanwhile a guidance scheme for each mobile actuator is provided to improve the control performance. A numerical example is finally used to demonstrate the effectiveness and the advantages of the proposed approaches. (paper)

Remaining Useful Lifetime Prognosis of Controlled Systems: A Case of Stochastically Deteriorating Actuator

Directory of Open Access Journals (Sweden)

Danh Ngoc Nguyen

2015-01-01

Full Text Available This paper addresses the case of automatic controlled system which deteriorates during its operation because of components’ wear or deterioration. Depending on its specific closed-loop structure, the controlled system has the ability to compensate for disturbances affecting the actuators which can remain partially hidden. The deterioration modeling and the Remaining Useful Lifetime (RUL estimation for such closed-loop dynamic system have not been addressed extensively. In this paper, we consider a controlled system with Proportional-Integral-Derivative controller. It is assumed that the actuator is subject to shocks that occur randomly in time. An integrated model is proposed to jointly describe the state of the controlled process and the actuator deterioration. Only the output of the controlled system is available to assess its health condition. By considering a Piecewise Deterministic Markov Process, the RUL of the system can be estimated by a two-step approach. In the first step referred as the “Diagnosis” step, the system state is estimated online from the available monitoring observations by using a particle filtering method. In the second step referred as the “Prognosis” step, the RUL is estimated as a conditional reliability by Monte Carlo simulation. To illustrate the approach, a simulated tank level control system is used.

Magnetic actuators and sensors

CERN Document Server

Brauer, John R

2014-01-01

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

Advanced Launch System (ALS): Electrical actuation and power systems improve operability and cost picture

Science.gov (United States)

Sundberg, Gale R.

1990-01-01

To obtain the Advanced Launch System (ALS) primary goals of reduced costs and improved operability, there must be significant reductions in the launch operations and servicing requirements relative to current vehicle designs and practices. One of the primary methods for achieving these goals is by using vehicle electrical power system and controls for all actuation and avionics requirements. A brief status review of the ALS and its associated Advanced Development Program is presented to demonstrate maturation of those technologies that will help meet the overall operability and cost goals. The electric power and actuation systems are highlighted as a specific technology ready not only to meet the stringent ALS goals (cryogenic field valves and thrust vector controls with peak power demands to 75 hp), but also those of other launch vehicles, military and civilian aircraft, lunar/Martian vehicles, and a multitude of commercial applications.

Mechatronics and Bioinspiration in Actuator Design and Control

Directory of Open Access Journals (Sweden)

J. L. Pons

2008-01-01

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

Energy Efficient Wireless Vehicular-Guided Actuator Network

KAUST Repository

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.

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

Science.gov (United States)

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

2012-06-01

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

Design and Evaluation of a Direct Drive Valve Actuated by Piezostack Actuator

Directory of Open Access Journals (Sweden)

Juncheol Jeon

2013-01-01

Full Text Available This paper presents performance characteristics of a new type of direct drive valve (DDV system driven by a piezostack actuator. The flexible beam mechanism is employed to amplify the output displacement from the piezostack actuator. After describing the operational principle of the proposed piezo DDV system, the governing equation of the whole piezo DDV system is then obtained by integrating the equations of the valve components. Based on the proposed model, significant structural components of the piezo DDV system are designed in order to achieve operational requirements (operating frequency: over 100 Hz; flow rate: 20 liter/Min.. An optimal design method is proposed for obtaining the geometry of the flexible beam mechanism by considering spool displacement, required operating frequency, and available space of the valve. After deciding the specific geometric dimensions of the piezo DDV system, a PID control algorithm is designed to enforce the spool position to the desired position trajectories by activating the piezostack actuator. Characteristics and control performances of the proposed piezo DDV system are evaluated using the MATLAB Simulink.

Teleoperation System with Hybrid Pneumatic-Piezoelectric Actuation for MRI-Guided Needle Insertion with Haptic Feedback.

Science.gov (United States)

Shang, Weijian; Su, Hao; Li, Gang; Fischer, Gregory S

2013-01-01

This paper presents a surgical master-slave tele-operation system for percutaneous interventional procedures under continuous magnetic resonance imaging (MRI) guidance. This system consists of a piezoelectrically actuated slave robot for needle placement with integrated fiber optic force sensor utilizing Fabry-Perot interferometry (FPI) sensing principle. The sensor flexure is optimized and embedded to the slave robot for measuring needle insertion force. A novel, compact opto-mechanical FPI sensor interface is integrated into an MRI robot control system. By leveraging the complementary features of pneumatic and piezoelectric actuation, a pneumatically actuated haptic master robot is also developed to render force associated with needle placement interventions to the clinician. An aluminum load cell is implemented and calibrated to close the impedance control loop of the master robot. A force-position control algorithm is developed to control the hybrid actuated system. Teleoperated needle insertion is demonstrated under live MR imaging, where the slave robot resides in the scanner bore and the user manipulates the master beside the patient outside the bore. Force and position tracking results of the master-slave robot are demonstrated to validate the tracking performance of the integrated system. It has a position tracking error of 0.318mm and sine wave force tracking error of 2.227N.

Teleoperation System with Hybrid Pneumatic-Piezoelectric Actuation for MRI-Guided Needle Insertion with Haptic Feedback

Science.gov (United States)

Shang, Weijian; Su, Hao; Li, Gang; Fischer, Gregory S.

2014-01-01

This paper presents a surgical master-slave tele-operation system for percutaneous interventional procedures under continuous magnetic resonance imaging (MRI) guidance. This system consists of a piezoelectrically actuated slave robot for needle placement with integrated fiber optic force sensor utilizing Fabry-Perot interferometry (FPI) sensing principle. The sensor flexure is optimized and embedded to the slave robot for measuring needle insertion force. A novel, compact opto-mechanical FPI sensor interface is integrated into an MRI robot control system. By leveraging the complementary features of pneumatic and piezoelectric actuation, a pneumatically actuated haptic master robot is also developed to render force associated with needle placement interventions to the clinician. An aluminum load cell is implemented and calibrated to close the impedance control loop of the master robot. A force-position control algorithm is developed to control the hybrid actuated system. Teleoperated needle insertion is demonstrated under live MR imaging, where the slave robot resides in the scanner bore and the user manipulates the master beside the patient outside the bore. Force and position tracking results of the master-slave robot are demonstrated to validate the tracking performance of the integrated system. It has a position tracking error of 0.318mm and sine wave force tracking error of 2.227N. PMID:25126446

Development of body weight support gait training system using pneumatic Mckibben actuators -control of lower extremity orthosis.

Science.gov (United States)

Mat Dzahir, M A; Nobutomo, T; Yamamoto, S I

2013-01-01

Recently, robot assisted therapy devices are increasingly used for spinal cord injury (SCI) rehabilitation in assisting handicapped patients to regain their impaired movements. Assistive robotic systems may not be able to cure or fully compensate impairments, but it should be able to assist certain impaired functions and ease movements. In this study, the control system of lower extremity orthosis for the body weight support gait training system which implements pneumatic artificial muscle (PAM) is proposed. The hip and knee joint angles of the gait orthosis system are controlled based on the PAM coordinates information from the simulation. This information provides the contraction data for the mono- and bi-articular PAMs that are arranged as posterior and anterior actuators to simulate the human walking motion. The proposed control system estimates the actuators' contraction as a function of hip and knee joint angles. Based on the contraction model obtained, input pressures for each actuators are measured. The control system are performed at different gait cycles and two PMA settings for the mono- and bi-articular actuators are evaluated in this research. The results showed that the system was able to achieve the maximum muscle moment at the joints, and able to perform the heel contact movement. This explained that the antagonistic mono- and bi-articular actuators worked effectively.

Development of a piezo-actuated micro-teleoperation system for cell manipulation.

Science.gov (United States)

Zareinejad, M; Rezaei, S M; Abdullah, A; Shiry Ghidary, S

2009-03-01

Intracytoplasmic sperm injection (ICSI) requires long training and has low success rates, primarily due to poor control over the injection force. Making force feedback available to the operator will improve the success rate of the injection task. A macro-micro-teleoperation system bridges the gap between the task performed at the micro-level and the macroscopic movements of the operator. The teleoperation slave manipulator should accurately position a needle to precisely penetrate a cell membrane. Piezoelectric actuators are widely used in micromanipulation applications; however, hysteresis non-linearity limits the accuracy of these actuators. This paper presents a novel approach for utilizing a piezoelectric nano-stage as slave manipulator of a teleoperation system. The Prandtl-Ishlinskii (PI) model is used to model actuator hysteresis in a feedforward scheme to cancel out this non-linearity. To deal with the influence of parametric uncertainties, unmodelled dynamics and PI identification error, a perturbation term is added to the slave model and applies a sliding mode-based impedance control with perturbation estimation. The stability of entire system is guaranteed by Llewellyn's absolute stability criterion. The performance of the proposed controller was investigated through experiments for cell membrane penetration. The experimental results verified the accurate position tracking in free motion and simultaneous position and force tracking in contact with a low stiffness environment.

Microelectromechanical systems integrating molecular spin crossover actuators

Energy Technology Data Exchange (ETDEWEB)

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.

Analysis of the sweeped actuator line method

OpenAIRE

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...

Data-based fault-tolerant control for affine nonlinear systems with actuator faults.

Science.gov (United States)

Xie, Chun-Hua; Yang, Guang-Hong

2016-09-01

This paper investigates the fault-tolerant control (FTC) problem for unknown nonlinear systems with actuator faults including stuck, outage, bias and loss of effectiveness. The upper bounds of stuck faults, bias faults and loss of effectiveness faults are unknown. A new data-based FTC scheme is proposed. It consists of the online estimations of the bounds and a state-dependent function. The estimations are adjusted online to compensate automatically the actuator faults. The state-dependent function solved by using real system data helps to stabilize the system. Furthermore, all signals in the resulting closed-loop system are uniformly bounded and the states converge asymptotically to zero. Compared with the existing results, the proposed approach is data-based. Finally, two simulation examples are provided to show the effectiveness of the proposed approach. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

FAULT-TOLERANT DESIGN FOR ADVANCED DIVERSE PROTECTION SYSTEM

Directory of Open Access Journals (Sweden)

YANG GYUN OH

2013-11-01

Full Text Available For the improvement of APR1400 Diverse Protection System (DPS design, the Advanced DPS (ADPS has recently been developed to enhance the fault tolerance capability of the system. Major fault masking features of the ADPS compared with the APR1400 DPS are the changes to the channel configuration and reactor trip actuation equipment. To minimize the fault occurrences within the ADPS, and to mitigate the consequences of common-cause failures (CCF within the safety I&C systems, several fault avoidance design features have been applied in the ADPS. The fault avoidance design features include the changes to the system software classification, communication methods, equipment platform, MMI equipment, etc. In addition, the fault detection, location, containment, and recovery processes have been incorporated in the ADPS design. Therefore, it is expected that the ADPS can provide an enhanced fault tolerance capability against the possible faults within the system and its input/output equipment, and the CCF of safety systems.

Control of Adjustable Compliant Actuators

Directory of Open Access Journals (Sweden)

Berno J.E. Misgeld

2014-05-01

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

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

Science.gov (United States)

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.

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

OpenAIRE

2010-01-01

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

Improvement of the abnormal diagnosis technology by the development of an abnormal parts assignment system for the engineered safety features actuating system of the HTTR

International Nuclear Information System (INIS)

Hirato, Yoji; Kozawa, Takayuki; Saito, Kenji

2015-01-01

The safety protection sequence panel of HTTR is a control panel to actuate an engineering safety system for protecting the reactor core, reactor coolant pressure boundary, and containment vessel boundary at the time of an accident of the nuclear reactor facilities. The safety code stipulates that the control panel should receive safety check at a frequency of once a month during reactor operation. When abnormality has been found, it is required to eliminate its causes and restore normal operation as soon as possible. However, since this control panel is composed of a complex control circuit, the cause check during abnormality requires the confirmation by a knowledgeable person spending quite a lot of time for chart checking, which leads to a delay of restoration. To achieve a rapid restoration, the abnormal part assignment system (APAS), which can specify abnormality instantaneously even by a common operator, was developed. It has been confirmed that with this system, rapid initial response and prompt restoration can be effectively made. (A.O.)

Sensors and actuators inherent in biological species

Science.gov (United States)

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.

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

International Nuclear Information System (INIS)

Kofod, Guggi

2008-01-01

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

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

Science.gov (United States)

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.

Laboratory and field testing results of the LMT/GTM primary surface actuators

Science.gov (United States)

Smith, David R.; Souccar, Kamal; Montalvo, Gabriela; Arteaga Magaña, César; Hernández Rebollar, José Luis; Olmos Tapia, Arak; Gallieni, Daniele; Lazzarini, Paolo; Fumi, Pierluigi; Anaclerio, Enzo

2016-07-01

With the final installation of the two outermost rings of the primary surface of the Large Millimeter Telescope/ Gran Telescopio Milimétrico (LMT/GTM), the project is also upgrading the primary surface actuators. There are commercial actuators that can approach the required operational accuracy and stroke, but the combination of the size and load requirements ultimately required a customized design. The new actuators fit within the volume constraints imposed by the tighter interior angles in the outer rings and are designed to support the operational and survival loading conditions even for the largest surface segments. Laboratory testing confirmed that the actuators should meet the precision, repeatability, load, and lifetime requirements. However, the LMT/GTM is at a particularly difficult site for electromechanical systems. The high altitude has the usual effect of reducing cooling effectiveness for the drives and motors, and the ambient temperature hovers near freezing. Since there is a significant amount of precipitation during some times of the year, there are frequent freeze/thaw cycles. The constant formation and either sublimation or melting of ice, along with the associated high humidity, has been a challenge for the environmental protection of many devices at the LMT/GTM. Because there are a total of 720 primary surface actuators in the system, it is particularly important that the actuators, their local drive control boxes, and their cable connections be able to meet its specifications even under the site conditions. To confirm the suitability of the actuators, the LMT/GTM procured an initial set of sixteen actuators for testing at the site. After laboratory testing, the actuators were installed into the outer two rings of the telescope and cycled during the early winter months of the 2015-16 scientific observing season. Because of the continuing installation activities in these two rings, they are not illuminated by the receivers, so field testing

Reactivity Accidents in CAREM-25 Core with and Without Safety Systems Actuation

International Nuclear Information System (INIS)

Gimenez, Marcelo; Vertullo, Alicia; Schlamp, Miguel

2000-01-01

A reactivity accident in CAREM core can be provoked by different initiating events, a cold water injection in pressure vessel, a secondary side steam line breakage and a failure in the absorbing rods drive system.The present work analyses inadverted control rod withdraws transients.Maximum worth control rod (2.5 $) at normal velocity (1 cm/s) is adopted for the simulations (Reactivity ramp of 0.018 $/s).Different scenarios considering actuation of first shutdown system (FSS), second shutdown system (SSS) and selflimiting conditions were modeled.Results of the accident with actuation of FSS show that safety margins are well above critical values (DNBR and CPR).In the cases with failure of the FSS and success of SSS or selflimited, safety margins are below critical values, however, the SSS provides a reduction of elapsed time under advised margins

The run permit protection system for GTA

International Nuclear Information System (INIS)

Atkins, W.H.; Jones, R.G.

1992-01-01

A Run Permit system has been designed for the Ground Test Accelerator (GTA). The system implements mode-dependent software interlocks to ensure proper operation of the accelerator, enabling the ion source extractor and RF systems when proper conditions are met. The system is implemented using the GTA control system; thus all information available to the control system is also available for use in interlock logic. The logic is defined in terms of control system channels, which reflect accelerator parameters such as actuator positions, power supply values, temperatures, etc. A mode switch in the control room selects the accelerator operating mode, for example i njector only . The Run Permit software selects interlock logic as appropriate operating mode. This implementation easily accommodates logic changes as requirements evolve. To ensure reliable operation of a software-based system, a special circuit with a watch-dog timer is employed to produce the system's output signals. The software must periodically address the circuit, or the output signals are forced to a disabled state. For additional protection, there are self-test provisions for detecting and reacting to failures of the control system. (Author) 4 figs., ref

Human error probability evaluation as part of reliability analysis of digital protection system of advanced pressurized water reactor - APR 1400

International Nuclear Information System (INIS)

Varde, P. V.; Lee, D. Y.; Han, J. B.

2003-03-01

A case of study on human reliability analysis has been performed as part of reliability analysis of digital protection system of the reactor automatically actuates the shutdown system of the reactor when demanded. However, the safety analysis takes credit for operator action as a diverse mean for tripping the reactor for, though a low probability, ATWS scenario. Based on the available information two cases, viz., human error in tripping the reactor and calibration error for instrumentations in protection system, have been analyzed. Wherever applicable a parametric study has also been performed

Design and simulation of a new bidirectional actuator for haptic systems featuring MR fluid

Science.gov (United States)

Hung, Nguyen Quoc; Tri, Diep Bao; Cuong, Vo Van; Choi, Seung-Bok

2017-04-01

In this research, a new configuration of bidirectional actuator featuring MR fluid (BMRA) is proposed for haptic application. The proposed BMRA consists of a driving disc, a driving housing and a driven disc. The driving disc is placed inside the driving housing and rotates counter to each other by a servo DC motor and a bevel gear system. The driven shaft is also placed inside the housing and next to the driving disc. The gap between the two disc and the gap between the discs and the housing are filled with MR fluid. On the driven disc, two mutual magnetic coils are placed. By applying currents to the two coils mutually, the torque at the output shaft, which is fixed to the driven disc, can be controlled with positive, zero or negative value. This make the actuator be suitable for haptic application. After a review of MR fluid and its application, configuration of the proposed BMRA is presented. The modeling of the actuator is then derived based on Bingham rheological model of MRF and magnetic finite element analysis (FEA). The optimal design of the actuator is then performed to minimize the mass of the BMRA. From the optimal design result, performance characteristics of the actuator is simulated and detailed design of a prototype actuator is conducted.

Fractional order modeling and control of dissimilar redundant actuating system used in large passenger aircraft

Directory of Open Access Journals (Sweden)

Salman IJAZ

2018-05-01

Full Text Available In this paper, a methodology has been developed to address the issue of force fighting and to achieve precise position tracking of control surface driven by two dissimilar actuators. The nonlinear dynamics of both actuators are first approximated as fractional order models. Based on the identified models, three fractional order controllers are proposed for the whole system. Two Fractional Order PID (FOPID controllers are dedicated to improving transient response and are designed in a position feedback configuration. In order to synchronize the actuator dynamics, a third fractional order PI controller is designed, which feeds the force compensation signal in position feedback loop of both actuators. Nelder-Mead (N-M optimization technique is employed in order to optimally tune controller parameters based on the proposed performance criteria. To test the proposed controllers according to real flight condition, an external disturbance of higher amplitude that acts as airload is applied directly on the control surface. In addition, a disturbance signal function of system states is applied to check the robustness of proposed controller. Simulation results on nonlinear system model validated the performance of the proposed scheme as compared to optimal PID and high gain PID controllers. Keywords: Aerospace, Fractional order control, Model identification, Nelder-Mead optimization, Robustness

Reliability study: digital engineered safety feature actuation system of Korean Standard Nuclear Power Plant

International Nuclear Information System (INIS)

Sudarno; Kang, H. G.; Jang, S. C.; Eom, H. S.; Ha, J. J.

2003-04-01

The usage of digital Instrumentation and Control (I and C) in a nuclear power plant becomes more extensive, including safety related systems. The PSA application of these new designs are very important in order to evaluate their reliability. In particular, Korean Standard Nuclear Power Plants (KSNPPs), typically Ulchin 5 and 6 (UCN 5 and 6) reactor units, adopted the digital safety-critical systems such as Digital Plant Protection System (DPPS) and Digital Engineered Safety Feature Actuation System (DESFAS). In this research, we developed fault tree models for assessing the unavailability of the DESFAS functions. We also performed an analysis of the quantification results. The unavailability results of different DESFAS functions showed that their values are comprised from 5.461E-5 to 3.14E-4. The system unavailability of DESFAS AFAS-1 is estimated as 5.461E-5, which is about 27% less than that of analog system if we consider the difference of human failure probability estimation between both analyses. The results of this study could be utilized in risk-effect analysis of KSNPP. We expect that the safety analysis result will contribute to design feedback

Structural Integration of Sensors/Actuators by Laser Beam Melting for Tailored Smart Components

Science.gov (United States)

Töppel, Thomas; Lausch, Holger; Brand, Michael; Hensel, Eric; Arnold, Michael; Rotsch, Christian

2018-03-01

Laser beam melting (LBM), an additive laser powder bed fusion technology, enables the structural integration of temperature-sensitive sensors and actuators in complex monolithic metallic structures. The objective is to embed a functional component inside a metal part without losing its functionality by overheating. The first part of this paper addresses the development of a new process chain for bonded embedding of temperature-sensitive sensor/actuator systems by LBM. These systems are modularly built and coated by a multi-material/multi-layer thermal protection system of ceramic and metallic compounds. The characteristic of low global heat input in LBM is utilized for the functional embedding. In the second part, the specific functional design and optimization for tailored smart components with embedded functionalities are addressed. Numerical and experimental validated results are demonstrated on a smart femoral hip stem.

Fault Detection for Diesel Engine Actuator

DEFF Research Database (Denmark)

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....

Wavefront correction system based on an equilateral triangular arrangement of actuators

International Nuclear Information System (INIS)

Salmon, J.T.; Bergum, J.W.; Kartz, M.W.; Presta, R.W.; Swift, C.D.

1993-02-01

Atomic Vapor Laser Isotope Separation (AVLIS) requires the copropagation of multiple beams at different wavelengths and at average powers exceeding 1 kW. Although mirror coatings are used that absorb less than one part in 10 5 , the beams still suffer from thermally induced phase distortions, both in the dye amplifiers and in transmissive optics, such as beam combiners and vacuum windows. These aberrations are 2nd-order and 3rd-order and can reach 5 waves peak-to-valley (p-v), which causes the beam to distort and break up when propagated over large distances. The magnitude of the aberrations scales with power, with time constants on the order of 30 seconds. Previous adaptive systems that have been developed corrected these thermally induced phase distortions of both 2nd-order and 3rd-order; however, these systems had limited spatial resolution and in some cases marginal stability. The authors have developed a new adaptive optics system where both the actuators of the deformable mirror and the lenslets of the Hartmann sensor are arranged with centers at the vertices of equilateral triangles. The wavefront sensor is a video Hartmann sensor that also uses an equilateral array of lenslets. The controller hardware uses a VME bus. The design minimizes the generation of reflected wavefronts higher than first order across each lenslet for large excursions of actuators from positions where the mirror is flat and, thus maximizes the precision of the slopes measured by the Hartmann sensor. The design is also immune to the waffle mode that is present in the reconstructors of adaptive optics systems where actuators are arranged in a square array

Structural integrity and failure mechanisms of a smart piezoelectric actuator under a cyclic bending mode

International Nuclear Information System (INIS)

Woo, Sung-Choong; Goo, Nam Seo

2008-01-01

Information on the onset and evolution of damage within materials is essential for guaranteeing the integrity of actuator systems. The authors have evaluated the structural integrity and the failure mechanisms of smart composite actuators with a PZT ceramic plate under electric cyclic loading. For this, two kinds of actuators, actuator 1 and actuator 2, were manufactured. Prior to the main testing, performance testing was performed on the actuators to determine their resonant frequencies. Electric cyclic tests were conducted up to twenty million cycles. An acoustic emission technique was used for monitoring the damage evolution in real time. We observed the extent of the damage after testing using scanning electron microscopy and reflected optical microscopy to support characteristics in the acoustic emission behavior that corresponded to specific types of damage mechanisms. It was shown that the initial damage mechanism of the smart composite actuator under electric cyclic loading originated from the transgranular micro-fatigue damage in the PZT ceramic layer. With increasing cycles, a local intergranular crack initiated and developed onto the surface of the PZT ceramic layer or propagated into the internal layer. Finally, short-circuiting led to the electric breakdown of the actuator. These results were different depending on the drive frequencies and the configuration of the actuators. Moreover, we differentiated between the aforementioned damage mechanisms via AE signal pattern analyses based on the primary frequency and the waveform. From our results, we conclude that the drive frequency and the existence of a protecting layer are dominant factors in the structural integrity of the smart composite actuator

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

Science.gov (United States)

Xu, Bing; Cheng, Min

2018-06-01

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

Modelling and control of a nonlinear magnetostrictive actuator system

Science.gov (United States)

Ramli, M. H. M.; Majeed, A. P. P. Abdul; Anuar, M. A. M.; Mohamed, Z.

2018-04-01

This paper explores the implementation of a feedforward control method to a nonlinear control system, in particular, Magnetostrictive Actuators (MA) that has excellent properties of energy conversion between the mechanical and magnetic form through magnetostriction effects which could be used in actuating and sensing application. MA is known to exhibit hysteresis behaviour and it is rate dependent (the level of hysteresis depends closely on the rate of input excitation frequency). This is, nonetheless, an undesirable behaviour and has to be eliminated in realising high precision application. The MA is modelled by a phenomenological modelling approach via Prandtl-Ishlinskii (P-I) operator to characterise the hysteresis nonlinearities. A feedforward control strategy is designed and implemented to linearize and eliminate the hysteresis by model inversion. The results show that the P-I operator has the capability to model the hysteretic nonlinearity of MA with an acceptable accuracy. Furthermore, the proposed control scheme has demonstrated to be effective in providing superior trajectory tracking.

On line test of trip channels and actuators in primary shutdown system for RAPP-3,4/KAIGA-1,2 reactors

International Nuclear Information System (INIS)

Pramanik, M.; Gupta, P.K.; Ravi Prakash

1997-01-01

Several types of system design and logic arrangements have been used for reactor shutdown systems to avoid the possibility that a single failure within the trip channels/shutdown system actuators can prevent a shutdown system actuation. The trip channels and the logic arrangements associated with the shutdown systems use redundancy to allow them to continue to operate successfully even after having a certain number of failures. A periodic test is thus needed to detect and repair/replace failed elements to prevent accumulation and eventual system failure. The test must be capable of detecting the first failure. The design initiates shutdown system actuation by deenergising the logic relays and turning off the power to the final electrical actuators. Thus, the systems are fail safe with respect to loss of electrical power to the instruments, logic channels and the actuators. Several system/logic arrangements are used to reduce the chances of spurious actuation caused by the loss of a single power supply and other single failures. In general, the systems use coincidence of instrument channel trips and have separate power supplies for the individual instrument channel and dual power supplies where a single final control element is used. These features also permit on line test of instrument channels and logic train. On line test detects component failures not found by other means. The test determines whether gross failure has occurred rather than perform a calibration. As far as practicable the whole channel from sensors to logic and final control element is to be tested. (author)

Piezoelectrically Actuated Robotic System for MRI-Guided Prostate Percutaneous Therapy

OpenAIRE

Su, Hao; Shang, Weijian; Cole, Gregory; Li, Gang; Harrington, Kevin; Camilo, Alexander; Tokuda, Junichi; Tempany, Clare M.; Hata, Nobuhiko; Fischer, Gregory S.

2014-01-01

This paper presents a fully-actuated robotic system for percutaneous prostate therapy under continuously acquired live magnetic resonance imaging (MRI) guidance. The system is composed of modular hardware and software to support the surgical workflow of intra-operative MRI-guided surgical procedures. We present the development of a 6-degree-of-freedom (DOF) needle placement robot for transperineal prostate interventions. The robot consists of a 3-DOF needle driver module and a 3-DOF Cartesian...

A bidirectional shape memory alloy folding actuator

International Nuclear Information System (INIS)

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)

Actuator with Multi Degrees of Freedom(Actuator)

OpenAIRE

矢野, 智昭; Tomoaki, YANO; 産業技術総合研究所

2006-01-01

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

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

Science.gov (United States)

Bradley, Stuart

2015-11-20

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

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

International Nuclear Information System (INIS)

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)

Stability region of closed-loop pilot-vehicle system for fly-by-wire aircraft with limited actuator rate

OpenAIRE

Ying-hui, Li; Liang, Qu; Hao-jun, Xu; Qi-meng, Cao

2017-01-01

The category-II PIO (Pilot Induced Oscillations) caused by actuator rate limitation of fly-by-wire airplanes will badly threaten the flight safety. The stability regions of closed-loop pilot-vehicle (CLPV) system with rate limited actuator were studied in this paper to assess stability of such CLPV system. The augmented state  variables were introduced to segregate the rate limited element from the primary  system in order to build the saturation nonlinear model of CLPV system. To get the max...

Context-aware system for pre-triggering irreversible vehicle safety actuators.

Science.gov (United States)

Böhmländer, Dennis; Dirndorfer, Tobias; Al-Bayatti, Ali H; Brandmeier, Thomas

2017-06-01

New vehicle safety systems have led to a steady improvement of road safety and a reduction in the risk of suffering a major injury in vehicle accidents. A huge leap forward in the development of new vehicle safety systems are actuators that have to be activated irreversibly shortly before a collision in order to mitigate accident consequences. The triggering decision has to be based on measurements of exteroceptive sensors currently used in driver assistance systems. This paper focuses on developing a novel context-aware system designed to detect potential collisions and to trigger safety actuators even before an accident occurs. In this context, the analysis examines the information that can be collected from exteroceptive sensors (pre-crash data) to predict a certain collision and its severity to decide whether a triggering is entitled or not. A five-layer context-aware architecture is presented, that is able to collect contextual information about the vehicle environment and the actual driving state using different sensors, to perform reasoning about potential collisions, and to trigger safety functions upon that information. Accident analysis is used in a data model to represent uncertain knowledge and to perform reasoning. A simulation concept based on real accident data is introduced to evaluate the presented system concept. Copyright © 2017 Elsevier Ltd. All rights reserved.

Electro-optically actuated liquid-lens zoom

Science.gov (United States)

Pütsch, O.; Loosen, P.

2012-06-01

Progressive miniaturization and mass market orientation denote a challenge to the design of dynamic optical systems such as zoom-lenses. Two working principles can be identified: mechanical actuation and application of active optical components. Mechanical actuation changes the focal length of a zoom-lens system by varying the axial positions of optical elements. These systems are limited in speed and often require complex coupled movements. However, well established optical design approaches can be applied. In contrast, active optical components change their optical properties by varying their physical structure by means of applying external electric signals. An example are liquidlenses which vary their curvatures to change the refractive power. Zoom-lenses benefit from active optical components in two ways: first, no moveable structures are required and second, fast response characteristics can be realized. The precommercial development of zoom-lenses demands simplified and cost-effective system designs. However the number of efficient optical designs for electro-optically actuated zoom-lenses is limited. In this paper, the systematic development of an electro-optically actuated zoom-lens will be discussed. The application of aberration polynomials enables a better comprehension of the primary monochromatic aberrations at the lens elements during a change in magnification. This enables an enhanced synthesis of the system behavior and leads to a simplified zoom-lens design with no moving elements. The change of focal length is achieved only by varying curvatures of targeted integrated electro-optically actuated lenses.

Tension Stiffened and Tendon Actuated Manipulator

Science.gov (United States)

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.

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

Science.gov (United States)

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

2009-08-01

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

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

International Nuclear Information System (INIS)

Kim, Gi-Woo; Wang, K W

2009-01-01

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

Polypyrrole Actuators for Tremor Suppression

DEFF Research Database (Denmark)

Skaarup, Steen; Mogensen, Naja; Bay, Lasse

2003-01-01

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

Efficient control of servo pneumatic actuator system utilizing by-pass ...

Indian Academy of Sciences (India)

The issue of energy saving nowadays is very crucial. Pneumatic systems, constituting an important segment of almost every industry, represent large energy consumers. Also, a significant problem with servo pneumatic actuators is achieving accuracy in positioning. The higher the positioning accuracy, the higher the ...

IVVS actuating system compatibility test to ITER gamma radiation conditions

Energy Technology Data Exchange (ETDEWEB)

Rossi, Paolo, E-mail: paolo.rossi@enea.it [Associazione EURATOM-ENEA sulla Fusione, 45 Via Enrico Fermi, 00044 Frascati, Rome (Italy); Collibus, M. Ferri de; Florean, M.; Monti, C.; Mugnaini, G.; Neri, C.; Pillon, M.; Pollastrone, F. [Associazione EURATOM-ENEA sulla Fusione, 45 Via Enrico Fermi, 00044 Frascati, Rome (Italy); Baccaro, S.; Piegari, A. [ENEA CR Casaccia, 301 Via Anguillarese, 00123 Santa Maria di Galeria, Rome (Italy); Damiani, C.; Dubus, G. [Fusion For Energy c/Josep Pla, n° 2 Torres Diagonal Litoral, 08019 Barcelona (Spain)

2013-10-15

Highlights: • ENEA developed and tested a prototype of a laser In Vessel Viewing and ranging System (IVVS) for ITER. • One piezo-motor prototype has been tested on the ENEA Calliope gamma irradiation facility to verify its compatibility to ITER gamma radiation conditions. • After a total dose of more than 4 MGy the piezo-motor maintained almost the same working parameters monitored before test without any evident and significant degradation of functionality. • After the full gamma irradiation test, the same piezo-motor assembly will be tested with 14 MeV neutrons irradiation using ENEA FNG facility. -- Abstract: The In Vessel Viewing System (IVVS) is a fundamental remote handling equipment, which will be used to make a survey of the status of the blanket first wall and divertor plasma facing components. A design and testing activity is ongoing, in the framework of a Fusion for Energy (F4E) grant agreement, to make the IVVS probe design compatible with ITER operating conditions and in particular, but not only, with attention to neutrons and gammas fluxes and both space constraints and interfaces. The paper describes the testing activity performed on the customized piezoelectric motors and the main components of the actuating system of the IVVS probe with reference to ITER gamma radiation conditions. In particular the test is performed on the piezoelectric motor, optical encoder and small scale optical samples .The test is carried out on the ENEA Calliope gamma irradiation facility at ITER relevant gamma fields at rate of about 2.5 kGy/h and doses of 4 MGy. The paper reports in detail the setup arrangement of the test campaign in order to verify significant working capability of the IVVS actuating components and the results are shown in terms of functional performances and parameters. The overall test campaign on IVVS actuating system will be completed on other ENEA testing facilities in order to verify compatibility to Magnetic field, neutrons and thermal

IVVS actuating system compatibility test to ITER gamma radiation conditions

International Nuclear Information System (INIS)

Rossi, Paolo; Collibus, M. Ferri de; Florean, M.; Monti, C.; Mugnaini, G.; Neri, C.; Pillon, M.; Pollastrone, F.; Baccaro, S.; Piegari, A.; Damiani, C.; Dubus, G.

2013-01-01

Highlights: • ENEA developed and tested a prototype of a laser In Vessel Viewing and ranging System (IVVS) for ITER. • One piezo-motor prototype has been tested on the ENEA Calliope gamma irradiation facility to verify its compatibility to ITER gamma radiation conditions. • After a total dose of more than 4 MGy the piezo-motor maintained almost the same working parameters monitored before test without any evident and significant degradation of functionality. • After the full gamma irradiation test, the same piezo-motor assembly will be tested with 14 MeV neutrons irradiation using ENEA FNG facility. -- Abstract: The In Vessel Viewing System (IVVS) is a fundamental remote handling equipment, which will be used to make a survey of the status of the blanket first wall and divertor plasma facing components. A design and testing activity is ongoing, in the framework of a Fusion for Energy (F4E) grant agreement, to make the IVVS probe design compatible with ITER operating conditions and in particular, but not only, with attention to neutrons and gammas fluxes and both space constraints and interfaces. The paper describes the testing activity performed on the customized piezoelectric motors and the main components of the actuating system of the IVVS probe with reference to ITER gamma radiation conditions. In particular the test is performed on the piezoelectric motor, optical encoder and small scale optical samples .The test is carried out on the ENEA Calliope gamma irradiation facility at ITER relevant gamma fields at rate of about 2.5 kGy/h and doses of 4 MGy. The paper reports in detail the setup arrangement of the test campaign in order to verify significant working capability of the IVVS actuating components and the results are shown in terms of functional performances and parameters. The overall test campaign on IVVS actuating system will be completed on other ENEA testing facilities in order to verify compatibility to Magnetic field, neutrons and thermal

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

Science.gov (United States)

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.

Magnetic Shape Memory (MSM) actuators in practical use

International Nuclear Information System (INIS)

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.

A small biomimetic quadruped robot driven by multistacked dielectric elastomer actuators

Science.gov (United States)

Nguyen, Canh Toan; Phung, Hoa; Dat Nguyen, Tien; Lee, Choonghan; Kim, Uikyum; Lee, Donghyouk; Moon, Hyungpil; Koo, Jachoon; Nam, Jae-do; Ryeol Choi, Hyouk

2014-06-01

A kind of dielectric elastomer (DE) material, called ‘synthetic elastomer’, has been developed based on acrylonitrile butadiene rubber (NBR) to be used as a dielectric elastomer actuator (DEA). By stacking single layers of synthetic elastomer, a linear actuator, called a multistacked actuator, is produced, and used by mechatronic and robotic systems to generate linear motion. In this paper, we demonstrate the application of the multistacked dielectric elastomer actuator in a biomimetic legged robot. A miniature robot driven by a biomimetic actuation system with four 2-DOF (two-degree-of-freedom) legged mechanisms is realized. Based on the experimental results, we evaluate the performance of the proposed robot and validate the feasibility of the multistacked actuator in a locomotion system as a replacement for conventional actuators.

A small biomimetic quadruped robot driven by multistacked dielectric elastomer actuators

International Nuclear Information System (INIS)

Nguyen, Canh Toan; Phung, Hoa; Nguyen, Tien Dat; Lee, Choonghan; Kim, Uikyum; Lee, Donghyouk; Moon, Hyungpil; Koo, Jachoon; Choi, Hyouk Ryeol; Nam, Jae-do

2014-01-01

A kind of dielectric elastomer (DE) material, called ‘synthetic elastomer’, has been developed based on acrylonitrile butadiene rubber (NBR) to be used as a dielectric elastomer actuator (DEA). By stacking single layers of synthetic elastomer, a linear actuator, called a multistacked actuator, is produced, and used by mechatronic and robotic systems to generate linear motion. In this paper, we demonstrate the application of the multistacked dielectric elastomer actuator in a biomimetic legged robot. A miniature robot driven by a biomimetic actuation system with four 2-DOF (two-degree-of-freedom) legged mechanisms is realized. Based on the experimental results, we evaluate the performance of the proposed robot and validate the feasibility of the multistacked actuator in a locomotion system as a replacement for conventional actuators. (paper)

Optimal reliability design for over-actuated systems based on the MIT rule: Application to an octocopter helicopter testbed

International Nuclear Information System (INIS)

Chamseddine, Abbas; Theilliol, Didier; Sadeghzadeh, Iman; Zhang, Youmin; Weber, Philippe

2014-01-01

This paper addresses the problem of optimal reliability in over-actuated systems. Overloading an actuator decreases its overall lifetime and reduces its average performance over a long time. Therefore, performance and reliability are two conflicting requirements. While appropriate reliability is related to average loads, good performance is related to fast response and sufficient loads generated by actuators. Actuator redundancy allows us to address both performance and reliability at the same time by properly allocating desired loads among redundant actuators. The main contribution of this paper is the on-line optimization of the overall plant reliability according to performance objective using an MIT (Massachusetts Institute of Technology) rule-based method. The effectiveness of the proposed method is illustrated through an experimental application to an octocopter helicopter testbed

Strategic avionics technology definition studies. Subtask 3-1A: Electrical Actuation (ELA) systems

Science.gov (United States)

Pond, Charles L.; Mcdermott, William A.; Lum, Ben T. F.

1993-01-01

Electrical actuator (ELA) power efficiency and requirements are examined for space system application. Requirements for Space Shuttle effector systems are presented, along with preliminary ELA trades and selection to form a preliminary ELA system baseline. Power and energy requirements for this baseline ELA system are applicable to the Space Shuttle and similar space vehicles.

Hydraulically actuated artificial muscles

Science.gov (United States)

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.

Robust control for spacecraft rendezvous system with actuator unsymmetrical saturation: a gain scheduling approach

Science.gov (United States)

Wang, Qian; Xue, Anke

2018-06-01

This paper has proposed a robust control for the spacecraft rendezvous system by considering the parameter uncertainties and actuator unsymmetrical saturation based on the discrete gain scheduling approach. By changing of variables, we transform the actuator unsymmetrical saturation control problem into a symmetrical one. The main advantage of the proposed method is improving the dynamic performance of the closed-loop system with a region of attraction as large as possible. By the Lyapunov approach and the scheduling technology, the existence conditions for the admissible controller are formulated in the form of linear matrix inequalities. The numerical simulation illustrates the effectiveness of the proposed method.

Bioinspired Soft Actuation System Using Shape Memory Alloys

OpenAIRE

Cianchetti, Matteo; Licofonte, Alessia; Follador, Maurizio; Rogai, Francesco; Laschi, Cecilia

2014-01-01

Soft robotics requires technologies that are capable of generating forces even though the bodies are composed of very light, flexible and soft elements. A soft actuation mechanism was developed in this work, taking inspiration from the arm of the Octopus vulgaris, specifically from the muscular hydrostat which represents its constitutive muscular structure. On the basis of the authors’ previous works on shape memory alloy (SMA) springs used as soft actuators, a specific arrangement of such SM...

Stretchable Materials for Robust Soft Actuators towards Assistive Wearable Devices

Science.gov (United States)

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.

LEAD-FREE BNKT PIEZOELECTRIC ACTUATOR

Directory of Open Access Journals (Sweden)

A. Moosavi

2016-03-01

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

Failsafe design criteria for computer based reactor protection systems

International Nuclear Information System (INIS)

Keats, A.B.

1980-01-01

The design criteria proposed are an extrapolation of the failsafe mode of operation used in the UK in hardwired reactor protection systems. This is achieved by making the operational condition of the reactor dependent upon an energetic state of the protection system components. An important objective of the proposed design criteria is to eliminate, or at least to minimize, the need for a failure-mode-and-effect-analysis (FMEA) of the computer software. This demands some well defined but simple constraints upon the way in which data are stored in the computers, but the objective is achieved almost entirely by hardware properties of the system. The first of these is the systematic use of hardwired test inputs which cause transient excursions into the tripped state in a uniquely ordered but easily recognizable sequence. The second is the use of hardwired pattern recognition logic which generates a dynamic healthy stimulus for the shutdown actuators only in response to the unique sequence formed by the hardwired input signal pattern. It therefore detects abnormal states of any of the system inputs, software errors, wiring errors and hardware failures. This hardwired logic is conceptually simple, failsafe, and is amenable to simple FMEA. (U.K.)

A Solar Energy Powered Autonomous Wireless Actuator Node for Irrigation Systems

OpenAIRE

Lajara, Rafael; Alberola, Jorge; Pelegr?-Sebasti?, Jos?

2010-01-01

The design of a fully autonomous and wireless actuator node ("wEcoValve mote") based on the IEEE 802.15.4 standard is presented. The system allows remote control (open/close) of a 3-lead magnetic latch solenoid, commonly used in drip irrigation systems in applications such as agricultural areas, greenhouses, gardens, etc. The very low power consumption of the system in conjunction with the low power consumption of the valve, only when switching positions, allows the system to be solar powered...

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

Directory of Open Access Journals (Sweden)

Xavier Arouette

2010-03-01

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

Frequency-dependent electrostatic actuation in microfluidic MEMS.

Energy Technology Data Exchange (ETDEWEB)

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.

Torque And Speed in the Actuating of Mechatronic Systems, a Case Study

Directory of Open Access Journals (Sweden)

Constantin Paul Roman

2015-12-01

Full Text Available The paper presents a mechatronic system programmed and controlled by a PLC and inverter for driving an AC motor. Torque and speed for part of mechatronic systems depends of actuating source for cinematic structure. In our research, mechanical structure consists of an AC motor. A technique for setting and control of speed and torque is presented.

A small-gap electrostatic micro-actuator for large deflections

Science.gov (United States)

Conrad, Holger; Schenk, Harald; Kaiser, Bert; Langa, Sergiu; Gaudet, Matthieu; Schimmanz, Klaus; Stolz, Michael; Lenz, Miriam

2015-01-01

Common quasi-static electrostatic micro actuators have significant limitations in deflection due to electrode separation and unstable drive regions. State-of-the-art electrostatic actuators achieve maximum deflections of approximately one third of the electrode separation. Large electrode separation and high driving voltages are normally required to achieve large actuator movements. Here we report on an electrostatic actuator class, fabricated in a CMOS-compatible process, which allows high deflections with small electrode separation. The concept presented makes the huge electrostatic forces within nanometre small electrode separation accessible for large deflections. Electrostatic actuations that are larger than the electrode separation were measured. An analytical theory is compared with measurement and simulation results and enables closer understanding of these actuators. The scaling behaviour discussed indicates significant future improvement on actuator deflection. The presented driving concept enables the investigation and development of novel micro systems with a high potential for improved device and system performance. PMID:26655557

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

Science.gov (United States)

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

2013-09-01

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

Pneumatic Variable Series Elastic Actuator.

Science.gov (United States)

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.

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

OpenAIRE

Heybroek, Kim

2017-01-01

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

Force-deflection behavior of piezoelectric actuators

Science.gov (United States)

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.

Pneumatic artificial muscles for trailing edge flap actuation: a feasibility study

Science.gov (United States)

Woods, Benjamin K. S.; Kothera, Curt S.; Sirohi, Jayant; Wereley, Norman M.

2011-10-01

In this study a novel aircraft trailing edge flap actuation system was developed and tested. Pneumatic artificial muscles (PAMs) were used as the driving elements of this system to demonstrate their feasibility and utility as an alternative aerospace actuation technology. A prototype flap/actuator system was integrated into a model wing section and tested on the bench-top under simulated airloads for flight at 100 m s-1 (M = 0.3) and in an open-jet wind tunnel at free stream velocities ranging up to 45 m s-1 (M = 0.13). Testing was performed for actuator pressures ranging from 0.069 to 0.62 MPa (10-90 psi) and actuation frequencies from 0.1 to 31 Hz. Results show that the PAM-driven trailing edge flap system can generate substantial and sustainable dynamic deflections, thereby proving the feasibility of using pneumatic artificial muscle actuators in a trailing edge flap system. Key issues limiting system performance are identified, that should be resolved in future research.

A multi-purpose electromagnetic actuator for magnetic resonance elastography.

Science.gov (United States)

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

2018-04-19

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

Model-based design and experimental verification of a monitoring concept for an active-active electromechanical aileron actuation system

Science.gov (United States)

Arriola, David; Thielecke, Frank

2017-09-01

Electromechanical actuators have become a key technology for the onset of power-by-wire flight control systems in the next generation of commercial aircraft. The design of robust control and monitoring functions for these devices capable to mitigate the effects of safety-critical faults is essential in order to achieve the required level of fault tolerance. A primary flight control system comprising two electromechanical actuators nominally operating in active-active mode is considered. A set of five signal-based monitoring functions are designed using a detailed model of the system under consideration which includes non-linear parasitic effects, measurement and data acquisition effects, and actuator faults. Robust detection thresholds are determined based on the analysis of parametric and input uncertainties. The designed monitoring functions are verified experimentally and by simulation through the injection of faults in the validated model and in a test-rig suited to the actuation system under consideration, respectively. They guarantee a robust and efficient fault detection and isolation with a low risk of false alarms, additionally enabling the correct reconfiguration of the system for an enhanced operational availability. In 98% of the performed experiments and simulations, the correct faults were detected and confirmed within the time objectives set.

Multi-level virtual prototyping of electromechanical actuation system for more electric aircraft

Directory of Open Access Journals (Sweden)

Jian FU

2018-05-01

Full Text Available Electromechanical actuators (EMAs are becoming increasingly attractive in the field of more electric aircraft because of their outstanding benefits, which include reduced fuel burn and maintenance cost, enhanced system flexibility, and improved management of fault detection and isolation. However, electromechanical actuation raises specific issues when being used for safety-critical aerospace applications like flight controls: huge reflected inertia to load, jamming-type failure, and increase of backlash with service due to wear and local dissipation of heat losses for thermal balance. This study proposes an incremental approach for virtual prototyping of EMAs. It is driven by a model-based system engineering process in order to enable simulation-aided design. Best practices supported by Bond graph formalism are suggested to develop a model’s structure efficiently and to make the model ready for use (or extension by addressing the above mentioned issues. Physical effects are progressively introduced, and the realism of lumped-parameter models is increased step-by-step. In particular, multi-level component models are architected to ensure continuity between engineering activities. The models are implemented in the AMESim simulation environment, and simulation responses are given to illustrate how they can be used for preliminary sizing, control design, thermal balance verification, and faults to failure analysis. The proposed best practices intend to provide engineers with fast, reusable, and efficient means to assess performance virtually and enhance maturity, performance, and robustness. Keywords: Bond graph, Electromechanical actuator, Flight control, Model-based system engineering, More electric aircraft, Power-by-wire

Pneumatic muscle actuated parallel asymmetrical gripper system with one mobile jaw

Directory of Open Access Journals (Sweden)

Deaconescu Tudor

2017-01-01

Full Text Available The paper pertains to the field of the current global endeavours in industrial robot construction, the presented research being oriented towards identifying innovative constructive solutions for gripper systems. The utilisation of the linear pneumatic muscle as actuator of the gripper system ensures a construction that is light, highly compliant, and that meets the safety requirements related to interaction with humans. The paper further presents and discusses such a system of asymmetrical construction with a single mobile jaw.

Electric-Pneumatic Actuator: A New Muscle for Locomotion

OpenAIRE

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...

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

NARCIS (Netherlands)

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

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

International Nuclear Information System (INIS)

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

Apparatus, system, and method for providing fabric-elastomer composites as pneumatic actuators

Science.gov (United States)

Martinez, Ramses V.; Whitesides, George M.

2017-10-25

Soft pneumatic actuators based on composites consisting of elastomers with embedded sheet or fiber structures (e.g., paper or fabric) that are flexible but not extensible are described. On pneumatic inflation, these actuators move anisotropically, based on the motions accessible by their composite structures. They are inexpensive, simple to fabricate, light in weight, and easy to actuate. This class of structure is versatile: the same principles of design lead to actuators that respond to pressurization with a wide range of motions (bending, extension, contraction, twisting, and others). Paper, when used to introduce anisotropy into elastomers, can be readily folded into three-dimensional structures following the principles of origami; these folded structures increase the stiffness and anisotropy of the elastomeric actuators, while keeping them light in weight.

Soft Robotic Actuators

Science.gov (United States)

Godfrey, Juleon Taylor

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

Study of damping in 5 kWh superconductor flywheel energy storage system using a piezoelectric actuator

Energy Technology Data Exchange (ETDEWEB)

Jang, H.K.; Song, D.; Kim, S.B. [Hanyang University, 17 Haengdang-Dong, Seongdong-Gu, Seoul 133-791 (Korea, Republic of); Han, S.C. [Korea Electric Power Research Institute, 103-16 Munji-Ro, Yuseong-Gu, Daejeon 305-380 (Korea, Republic of); Sung, T.H., E-mail: sungth@hanyang.ac.kr [Hanyang University, 17 Haengdang-Dong, Seongdong-Gu, Seoul 133-791 (Korea, Republic of)

2012-05-15

A 5 kWh superconductor flywheel energy storage system (SFES) has advantages in terms of high electrical energy density, environmental affinity and long life. However, the SFES has disadvantage that electromagnetic damper is needed because superconducting bearings do not have enough damping coefficient. The purpose of this experiment is to develop a method of damping the vibration of the SFES. A piezoelectric actuator was attached to a superconducting bearing system for feasibility test in order to make it as a damper of the SFES. For this experiment, a cylindrical permanent magnet (PM) 40 mm in diameter and 10 mm height was used as a rotor, a high-temperature superconductor bulk (HTS bulk) with dimensions 40 mm Multiplication-Sign 40 mm Multiplication-Sign 15 mm was used as a stator, and two vibration exciters (an upper and a lower vibration exciter) and a piezoelectric actuator were used. The PM was fixed on the upper vibration exciter. The HTS bulk was fixed on either the lower vibration exciter to test for damping in the feasibility test, or on the piezoelectric actuator for the actual SFES. The conditions of this experiment included various voltage outputs of a power amplifier to the lower vibration exciter, moving distances of the piezoelectric actuator which are displacements of the HTS bulk, and phase differences between the upper and lower vibration exciter or the piezoelectric actuator. The damping feasibility test was conducted with a 300 {mu}m gap between the PM and HTS bulk with a PM vibration of 30 {mu}m. For the actual SFES test, the gap between the PM and HTS bulk was 1.6 mm and the PM vibration was 25 {mu}m. The following conditions were conducted to optimize: an appropriate voltage input to the lower vibration exciter or a displacement of piezoelectric actuator and an appropriate phase difference. When the piezoelectric actuator was used, the damping effect was greatly improved up to 92.32% which a displacement of damped PM was 1.92 {mu}m.

Pneumatic artificial muscles for trailing edge flap actuation: a feasibility study

International Nuclear Information System (INIS)

Woods, Benjamin K S; Wereley, Norman M; Kothera, Curt S; Sirohi, Jayant

2011-01-01

In this study a novel aircraft trailing edge flap actuation system was developed and tested. Pneumatic artificial muscles (PAMs) were used as the driving elements of this system to demonstrate their feasibility and utility as an alternative aerospace actuation technology. A prototype flap/actuator system was integrated into a model wing section and tested on the bench-top under simulated airloads for flight at 100 m s −1 (M = 0.3) and in an open-jet wind tunnel at free stream velocities ranging up to 45 m s −1 (M = 0.13). Testing was performed for actuator pressures ranging from 0.069 to 0.62 MPa (10–90 psi) and actuation frequencies from 0.1 to 31 Hz. Results show that the PAM-driven trailing edge flap system can generate substantial and sustainable dynamic deflections, thereby proving the feasibility of using pneumatic artificial muscle actuators in a trailing edge flap system. Key issues limiting system performance are identified, that should be resolved in future research

Hysteresis compensation for piezoelectric actuators in single-point diamond turning

Science.gov (United States)

Wang, Haifeng; Hu, Dejin; Wan, Daping; Liu, Hongbin

2006-02-01

In recent years, interests have been growing for fast tool servo (FTS) systems to increase the capability of existing single-point diamond turning machines. Although piezoelectric actuator is the most universal base of FTS system due to its high stiffness, accuracy and bandwidth, nonlinearity in piezoceramics limits both the static and dynamic performance of piezoelectric-actuated control systems evidently. To compensate the nonlinear hysteresis behavior of piezoelectric actuators, a hybrid model coupled with Preisach model and feedforward neural network (FNN) has been described. Since the training of FNN does not require a special calibration sequence, it is possible for on-line identification and real-time implementation with general operating data of a specific piezoelectric actuator. To describe the rate dependent behavior of piezoelectric actuators, a hybrid dynamic model was developed to predict the response of piezoelectric actuators in a wider range of input frequency. Experimental results show that a maximal error of less than 3% was accomplished by this dynamic model.

Robust adaptive fault-tolerant control for leader-follower flocking of uncertain multi-agent systems with actuator failure.

Science.gov (United States)

Yazdani, Sahar; Haeri, Mohammad

2017-11-01

In this work, we study the flocking problem of multi-agent systems with uncertain dynamics subject to actuator failure and external disturbances. By considering some standard assumptions, we propose a robust adaptive fault tolerant protocol for compensating of the actuator bias fault, the partial loss of actuator effectiveness fault, the model uncertainties, and external disturbances. Under the designed protocol, velocity convergence of agents to that of virtual leader is guaranteed while the connectivity preservation of network and collision avoidance among agents are ensured as well. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Parametric Design and Multiobjective Optimization of Maglev Actuators for Active Vibration Isolation System

Directory of Open Access Journals (Sweden)

Qianqian Wu

2014-05-01

Full Text Available The microvibration has a serious impact on science experiments on the space station and on image quality of high resolution satellites. As an important component of the active vibration isolation platform, the maglev actuator has a large stroke and exhibits excellent isolating performance benefiting from its noncontact characteristic. A maglev actuator with good linearity was designed in this paper. Fundamental features of the maglev actuator were obtained by finite element simulation. In order to minimize the coil weight and the heat dissipation of the maglev actuator, parametric design was carried out and multiobjective optimization based on the genetic algorithm was adopted. The optimized actuator has better mechanical properties than the initial one. Active vibration isolation platforms for different-scale payload were designed by changing the arrangement of the maglev actuators. The prototype to isolate vibration for small-scale payload was manufactured and the experiments for verifying the characteristics of the actuators were set up. The linearity of the actuator and the mechanical dynamic response of the vibration isolation platform were obtained. The experimental results highlight the effectiveness of the proposed design.

Fast force actuators for LSST primary/tertiary mirror

Science.gov (United States)

Hileman, Edward; Warner, Michael; Wiecha, Oliver

2010-07-01

The very short slew times and resulting high inertial loads imposed upon the Large Synoptic Survey Telescope (LSST) create new challenges to the primary mirror support actuators. Traditionally large borosilicate mirrors are supported by pneumatic systems, which is also the case for the LSST. These force based actuators bear the weight of the mirror and provide active figure correction, but do not define the mirror position. A set of six locating actuators (hardpoints) arranged in a hexapod fashion serve to locate the mirror. The stringent dynamic requirements demand that the force actuators must be able to counteract in real time for dynamic forces on the hardpoints during slewing to prevent excessive hardpoint loads. The support actuators must also maintain the prescribed forces accurately during tracking to maintain acceptable mirror figure. To meet these requirements, candidate pneumatic cylinders incorporating force feedback control and high speed servo valves are being tested using custom instrumentation with automatic data recording. Comparative charts are produced showing details of friction, hysteresis cycles, operating bandwidth, and temperature dependency. Extremely low power actuator controllers are being developed to avoid heat dissipation in critical portions of the mirror and also to allow for increased control capabilities at the actuator level, thus improving safety, performance, and the flexibility of the support system.

Tubular permanent magnet actuators: cogging forces characterization

NARCIS (Netherlands)

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

State and actuator fault estimation observer design integrated in a riderless bicycle stabilization system.

Science.gov (United States)

Brizuela Mendoza, Jorge Aurelio; Astorga Zaragoza, Carlos Manuel; Zavala Río, Arturo; Pattalochi, Leo; Canales Abarca, Francisco

2016-03-01

This paper deals with an observer design for Linear Parameter Varying (LPV) systems with high-order time-varying parameter dependency. The proposed design, considered as the main contribution of this paper, corresponds to an observer for the estimation of the actuator fault and the system state, considering measurement noise at the system outputs. The observer gains are computed by considering the extension of linear systems theory to polynomial LPV systems, in such a way that the observer reaches the characteristics of LPV systems. As a result, the actuator fault estimation is ready to be used in a Fault Tolerant Control scheme, where the estimated state with reduced noise should be used to generate the control law. The effectiveness of the proposed methodology has been tested using a riderless bicycle model with dependency on the translational velocity v, where the control objective corresponds to the system stabilization towards the upright position despite the variation of v along the closed-loop system trajectories. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

An H-module linear actuator for medical equipment applications

DEFF Research Database (Denmark)

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...

Optical Force Sensor for the DEXMART Hand Twisted String Actuation System

Directory of Open Access Journals (Sweden)

Gianluca PALLI

2013-01-01

Full Text Available In this paper, the force sensor developed for the twisted string actuation system of the DEXMART Hand is described. The proposed solution makes use of optoelectronic components for measuring the deformation of the properly designed motor module structure caused by the force applied to the tendon transmission system. The paper reports the working principle, the calibration and the characterization of the sensor in terms of sensitivity, repeatability, full-scale and Signal-to-Noise ratio.

MEMS fluidic actuator

Science.gov (United States)

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

2007-07-24

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

High-authority smart material integrated electric actuator

Science.gov (United States)

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

1997-05-01

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

Performance study of a hydrogen powered metal hydride actuator

International Nuclear Information System (INIS)

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)

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

Science.gov (United States)

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

2016-01-27

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

Electrical Actuation Technology Bridging

Science.gov (United States)

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.

Aircraft Attitude Distributed Fault-tolerant Control Based on Dynamic Actuator

Directory of Open Access Journals (Sweden)

Zhou Hong-Cheng

2014-09-01

Full Text Available For attitude control system, based on decentralized fault-tolerant control framework, actuators damage and stuck fault detection and identification unit are designed for the flight control system. And observer-based auxiliary system unit is also designed. The auxiliary system implies control surface damage faults and disturbances information. Firstly, we give the attitude control system under actuator stuck, lose of effectiveness, and control surface damages faults. Secondly, a multi-observer is designed for actuator fault detection and identification using a decision-making mechanism to determine current actuator failure modes. Then, an adaptive sliding mode observer is designed for implicit control surface damages and interference information. The reconfigurable controller can achieve fault tolerant using the information of adaptive sliding mode observer. Finally, the simulation results show the effectiveness of the proposed method.

Application of fault tree methodology to modeling of the AP1000 plant digital reactor protection system

International Nuclear Information System (INIS)

Teolis, D.S.; Zarewczynski, S.A.; Detar, H.L.

2012-01-01

The reactor trip system (RTS) and engineered safety features actuation system (ESFAS) in nuclear power plants utilizes instrumentation and control (IC) to provide automatic protection against unsafe and improper reactor operation during steady-state and transient power operations. During normal operating conditions, various plant parameters are continuously monitored to assure that the plant is operating in a safe state. In response to deviations of these parameters from pre-determined set points, the protection system will initiate actions required to maintain the reactor in a safe state. These actions may include shutting down the reactor by opening the reactor trip breakers and actuation of safety equipment based on the situation. The RTS and ESFAS are represented in probabilistic risk assessments (PRAs) to reflect the impact of their contribution to core damage frequency (CDF). The reactor protection systems (RPS) in existing nuclear power plants are generally analog based and there is general consensus within the PRA community on fault tree modeling of these systems. In new plants, such as AP1000 plant, the RPS is based on digital technology. Digital systems are more complex combinations of hardware components and software. This combination of complex hardware and software can result in the presence of faults and failure modes unique to a digital RPS. The United States Nuclear Regulatory Commission (NRC) is currently performing research on the development of probabilistic models for digital systems for inclusion in PRAs; however, no consensus methodology exists at this time. Westinghouse is currently updating the AP1000 plant PRA to support initial operation of plants currently under construction in the United States. The digital RPS is modeled using fault tree methodology similar to that used for analog based systems. This paper presents high level descriptions of a typical analog based RPS and of the AP1000 plant digital RPS. Application of current fault

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

International Nuclear Information System (INIS)

Zamanian, M; Khadem, S E

2010-01-01

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

Recent Advances in the Control of Piezoelectric Actuators

Directory of Open Access Journals (Sweden)

Ziqiang Chi

2014-11-01

Full Text Available The micro/nano positioning field has made great progress towards enabling the advance of micro/nano technology. Micro/nano positioning stages actuated by piezoelectric actuators are the key devices in micro/nano manipulation. The control of piezoelectric actuators has emerged as a hot topic in recent years. Piezoelectric materials have inherent hysteresis and creep nonlinearity, which can reduce the accuracy of the manipulation, even causing the instability of the whole system. Remarkable efforts have been made to compensate for the nonlinearity of piezoelectric actuation through the mathematical modelling and control approaches. This paper provides a review of recent advances on the control of piezoelectric actuators. After a brief introduction of basic components of typical piezoelectric micro/nano positioning platforms, the working principle and modelling of piezoelectric actuators are outlined in this paper. This is followed with the major control method and recent progress is presented in detail. Finally, some open issues and future work on the control of piezoelectric actuators are extensively discussed.

Soft, Rotating Pneumatic Actuator.

Science.gov (United States)

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

2017-09-01

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

A multi-electrode and pre-deformed bilayer spring structure electrostatic attractive MEMS actuator with large stroke at low actuation voltage

International Nuclear Information System (INIS)

Hu, Fangrong; Li, Zhi; Xiong, Xianming; Niu, Junhao; Peng, Zhiyong; Qian, Yixian; Yao, Jun

2012-01-01

This paper presents a multi-electrode and pre-deformed bilayer spring structure electrostatic attractive microelectromechanical systems (MEMS) actuator; it has large stroke at relatively low actuation voltage. Generally, electrostatic-attractive-force-based actuators have small stroke due to the instability resulted from the electrostatic ‘pull-in’ phenomenon. However, in many applications, the electrostatic micro-actuator with large stroke at low voltage is more preferred. By introducing a multi-electrode and a pre-deformed bilayer spring structure, an electrostatic attractive MEMS actuator with large stroke at very low actuation voltage has been successfully demonstrated in this paper. The actuator contains a central plate with a size of 300 µm × 300 µm × 1.5 µm and it is supported by four L-shaped bilayer springs which are pre-deformed due to residual stresses. Each bilayer spring is simultaneously attracted by three adjacent fixed electrodes, and the factors affecting the electrostatic attractive force are analyzed by a finite element analysis method. The prototype of the actuator is fabricated by poly-multi-user-MEMS-process (PolyMUMP) and the static performance is tested using a white light interferometer. The measured stroke of the actuator reaches 2 µm at 13 V dc, and it shows a good agreement with the simulation. (paper)

Magnetic Actuation of Self-Assembled DNA Hinges

Science.gov (United States)

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

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

Hydraulic Actuators with Autonomous Hydraulic Supply for the Mainline Aircrafts

Directory of Open Access Journals (Sweden)

I. S. Shumilov

2014-01-01

Full Text Available Applied in the aircraft control systems, hydraulic servo actuators with autonomous hydraulic supply, so-called, hydraulic actuators of integrated configuration, i.e. combination of a source of hydraulic power and its load in the single unit, are aimed at increasing control system reliability both owing to elimination of the pipelines connecting the actuator to the hydraulic supply source, and owing to avoidance of influence of other loads failure on the actuator operability. Their purpose is also to raise control system survivability by eliminating the long pipeline communications and their replacing for the electro-conductive power supply system, thus reducing the vulnerability of systems. The main reason for a delayed application of the hydraulic actuators in the cutting-edge aircrafts was that such aircrafts require hydraulic actuators of considerably higher power with considerable heat releases, which caused an unacceptable overheat of the hydraulic actuators. Positive and negative sides of the hydraulic actuators, their alternative options of increased reliability and survivability, local hydraulic systems as an advanced alternative to independent hydraulic actuators are considered.Now to use hydraulic actuators in mainline aircrafts is inexpedient since there are the unfairly large number of the problems reducing, first and last, safety of flights, with no essential weight and operational advantages. Still works to create competitive hydraulic actuators ought to be continued.Application of local hydraulic systems (LHS will allow us to reduce length of pressure head and drain pipelines and mass of pipelines, as well as to raise their general fail-safety and survivability. Application of the LHS principle will allow us to use a majority of steering drive advantages. It is necessary to allocate especially the following:- ease of meeting requirements for the non-local spread of the engine weight;- essentially reducing length and weight of

Soft buckling actuators

Energy Technology Data Exchange (ETDEWEB)

Yang, Dian; Whitesides, George M.

2017-12-26

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

Adaptive fuzzy observer-based stabilization of a class of uncertain time-delayed chaotic systems with actuator nonlinearities

International Nuclear Information System (INIS)

Shahnazi, Reza; Haghani, Adel; Jeinsch, Torsten

2015-01-01

An observer-based output feedback adaptive fuzzy controller is proposed to stabilize a class of uncertain chaotic systems with unknown time-varying time delays, unknown actuator nonlinearities and unknown external disturbances. The actuator nonlinearity can be backlash-like hysteresis or dead-zone. Based on universal approximation property of fuzzy systems the unknown nonlinear functions are approximated by fuzzy systems, where the consequent parts of fuzzy rules are tuned with adaptive schemes. The proposed method does not need the availability of the states and an observer based output feedback approach is proposed to estimate the states. To have more robustness and at the same time to alleviate chattering an adaptive discontinuous structure is suggested. Semi-global asymptotic stability of the overall system is ensured by proposing a suitable Lyapunov–Krasovskii functional candidate. The approach is applied to stabilize the time-delayed Lorenz chaotic system with uncertain dynamics amid significant disturbances. Analysis of simulations reveals the effectiveness of the proposed method in terms of coping well with the modeling uncertainties, nonlinearities in actuators, unknown time-varying time-delays and unknown external disturbances while maintaining asymptotic convergence

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

Directory of Open Access Journals (Sweden)

Claudia Alice STATE

2013-09-01

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

Defect inspection of actuator lenses using swept-source optical coherence tomography

Science.gov (United States)

Lee, Jaeyul; Shirazi, Muhammad Faizan; Park, Kibeom; Jeon, Mansik; Kim, Jeehyun

2017-12-01

Actuator lens industries have gained an enormous interest with the enhancement of various latest communication devices, such as mobile phone and notebooks. The quality of the aforementioned devices can be degraded due to the internal defects of actuator lenses. Therefore, in this study, we implemented swept-source optical coherence tomography (SS-OCT) system to inspect defects of actuator lenses. Owing to the high-resolution of the SS-OCT system, defected foreign substances between the actuator lenses, defective regions of lenses and surface stains were more clearly distinguished through three-dimensional (3D) and two-dimensional (2D) cross-sectional OCT images. Therefore, the implemented SS-OCT system can be considered as a potential application to defect inspection of actuator lens.

Control rod blow out protection system

International Nuclear Information System (INIS)

Dietrich, J.R.; Flinn, W.S.; Groves, M.D.

1976-01-01

A control system is described which is comprised of a plurality of low worth absorber elements with individual hydraulic actuator assemblies, positioned within the reactor vessel. Axial distortions and safety hazards are minimized by this arrangement. (E.C.B.)

Metallic molybdenum disulfide nanosheet-based electrochemical actuators

Science.gov (United States)

Acerce, Muharrem; Akdoğan, E. Koray; Chhowalla, Manish

2017-09-01

Actuators that convert electrical energy to mechanical energy are useful in a wide variety of electromechanical systems and in robotics, with applications such as steerable catheters, adaptive wings for aircraft and drag-reducing wind turbines. Actuation systems can be based on various stimuli, such as heat, solvent adsorption/desorption, or electrochemical action (in systems such as carbon nanotube electrodes, graphite electrodes, polymer electrodes and metals). Here we demonstrate that the dynamic expansion and contraction of electrode films formed by restacking chemically exfoliated nanosheets of two-dimensional metallic molybdenum disulfide (MoS2) on thin plastic substrates can generate substantial mechanical forces. These films are capable of lifting masses that are more than 150 times that of the electrode over several millimetres and for hundreds of cycles. Specifically, the MoS2 films are able to generate mechanical stresses of about 17 megapascals—higher than mammalian muscle (about 0.3 megapascals) and comparable to ceramic piezoelectric actuators (about 40 megapascals)—and strains of about 0.6 per cent, operating at frequencies up to 1 hertz. The actuation performance is attributed to the high electrical conductivity of the metallic 1T phase of MoS2 nanosheets, the elastic modulus of restacked MoS2 layers (2 to 4 gigapascals) and fast proton diffusion between the nanosheets. These results could lead to new electrochemical actuators for high-strain and high-frequency applications.

Modeling and design of a high-performance hybrid actuator

Science.gov (United States)

Aloufi, Badr; Behdinan, Kamran; Zu, Jean

2016-12-01

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

Assessing the degradation of compliant electrodes for soft actuators

Science.gov (United States)

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.

Electroactive Polymer (EAP) Actuation of Mechanisms and Robotic Devices

Science.gov (United States)

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.

Wireless patient monitoring system for a moving-actuator type artificial heart.

Science.gov (United States)

Nam, K W; Chung, J; Choi, S W; Sun, K; Min, B G

2006-10-01

In this study, we developed a wireless monitoring system for outpatients equipped with a moving-actuator type pulsatile bi-ventricular assist device, AnyHeart. The developed monitoring system consists of two parts; a Bluetooth-based short-distance self-monitoring system that can monitor and control the operating status of a VAD using a Bluetooth-embedded personal digital assistant or a personal computer within a distance of 10 meters, and a cellular network-based remote monitoring system that can continuously monitor and control the operating status of AnyHeart at any location. Results of in vitro experiments demonstrate the developed system's ability to monitor the operational status of an implanted AnyHeart.

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

Science.gov (United States)

Wang, Xingjian; Shi, Cun; Wang, Shaoping

2017-07-01

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

Electromechanical actuation for thrust vector control applications

Science.gov (United States)

Roth, Mary Ellen

1990-01-01

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

Wafer-scale integration of piezoelectric actuation capabilities in nanoelectromechanical systems resonators

OpenAIRE

DEZEST, Denis; MATHIEU, Fabrice; MAZENQ, Laurent; SOYER, Caroline; COSTECALDE, Jean; REMIENS, Denis; THOMAS, Olivier; DEÜ, Jean-François; NICU, Liviu

2013-01-01

In this work, we demonstrate the integration of piezoelectric actuation means on arrays of nanocantilevers at the wafer scale. We use lead titanate zirconate (PZT) as piezoelectric material mainly because of its excellent actuation properties even when geometrically constrained at extreme scale

Analysis of Reconfigured Control Loop with a Virtual Actuator

Directory of Open Access Journals (Sweden)

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.

Design and control of a linearity-enhanced SMA actuator

International Nuclear Information System (INIS)

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.

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

Directory of Open Access Journals (Sweden)

Xingjian Wang

2017-10-01

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

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

Science.gov (United States)

Liao, Rui; Shi, Cun; Wang, Shaoping

2017-01-01

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

Dielectric elastomer actuators for octopus inspired suction cups.

Science.gov (United States)

Follador, M; Tramacere, F; Mazzolai, B

2014-09-25

Suction cups are often found in nature as attachment strategy in water. Nevertheless, the application of the artificial counterpart is limited by the dimension of the actuators and their usability in wet conditions. A novel design for the development of a suction cup inspired by octopus suckers is presented. The main focus of this research was on the modelling and characterization of the actuation unit, and a first prototype of the suction cup was realized as a proof of concept. The actuation of the suction cup is based on dielectric elastomer actuators. The presented device works in a wet environment, has an integrated actuation system, and is soft. The dimensions of the artificial suction cups are comparable to proximal octopus suckers, and the attachment mechanism is similar to the biological counterpart. The design approach proposed for the actuator allows the definition of the parameters for its development and for obtaining a desired pressure in water. The fabricated actuator is able to produce up to 6 kPa of pressure in water, reaching the maximum pressure in less than 300 ms.

Dielectric elastomer actuators for octopus inspired suction cups

International Nuclear Information System (INIS)

Follador, M; Tramacere, F; Mazzolai, B

2014-01-01

Suction cups are often found in nature as attachment strategy in water. Nevertheless, the application of the artificial counterpart is limited by the dimension of the actuators and their usability in wet conditions. A novel design for the development of a suction cup inspired by octopus suckers is presented. The main focus of this research was on the modelling and characterization of the actuation unit, and a first prototype of the suction cup was realized as a proof of concept. The actuation of the suction cup is based on dielectric elastomer actuators. The presented device works in a wet environment, has an integrated actuation system, and is soft. The dimensions of the artificial suction cups are comparable to proximal octopus suckers, and the attachment mechanism is similar to the biological counterpart. The design approach proposed for the actuator allows the definition of the parameters for its development and for obtaining a desired pressure in water. The fabricated actuator is able to produce up to 6 kPa of pressure in water, reaching the maximum pressure in less than 300 ms. (paper)

LMFBR self-activated shutdown systems

International Nuclear Information System (INIS)

Sowa, E.S.; Barthold, W.P.; Eggen, D.T.; Huebotter, P.R.; Josephson, J.; Pizzica, P.A.; Turski, R.B.; van Erp, J.B.

1976-01-01

Self-actuated shutdown systems (SASSs), fully contained within the dimensions of a fuel subassembly and installed in the core in judiciously chosen locations, can provide an important additional safety feature for LMFBRs. If actuated by phenomena inherent to the system and its immediate environment, these systems can contribute considerably to the total reliability of the overall plant protection system, in particular as regards protection against human error. It was shown that this type of shutdown system is capable of inserting a substantial amount of negative reactivity into the core with a relatively small impact on plant performance. Furthermore, it was shown that a coolable geometry can be maintained in LMFBRs of current design for a wide spectrum of accident initiators, and for a range of response times and insertion rates which appear to be achievable within practical design limits. Experiments showed that Curie-point-operated devices have considerable promise for application in self-actuated shutdown systems, in particular as regards meeting the requirements of testability and resettability

H∞ control for uncertain linear system over networks with Bernoulli data dropout and actuator saturation.

Science.gov (United States)

Yu, Jimin; Yang, Chenchen; Tang, Xiaoming; Wang, Ping

2018-03-01

This paper investigates the H ∞ control problems for uncertain linear system over networks with random communication data dropout and actuator saturation. The random data dropout process is modeled by a Bernoulli distributed white sequence with a known conditional probability distribution and the actuator saturation is confined in a convex hull by introducing a group of auxiliary matrices. By constructing a quadratic Lyapunov function, effective conditions for the state feedback-based H ∞ controller and the observer-based H ∞ controller are proposed in the form of non-convex matrix inequalities to take the random data dropout and actuator saturation into consideration simultaneously, and the problem of non-convex feasibility is solved by applying cone complementarity linearization (CCL) procedure. Finally, two simulation examples are given to demonstrate the effectiveness of the proposed new design techniques. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Three-dimensional graphene-polypyrrole hybrid electrochemical actuator

Science.gov (United States)

Liu, Jia; Wang, Zhi; Zhao, Yang; Cheng, Huhu; Hu, Chuangang; Jiang, Lan; Qu, Liangti

2012-11-01

The advancement of mechanical actuators benefits from the development of new structural materials with prominent properties. A novel three-dimensional (3D) hydrothermally converted graphene and polypyrrole (G-PPy) hybrid electrochemical actuator is presented, which is prepared via a convenient hydrothermal process, followed by in situ electropolymerization of pyrrole. The 3D pore-interconnected G-PPy pillar exhibits strong actuation responses superior to pure graphene and PPy film. In response to the low potentials of +/-0.8 V, the saturated strain of 3D G-PPy pillar can reach a record of 2.5%, which is more than 10 times higher than that of carbon nanotube film and about 3 times that of unitary graphene film under an applied potential of +/-1.2 V. Also, the 3D G-PPy actuator exhibits high actuation durability with high operating load as demonstrated by an 11 day continuous measurement. Finally, a proof-of-concept application of 3D G-PPy as smart filler for on/off switch is also demonstrated, which indicates the great potential of the 3D G-PPy structure developed in this study for advanced actuator systems.The advancement of mechanical actuators benefits from the development of new structural materials with prominent properties. A novel three-dimensional (3D) hydrothermally converted graphene and polypyrrole (G-PPy) hybrid electrochemical actuator is presented, which is prepared via a convenient hydrothermal process, followed by in situ electropolymerization of pyrrole. The 3D pore-interconnected G-PPy pillar exhibits strong actuation responses superior to pure graphene and PPy film. In response to the low potentials of +/-0.8 V, the saturated strain of 3D G-PPy pillar can reach a record of 2.5%, which is more than 10 times higher than that of carbon nanotube film and about 3 times that of unitary graphene film under an applied potential of +/-1.2 V. Also, the 3D G-PPy actuator exhibits high actuation durability with high operating load as demonstrated by an 11 day

Conduction Electrohydrodynamics with Mobile Electrodes: A Novel Actuation System for Untethered Robots

Science.gov (United States)

Shigemune, Hiroki; Cianchetti, Matteo; Laschi, Cecilia

2017-01-01

Electrohydrodynamics (EHD) refers to the direct conversion of electrical energy into mechanical energy of a fluid. Through the use of mobile electrodes, this principle is exploited in a novel fashion for designing and testing a millimeter‐scale untethered robot, which is powered harvesting the energy from an external electric field. The robot is designed as an inverted sail‐boat, with the thrust generated on the sail submerged in the liquid. The diffusion constant of the robot is experimentally computed, proving that its movement is not driven by thermal fluctuations, and then its kinematic and dynamic responses are characterized for different applied voltages. The results show the feasibility of using EHD with mobile electrodes for powering untethered robots and provide new evidences for the further development of this actuation system for both mobile robots and compliant actuators in soft robotics. PMID:28932659

Conduction Electrohydrodynamics with Mobile Electrodes: A Novel Actuation System for Untethered Robots.

Science.gov (United States)

Cacucciolo, Vito; Shigemune, Hiroki; Cianchetti, Matteo; Laschi, Cecilia; Maeda, Shingo

2017-09-01

Electrohydrodynamics (EHD) refers to the direct conversion of electrical energy into mechanical energy of a fluid. Through the use of mobile electrodes, this principle is exploited in a novel fashion for designing and testing a millimeter-scale untethered robot, which is powered harvesting the energy from an external electric field. The robot is designed as an inverted sail-boat, with the thrust generated on the sail submerged in the liquid. The diffusion constant of the robot is experimentally computed, proving that its movement is not driven by thermal fluctuations, and then its kinematic and dynamic responses are characterized for different applied voltages. The results show the feasibility of using EHD with mobile electrodes for powering untethered robots and provide new evidences for the further development of this actuation system for both mobile robots and compliant actuators in soft robotics.

Development of a 3D parallel mechanism robot arm with three vertical-axial pneumatic actuators combined with a stereo vision system.

Science.gov (United States)

Chiang, Mao-Hsiung; Lin, Hao-Ting

2011-01-01

This study aimed to develop a novel 3D parallel mechanism robot driven by three vertical-axial pneumatic actuators with a stereo vision system for path tracking control. The mechanical system and the control system are the primary novel parts for developing a 3D parallel mechanism robot. In the mechanical system, a 3D parallel mechanism robot contains three serial chains, a fixed base, a movable platform and a pneumatic servo system. The parallel mechanism are designed and analyzed first for realizing a 3D motion in the X-Y-Z coordinate system of the robot's end-effector. The inverse kinematics and the forward kinematics of the parallel mechanism robot are investigated by using the Denavit-Hartenberg notation (D-H notation) coordinate system. The pneumatic actuators in the three vertical motion axes are modeled. In the control system, the Fourier series-based adaptive sliding-mode controller with H(∞) tracking performance is used to design the path tracking controllers of the three vertical servo pneumatic actuators for realizing 3D path tracking control of the end-effector. Three optical linear scales are used to measure the position of the three pneumatic actuators. The 3D position of the end-effector is then calculated from the measuring position of the three pneumatic actuators by means of the kinematics. However, the calculated 3D position of the end-effector cannot consider the manufacturing and assembly tolerance of the joints and the parallel mechanism so that errors between the actual position and the calculated 3D position of the end-effector exist. In order to improve this situation, sensor collaboration is developed in this paper. A stereo vision system is used to collaborate with the three position sensors of the pneumatic actuators. The stereo vision system combining two CCD serves to measure the actual 3D position of the end-effector and calibrate the error between the actual and the calculated 3D position of the end-effector. Furthermore, to

Rate dependent direct inverse hysteresis compensation of piezoelectric micro-actuator used in dual-stage hard disk drive head positioning system.

Science.gov (United States)

Rahman, Md Arifur; Al Mamun, Abdullah; Yao, Kui

2015-08-01

The head positioning servo system in hard disk drive is implemented nowadays using a dual-stage actuator—the primary stage consisting of a voice coil motor actuator providing long range motion and the secondary stage controlling the position of the read/write head with fine resolution. Piezoelectric micro-actuator made of lead zirconate titanate (PZT) has been a popular choice for the secondary stage. However, PZT micro-actuator exhibits hysteresis—an inherent nonlinear characteristic of piezoelectric material. The advantage expected from using the secondary micro-actuator is somewhat lost by the hysteresis of the micro-actuator that contributes to tracking error. Hysteresis nonlinearity adversely affects the performance and, if not compensated, may cause inaccuracy and oscillation in the response. Compensation of hysteresis is therefore an important aspect for designing head-positioning servo system. This paper presents a new rate dependent model of hysteresis along with rigorous analysis and identification of the model. Parameters of the model are found using particle swarm optimization. Direct inverse of the proposed rate-dependent generalized Prandtl-Ishlinskii model is used as the hysteresis compensator. Effectiveness of the overall solution is underscored through experimental results.

Modeling and development of a twisting wing using inductively heated shape memory alloy actuators

Science.gov (United States)

Saunders, Robert N.; Hartl, Darren J.; Boyd, James G.; Lagoudas, Dimitris C.

2015-04-01

Wing twisting has been shown to improve aircraft flight performance. The potential benefits of a twisting wing are often outweighed by the mass of the system required to twist the wing. Shape memory alloy (SMA) actuators repeatedly demonstrate abilities and properties that are ideal for aerospace actuation systems. Recent advances have shown an SMA torsional actuator that can be manufactured and trained with the ability to generate large twisting deformations under substantial loading. The primary disadvantage of implementing large SMA actuators has been their slow actuation time compared to conventional actuators. However, inductive heating of an SMA actuator allows it to generate a full actuation cycle in just seconds rather than minutes while still . The aim of this work is to demonstrate an experimental wing being twisted to approximately 10 degrees by using an inductively heated SMA torsional actuator. This study also considers a 3-D electromagnetic thermo-mechanical model of the SMA-wing system and compare these results to experiments to demonstrate modeling capabilities.

Part-turn gearboxes for electric actuators; Schwenkgetriebe fuer elektrische Stellantriebe

Energy Technology Data Exchange (ETDEWEB)

Herbstritt, M. [Riester (W.) GmbH und Co. KG, Muellheim (Germany)

2002-09-01

Different types of gearboxes provide a useful complement to the electric actuator type ranges. The gearboxes can be combined with the actuators in many ways. Multi-turn actuators, for example, can be turned into part-turn actuators. When using a modular system, a suitable solution for almost any automation task in the field of industrial valves can be found. (orig.) [German] Sinnvoll ergaenzt werden elektrische Stellantriebe fuer Armaturen durch verschiedene Arten von Getrieben. Die Getriebe sind in vielfaeltiger Weise mit den Stellantrieben kombinierbar. So werden beispielsweise aus Drehantrieben Schwenkantriebe. Mit einem Baukasten-System laesst sich so fuer nahezu jede Automatisierungsaufgabe im Bereich der Industriearmaturen eine passende Loesung finden. (orig.)

Mechanisms and actuators for rotorcraft blade morphing

Science.gov (United States)

Vocke, Robert D., III

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

Design Comparison of Autonomous High Voltage Driving System for DEAP Actuator

DEFF Research Database (Denmark)

Huang, Lina; Pittini, Riccardo; Zhang, Zhe

2014-01-01

As a new type of smart material, the Dielectric Electro Active Polymer (DEAP) is introduced in terms of configuration, working principle and potential applications. The design of an autonomous high voltage driving system for DEAP actuator is investigated. The system configuration and the design...... methodology of a high voltage converter are discussed in detail. Based on the heating valve application, three different high voltage converter solutions have been proposed. The different proposals have been compared in terms of energy loss, volume and cost. Finally, the design selection suggestions...

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

DEFF Research Database (Denmark)

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

2014-01-01

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

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

DEFF Research Database (Denmark)

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

1996-01-01

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

DEAP actuator and its high voltage driver for heating valve application

DEFF Research Database (Denmark)

Huang, Lina; Nørmølle, L. F.; Sarban, R.

2014-01-01

Due to the advantages of DEAP (Dielectric Electro Active Polymer) material, such as light weight, noise free operation, high energy and power density and fast response speed, it can be applied in a variety of applications to replace the conventional transducers or actuators. This paper introduces...... DEAP actuator to the heating valve system and conducts a case study to discuss the feasible solution in designing DEAP actuator and its driver for heating valve application. First of all, the heating valves under study are briefly introduced. Then the design and the development for DEAP actuator...... is illustrated in detail, and followed by the detailed investigation of the HV driver for DEAP actuator. In order to verify the implementation, the experimental measurements are carried out for DEAP actuator, its HV driver as well as the entire heating valve system....

Integration of Sensor and Actuator Networks and the SCADA System to Promote the Migration of the Legacy Flexible Manufacturing System towards the Industry 4.0 Concept

Directory of Open Access Journals (Sweden)

Antonio José Calderón Godoy

2018-05-01

Full Text Available Networks of sensors and actuators in automated manufacturing processes are implemented using industrial fieldbuses, where automation units and supervisory systems are also connected to exchange operational information. In the context of the incoming fourth industrial revolution, called Industry 4.0, the management of legacy facilities is a paramount issue to deal with. This paper presents a solution to enhance the connectivity of a legacy Flexible Manufacturing System, which constitutes the first step in the adoption of the Industry 4.0 concept. Such a system includes the fieldbus PROcess FIeld BUS (PROFIBUS around which sensors, actuators, and controllers are interconnected. In order to establish effective communication between the sensors and actuators network and a supervisory system, a hardware and software approach including Ethernet connectivity is implemented. This work is envisioned to contribute to the migration of legacy systems towards the challenging Industry 4.0 framework. The experimental results prove the proper operation of the FMS and the feasibility of the proposal.

Electric-Pneumatic Actuator: A New Muscle for Locomotion

Directory of Open Access Journals (Sweden)

Maziar Ahmad Sharbafi

2017-10-01

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

Prediction of dry ice mass for firefighting robot actuation

Science.gov (United States)

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

2017-11-01

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

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

KAUST Repository

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

2012-01-01

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

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

KAUST Repository

Rawashdeh, E.

2012-07-06

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

Development of an Upper Limb Power Assist System Using Pneumatic Actuators for Farming Lift-up Motion

Science.gov (United States)

Yagi, Eiichi; Harada, Daisuke; Kobayashi, Masaaki

A power assist system has lately attracted considerable attention to lifting-up an object without low back pain. We have been developing power assist systems with pneumatic actuators for the elbow and shoulder to farming support of lifting-up a bag of rice weighing 30kg. This paper describes the mechanism and control method of this power assist system. The pneumatic rotary actuator supports shoulder motion, and the air cylinder supports elbow motion. In this control method, the surface electromyogram(EMG) signals are used as input information of the controller. The joint support torques of human are calculated based on the antigravity term of necessary joint torques, which are estimated on the dynamics of a human approximated link model. The experimental results show the effectiveness of the proposed mechanism and control method of the power assist system.

Application Software for the Cabinet Operator Module of the Reactor Protection System

International Nuclear Information System (INIS)

Lee, Hyun-Chul; Jung, Hae-Won; Lee, Sung-Jin; Koo, Young-Ho; Kim, Seong-Tae; Kwak, Tae-Kil; Jin, Kyo-Hong

2006-01-01

A reactor protection system (RPS) plays the roles of generating the reactor trip signal and the engineered safety features (ESF) actuation signal when the monitored plant processes reach predefined limits. A Korean project group, so-called KNICS (Korean Nuclear I and C System), is developing a new digitalized RPS and the Cabinet Operator Module (COM) of the RPS which is used for the RPS integrity testing and monitoring by equipment operators. A flat panel display (FPD) with a touch screen capability is provided as a main user interface for the RPS. This paper shows the application software developed for the COM FPD. Equipment operators can monitor the status of the RPS and carry out various tests to verify system functions by means of the application software. A qualified hardware and software development environment are used to develop the application software

Design and fabrication of a micro PZT cantilever array actuator for applications in fluidic systems

DEFF Research Database (Denmark)

Kim, H.; In, C.; Yoon, Gil Ho

2005-01-01

In this article, a micro cantilever array actuated by PZT films is designed and fabricated for micro fluidic systems. The design features for maximizing tip deflections and minimizing fluid leakage are described. The governing equation of the composite PZT cantilever is derived and the actuating......, dielectric constant, and dielectric loss. Tip deflections of 12 mu m at 5 V are measured, which agreed well with the predicted value. The 18 mu l/s leakage rate of air was observed at a pressure difference of 1000 Pa. Micro cooler is introduced, and its possible application to micro compressor is discussed....

Another Lesson from Plants: The Forward Osmosis-Based Actuator

Science.gov (United States)

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

2014-01-01

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

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

Science.gov (United States)

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

2014-01-01

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

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

Directory of Open Access Journals (Sweden)

Edoardo Sinibaldi

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

Sleeve Muscle Actuator and Its Application in Transtibial Prostheses

Science.gov (United States)

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

Control processes and machine protection on ASDEX Upgrade

International Nuclear Information System (INIS)

Raupp, G.; Treutterer, W.; Mertens, V.; Neu, G.; Sips, A.; Zasche, D.; Zehetbauer, Th.

2007-01-01

Safe operation of ASDEX Upgrade is guaranteed by a conventional hierarchy of simple and robust hard-wired systems for personnel and machine protection featuring standardized switch-off procedures. Machine protection and handling of off-normal events is further enhanced and peak and lifetime stress minimized through the plasma control system. Based on a real-time process model supporting safety critical applications with data quality tagging, process self-monitoring, watchdog monitoring and alarm propagation, processes detect complex and critical failures and reliably perform case-sensitive counter measures. Intelligent real-time failure handling is done with hardware or software redundancy and performance degradation, or modification of reference values to continue or terminate discharges with reduced machine stress. Examples implemented so far on ASDEX Upgrade are given, such as recovery from measurement failures, switch-over of redundant actuators, handling of actuator limitations, detection of plasma instabilities, plasma state dependent soft landing, or handling of failed switch-off procedures through breakers disconnecting the machine from grid

Vibration control for precision manufacturing using piezoelectric actuators

Energy Technology Data Exchange (ETDEWEB)

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

1995-12-31

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

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

International Nuclear Information System (INIS)

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

2015-01-01

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

Analytical design model for a piezo-composite unimorph actuator and its verification using lightweight piezo-composite curved actuators

Science.gov (United States)

Yoon, K. J.; Park, K. H.; Lee, S. K.; Goo, N. S.; Park, H. C.

2004-06-01

This paper describes an analytical design model for a layered piezo-composite unimorph actuator and its numerical and experimental verification using a LIPCA (lightweight piezo-composite curved actuator) that is lighter than other conventional piezo-composite type actuators. The LIPCA is composed of top fiber composite layers with high modulus and low CTE (coefficient of thermal expansion), a middle PZT ceramic wafer, and base layers with low modulus and high CTE. The advantages of the LIPCA design are to replace the heavy metal layer of THUNDER by lightweight fiber-reinforced plastic layers without compromising the generation of high force and large displacement and to have design flexibility by selecting the fiber direction and the number of prepreg layers. In addition to the lightweight advantage and design flexibility, the proposed device can be manufactured without adhesive layers when we use a resin prepreg system. A piezo-actuation model for a laminate with piezo-electric material layers and fiber composite layers is proposed to predict the curvature and residual stress of the LIPCA. To predict the actuation displacement of the LIPCA with curvature, a finite element analysis method using the proposed piezo-actuation model is introduced. The predicted deformations are in good agreement with the experimental ones.

Optimal Mobile Sensing and Actuation Policies in Cyber-physical Systems

CERN Document Server

Tricaud, Christophe

2012-01-01

A successful cyber-physical system, a complex interweaving of hardware and software in direct interaction with some parts of the physical environment, relies heavily on proper identification of the, often pre-existing, physical elements. Based on information from that process, a bespoke “cyber” part of the system may then be designed for a specific purpose. Optimal Mobile Sensing and Actuation Strategies in Cyber-physical Systems focuses on distributed-parameter systems the dynamics of which can be modelled with partial differential equations. Such systems are very challenging to measure, their states being distributed throughout a spatial domain. Consequently, optimal strategies are needed and systematic approaches to the optimization of sensor locations have to be devised for parameter estimation. The text begins by reviewing the newer field of cyber-physical systems and introducing background notions of distributed parameter systems and optimal observation theory. New research opportunities are then de...

Velocity feedback control with a flywheel proof mass actuator

Science.gov (United States)

Kras, Aleksander; Gardonio, Paolo

2017-08-01

This paper presents four new proof mass actuators to be used in velocity feedback control systems for the control of vibrations of machines and flexible structures. A classical proof mass actuator is formed by a coil-magnet linear motor, with either the magnet or the armature-coil proof mass suspended on soft springs. This arrangement produces a net force effect at frequencies above the fundamental resonance frequency of the springs-proof mass system. Thus, it can be used to implement point velocity feedback loops, although the dynamic response and static deflection of the springs-proof mass system poses some stability and control performance limitations. The four proof mass actuators presented in this study include a flywheel element, which is used to augment the inertia effect of the suspended proof mass. The paper shows that the flywheel element modifies both the dynamic response and static deflection of the springs-proof mass system in such a way as the stability and control performance of velocity feedback loops using these actuators are significantly improved.

New ankle actuation mechanism for a humanoid robot

NARCIS (Netherlands)

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

Self-Latching Piezocomposite Actuator

Science.gov (United States)

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

2017-01-01

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

Streaming and particle motion in acoustically-actuated leaky systems

Science.gov (United States)

Nama, Nitesh; Barnkob, Rune; Jun Huang, Tony; Kahler, Christian; Costanzo, Francesco

2017-11-01

The integration of acoustics with microfluidics has shown great promise for applications within biology, chemistry, and medicine. A commonly employed system to achieve this integration consists of a fluid-filled, polymer-walled microchannel that is acoustically actuated via standing surface acoustic waves. However, despite significant experimental advancements, the precise physical understanding of such systems remains a work in progress. In this work, we investigate the nature of acoustic fields that are setup inside the microchannel as well as the fundamental driving mechanism governing the fluid and particle motion in these systems. We provide an experimental benchmark using state-of-art 3D measurements of fluid and particle motion and present a Lagrangian velocity based temporal multiscale numerical framework to explain the experimental observations. Following verification and validation, we employ our numerical model to reveal the presence of a pseudo-standing acoustic wave that drives the acoustic streaming and particle motion in these systems.

A Vehicular Guidance Wireless Sensor/Actuator Network

KAUST Repository

Boudellioua, Imene

2012-07-01

Sensor networks have been heralded as one of 21 most important technologies for the 21st century by Business Week [1]. Wireless sensor/actuator networks (WSANs)are emerging as a new generation of sensor networks with the potential for enhancing the versatility and effectiveness of sensor networks. However, the unreliability of wireless communications and the real-time requirements of control applications raise great challenges for WSAN design. In this thesis, we design a WSAN for a vehicular guidance system targeting environmental disaster management applications. In this system, actuators provide mobility to all sensor nodes in the observed area whenever needed. Moreover, nodes form clusters and their movement is controlled by a master node that is selected dynamically. We also discuss the factors affecting our network performance in real-life and propose a framework which accounts for real-time requirement and reliable actuation. We finally perform some experimental studies on our system to measure its performance in an indoor environment.

Electro-Active Polymer (EAP) Actuators for Planetary Applications

Science.gov (United States)

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

1999-01-01

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

Development of monitoring, control and protection systems of nuclear power reactors in the USSR: Status and trends

International Nuclear Information System (INIS)

Kondrat'ev, V.V.; Mikhailov, M.N.; Prozorov, V.K.; Chudin, A.G.

1992-01-01

In 1989-90 the Supervision Body approved the new safety regulations for nuclear power plants. The operating plants do not always completely satisfy them and a great amount of work to develop operating power units up to the conditions required is necessary. This paper describes briefly the main changes made in monitoring, control and protection systems of nuclear power reactors to increase the reactor safety. The following fields are presented in the paper: General status of the NPP control and safety systems and instrumentation in USSR; sensors; electronic equipment; actuators improvement; qualification tests. (author). 3 figs

Buckling Pneumatic Linear Actuators Inspired by Muscle

OpenAIRE

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.

A methodology for identification and control of electro-mechanical actuators.

Science.gov (United States)

Tutunji, Tarek A; Saleem, Ashraf

2015-01-01

Mechatronic systems are fully-integrated engineering systems that are composed of mechanical, electronic, and computer control sub-systems. These integrated systems use electro-mechanical actuators to cause the required motion. Therefore, the design of appropriate controllers for these actuators are an essential step in mechatronic system design. In this paper, a three-stage methodology for real-time identification and control of electro-mechanical actuator plants is presented, tested, and validated. First, identification models are constructed from experimental data to approximate the plants' response. Second, the identified model is used in a simulation environment for the purpose of designing a suitable controller. Finally, the designed controller is applied and tested on the real plant through Hardware-in-the-Loop (HIL) environment. The described three-stage methodology provides the following practical contributions: •Establishes an easy-to-follow methodology for controller design of electro-mechanical actuators.•Combines off-line and on-line controller design for practical performance.•Modifies the HIL concept by using physical plants with computer control (rather than virtual plants with physical controllers). Simulated and experimental results for two case studies, induction motor and vehicle drive system, are presented in order to validate the proposed methodology. These results showed that electromechanical actuators can be identified and controlled using an easy-to-duplicate and flexible procedure.

Nonlinear Tracking Control of a Conductive Supercoiled Polymer Actuator.

Science.gov (United States)

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.

Self-healing bolted joint employing a shape memory actuator

Science.gov (United States)

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

2001-08-01

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

Analysis of the giant magnetostrictive actuator with strong bias magnetic field

Energy Technology Data Exchange (ETDEWEB)

Xue, Guangming, E-mail: yy0youxia@163.com; He, Zhongbo; Li, Dongwei; Yang, Zhaoshu; Zhao, Zhenglong

2015-11-15

Giant magnetostrictive actuator with strong bias magnetic field is designed to control the injector bullet valve opening and closing. The relationship between actuator displacement amplitude and input signal direction is analyzed. And based on the approximate linearity of strain-magnetic field, second-order system model of the actuator displacement is established. Experimental system suitable for the actuator is designed. The experimental results show that, the square voltage amplitude being 12 V, the actuator displacement amplitude is about 17 μm with backward direction signal input while being 1.5 μm under forward direction signal. From the results, the suitable input direction is confirmed to be backward. With exciting frequncy lower than 200 Hz, the error between the model and experimental result is less than 1.7 μm. So the model is validated under the low-frequency signal input. The testing displacement-voltage curves are approximately straight lines. But due to the biased position, the line slope and the displacement-voltage linearity change as the input voltage changes. - Highlights: • Giant magnetostrictive actuator with strong bias magnetic field is designed. • The relationship between actuator displacement amplitude and input current direction is analyzed. • The model of the actuator displacement is established and its accuracy is verified by the test. • The actuator displacement-voltage curves are achieved by the test, and the curves’ characteristics are analyzed theoretically.

Investigation of electrochemical actuation by polyaniline nanofibers

Science.gov (United States)

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.

Fast electrochemical actuator

International Nuclear Information System (INIS)

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

2016-01-01

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

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

International Nuclear Information System (INIS)

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

2010-01-01

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

Modelling the nonlinearity of piezoelectric actuators in active ...

African Journals Online (AJOL)

Piezoelectric actuators have great capabilities as elements of intelligent structures for active vibration cancellation. One problem with this type of actuator is its nonlinear behaviour. In active vibration control systems, it is important to have an accurate model of the control branch. This paper demonstrates the ability of neural ...

Robust sampled-data control of hydraulic flight control actuators

OpenAIRE

Kliffken, Markus Gustav

1997-01-01

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

Digital Actuator Technology

Energy Technology Data Exchange (ETDEWEB)

Ken Thomas; Ted Quinn; Jerry Mauck; Richard Bockhorst

2014-09-01

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

An innovative ultra-capacitor driven shape memory alloy actuator with an embedded control system

International Nuclear Information System (INIS)

Li, Peng; Song, Gangbing

2014-01-01

In this paper, an innovative ultra-capacitor driven shape memory alloy (SMA) actuator with an embedded control system is proposed targeting high power high-duty cycle SMA applications. The ultra-capacitor, which is capable of delivering massive amounts of instantaneous current in a compact dimension for high power applications, is chosen as the main component of the power supply. A specialized embedded system is designed from the ground up to control the ultra-capacitor driven SMA system. The control of the ultra-capacitor driven SMA is different from that of a regular constant voltage powered SMA system in that the energy and the voltage of the ultra-capacitor decrease as the system load increases. The embedded control system is also different from a computer-based control system in that it has limited computational power, and the control algorithm has to be designed to be simple while effective so that it can fit into the embedded system environment. The problem of a variable voltage power source induced by the use of the ultra-capacitor is solved by using a fuzzy PID (proportional integral and derivative) control. The method of using an ultra-capacitor to drive SMA actuators enabled SMA as a good candidate for high power high-duty cycle applications. The proposed embedded control system provides a good and ready-to-use solution for SMA high power applications. (paper)

Devising Mobile Sensing and Actuation Infrastructure with Drones

Directory of Open Access Journals (Sweden)

Mungyu Bae

2018-02-01

Full Text Available Vast applications and services have been enabled as the number of mobile or sensing devices with communication capabilities has grown. However, managing the devices, integrating networks or combining services across different networks has become a new problem since each network is not directly connected via back-end core networks or servers. The issue is and has been discussed especially in wireless sensor and actuator networks (WSAN. In such systems, sensors and actuators are tightly coupled, so when an independent WSAN needs to collaborate with other networks, it is difficult to adequately combine them into an integrated infrastructure. In this paper, we propose drone-as-a-gateway (DaaG, which uses drones as mobile gateways to interconnect isolated networks or combine independent services. Our system contains features that focus on the service being provided in the order of importance, different from an adaptive simple mobile sink system or delay-tolerant system. Our simulation results have shown that the proposed system is able to activate actuators in the order of importance of the service, which uses separate sensors’ data, and it consumes almost the same time in comparison with other path-planning algorithms. Moreover, we have implemented DaaG and presented results in a field test to show that it can enable large-scale on-demand deployment of sensing and actuation infrastructure or the Internet of Things (IoT.

Devising Mobile Sensing and Actuation Infrastructure with Drones

Science.gov (United States)

Jung, Jongtack; Park, Seongjoon; Kim, Kangho; Lee, Joon Yeop

2018-01-01

Vast applications and services have been enabled as the number of mobile or sensing devices with communication capabilities has grown. However, managing the devices, integrating networks or combining services across different networks has become a new problem since each network is not directly connected via back-end core networks or servers. The issue is and has been discussed especially in wireless sensor and actuator networks (WSAN). In such systems, sensors and actuators are tightly coupled, so when an independent WSAN needs to collaborate with other networks, it is difficult to adequately combine them into an integrated infrastructure. In this paper, we propose drone-as-a-gateway (DaaG), which uses drones as mobile gateways to interconnect isolated networks or combine independent services. Our system contains features that focus on the service being provided in the order of importance, different from an adaptive simple mobile sink system or delay-tolerant system. Our simulation results have shown that the proposed system is able to activate actuators in the order of importance of the service, which uses separate sensors’ data, and it consumes almost the same time in comparison with other path-planning algorithms. Moreover, we have implemented DaaG and presented results in a field test to show that it can enable large-scale on-demand deployment of sensing and actuation infrastructure or the Internet of Things (IoT). PMID:29463064

Devising Mobile Sensing and Actuation Infrastructure with Drones.

Science.gov (United States)

Bae, Mungyu; Yoo, Seungho; Jung, Jongtack; Park, Seongjoon; Kim, Kangho; Kim, Joon Yeop Lee; Kim, Hwangnam

2018-02-19

Vast applications and services have been enabled as the number of mobile or sensing devices with communication capabilities has grown. However, managing the devices, integrating networks or combining services across different networks has become a new problem since each network is not directly connected via back-end core networks or servers. The issue is and has been discussed especially in wireless sensor and actuator networks (WSAN). In such systems, sensors and actuators are tightly coupled, so when an independent WSAN needs to collaborate with other networks, it is difficult to adequately combine them into an integrated infrastructure. In this paper, we propose drone-as-a-gateway (DaaG), which uses drones as mobile gateways to interconnect isolated networks or combine independent services. Our system contains features that focus on the service being provided in the order of importance, different from an adaptive simple mobile sink system or delay-tolerant system. Our simulation results have shown that the proposed system is able to activate actuators in the order of importance of the service, which uses separate sensors' data, and it consumes almost the same time in comparison with other path-planning algorithms. Moreover, we have implemented DaaG and presented results in a field test to show that it can enable large-scale on-demand deployment of sensing and actuation infrastructure or the Internet of Things (IoT).

Cylindrical Piezoelectric Fiber Composite Actuators

Science.gov (United States)

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

2008-01-01

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

Fiber-Reinforced Origamic Robotic Actuator.

Science.gov (United States)

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.

Actuators for smart applications

NARCIS (Netherlands)

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

2010-01-01

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

Dynamic actuation of a novel laser-processed NiTi linear actuator

International Nuclear Information System (INIS)

Pequegnat, A; Daly, M; Wang, J; Zhou, Y; Khan, M I

2012-01-01

A novel laser processing technique, capable of locally modifying the shape memory effect, was applied to enhance the functionality of a NiTi linear actuator. By altering local transformation temperatures, an additional memory was imparted into a monolithic NiTi wire to enable dynamic actuation via controlled resistive heating. Characterizations of the actuator load, displacement and cyclic properties were conducted using a custom-built spring-biased test set-up. Monotonic tensile testing was also implemented to characterize the deformation behaviour of the martensite phase. Observed differences in the deformation behaviour of laser-processed material were found to affect the magnitude of the active strain. Furthermore, residual strain during cyclic actuation testing was found to stabilize after 150 cycles while the recoverable strain remained constant. This laser-processed actuator will allow for the realization of new applications and improved control methods for shape memory alloys. (paper)

Analysis of a spherical permanent magnet actuator

International Nuclear Information System (INIS)

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

1997-01-01

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

Electroactive polymer (EAP) actuators for planetary applications

Science.gov (United States)

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.

FY1995 study of aid system for the elderly and the disabled using metal hydride alloy actuators; 1995 nendo suiso kyuzo gokingata actuator ni yoru kaijo shien system no kaihatsu

Energy Technology Data Exchange (ETDEWEB)

NONE

1997-03-01

Purpose of the project is to develop a transfer aid system for the elderly who need assistance in moving from a bed or a chair. It can make up insufficiency of assistant persons and can help to comfortably move the elderly. It has the highest demand in rehabilitation centers or hospitals. We have been designing an actuator using a metal hydride alloy for more than ten years and have confirmed that the actuator is very useful for developing the transfer. Furthermore, we have designed the transfer from a view point of human interfaces. This research was done under the above background. 1. We studied a comfortable posture for the elderly at an initial phase of standing to design the optimal knee pad using a life-size model of a transfer. Especially, we managed to lighten the burden imposed on the elderly by referring electromyographic signals at lower limbs and ground reaction forces. 2. Since the tactile sensation of the bottom of elderly person's foot gets dull, we designed a foot stage to prevent the elderly from the dull. 3. We determined the optimal mixture rate of a metal hydride alloy and developed an elastic bellows in order to design the actuator used for the transfer aid. 4. We determined the optimal compliance to prevent the elderly from a mechanical shock and designed a mechanism so that the transfer aid can work well. 5. Based on the above results, we developed the transfer aid using the metal hydride actuator. It was ascertained that it can lift a elderly person with 80kg weight by using only 40g alloy. Furthermore, it is proved that the transfer is not heavy (about 20g weight), small, silent, and moves smoothly by a battery on the market. (NEDO)

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

Science.gov (United States)

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.

A MEMS Electrochemical Bellows Actuator for Fluid Metering Applications

Science.gov (United States)

Sheybani, Roya; Gensler, Heidi; Meng, Ellis

2013-01-01

We present a high efficiency wireless MEMS electrochemical bellows actuator capable of rapid and repeatable delivery of boluses for fluid metering and drug delivery applications. Nafion®-coated Pt electrodes were combined with Parylene bellows filled with DI water to form the electrolysis-based actuator. The performance of actuators with several bellows configurations was compared for a range of applied currents (1-10 mA). Up to 75 boluses were delivered with an average pumping flow rate of 114.40 ± 1.63 μL/min. Recombination of gases into water, an important factor in repeatable and reliable actuation, was studied for uncoated and Nafion®-coated actuators. Real-time pressure measurements were conducted and the effects of temperature, physiological back pressure, and drug viscosity on delivery performance were investigated. Lastly, we present wireless powering of the actuator using a class D inductive powering system that allowed for repeatable delivery with less than 2% variation in flow rate values. PMID:22833156

Limit cycles and stiffness control with variable stiffness actuators

NARCIS (Netherlands)

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

Design method for marine direct drive volume control ahead actuator

Directory of Open Access Journals (Sweden)

WANG Haiyang

2018-02-01

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

Fail-safe design criteria for computer-based reactor protection systems

International Nuclear Information System (INIS)

Keats, A.B.

1980-01-01

The increasing quantity and complexity of the instrumentation required in nuclear power plants provides a strong incentive for using on-line computers as the basis of the control and protection systems. On-line computers using multiplexed sampled data are already well established but their application to nuclear reactor protection systems requires special measures to satisfy the very high reliability which is demanded in the interests of safety and availability. Some existing codes of practice relating to segregation of replicated subsysttems continue to be applicable and lead to division of the computer functions into two distinct parts. The first computer, referred to as the Trip Algorithm Computer may also control the multiplexer. Voting on each group of status inputs yielded by the trip algorithm computers is performed by the Vote Algorithm Computer. The conceptual disparities between hardwired reactor-protection systems and those employing computers also rise to a need for some new criteria. An important objective of these criteria, minimising the need for a failure-mode-and-effect-analysis of the computer software, but is achieved almost entirely by 'hardware' properties of the system: the systematic use of hardwired test inputs which cause excursions of the trip algorithms into the tripped state in a uniquely ordered but easily recognisable sequence, and the use of hardwired 'pattern recognition logic' which generates a dynamic 'healthy' stimulus for the shutdown actuators only in response to the unique sequence generated by the hardwired input signal pattern. The adoption of the proposed design criteria ensure not only failure-to-safety in the hardware but the elimination, or at least minimisation, of the dependence on the correct functioning of the computer software for the safety system. (auth)

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

Science.gov (United States)

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

2008-08-01

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

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

International Nuclear Information System (INIS)

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

2008-01-01

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

Dynamic properties of a metal photo-thermal micro-actuator.

Science.gov (United States)

Shi, B; Zhang, H J; Wang, B; Yi, F T; Jiang, J Z; Zhang, D X

2015-02-20

This work presents the design, modeling, simulation, and characterization of a metal bent-beam photo-thermal micro-actuator. The mechanism of actuation is based on the thermal expansion of the micro-actuator which is irradiated by a laser, achieving noncontact control of the power supply. Models for micro-actuators were established and finite-element simulations were carried out to investigate the effects of various parameters on actuation properties. It is found that the thermal expansion coefficient, thermal conductivity, and the geometry size largely affected actuation behavior whereas heat capacity, density, and Young's modulus did not. Experiments demonstrated the dynamic properties of a Ni micro-actuator fabricated via LIGA technology with 1100/30/100 μm (long/wide/thick) arms. The tip displacement of the micro-actuator could achieve up to 42 μm driven by a laser beam (1064 nm wavelength, 1.2 W power, and a driving frequency of 1 HZ). It is found that the tip displacement decreases with increasing laser driving frequency. For 8 Hz driving frequency, 17 μm (peak-valley value) can be still reached, which is large enough for the application as micro-electro-mechanical systems. Metal photo-thermal micro actuators have advantages such as large displacement, simple structure, and large temperature tolerance, and therefore they will be promising in the fields of micro/nanotechnology.

Light-Triggered Soft Artificial Muscles: Molecular-Level Amplification of Actuation Control Signals.

Science.gov (United States)

Dicker, Michael P M; Baker, Anna B; Iredale, Robert J; Naficy, Sina; Bond, Ian P; Faul, Charl F J; Rossiter, Jonathan M; Spinks, Geoffrey M; Weaver, Paul M

2017-08-23

The principle of control signal amplification is found in all actuation systems, from engineered devices through to the operation of biological muscles. However, current engineering approaches require the use of hard and bulky external switches or valves, incompatible with both the properties of emerging soft artificial muscle technology and those of the bioinspired robotic systems they enable. To address this deficiency a biomimetic molecular-level approach is developed that employs light, with its excellent spatial and temporal control properties, to actuate soft, pH-responsive hydrogel artificial muscles. Although this actuation is triggered by light, it is largely powered by the resulting excitation and runaway chemical reaction of a light-sensitive acid autocatalytic solution in which the actuator is immersed. This process produces actuation strains of up to 45% and a three-fold chemical amplification of the controlling light-trigger, realising a new strategy for the creation of highly functional soft actuating systems.

Machine protection systems

CERN Document Server

Macpherson, A L

2010-01-01

A summary of the Machine Protection System of the LHC is given, with particular attention given to the outstanding issues to be addressed, rather than the successes of the machine protection system from the 2009 run. In particular, the issues of Safe Machine Parameter system, collimation and beam cleaning, the beam dump system and abort gap cleaning, injection and dump protection, and the overall machine protection program for the upcoming run are summarised.

Design of integrated systems for control and detection of actuator/sensor faults

DEFF Research Database (Denmark)

Stoustrup, J.; Grimble, M.J.; Niemann, Hans Henrik

1997-01-01

Consider control systems operating under potentially faulty conditions. Discusses the problems of designing a single unit which not only handle the required control but also identified faults occuring in actuators and sensors. In common practice, unites for control and for diagnosis are designed......-integrated design of control and diagnosis unit. Shows how a combined module for control and diagnosis can be designed which is able to follow references and reject disturbances robustly, control the system so that the undertected faults do not have disastrous effect, reduce the number of false alarams and indetify...

Control Software for Piezo Stepping Actuators

Science.gov (United States)

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.

Fpga-based control of piezoelectric actuators

Directory of Open Access Journals (Sweden)

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.

Fire protection for clean rooms

International Nuclear Information System (INIS)

Kirson, D.

1990-01-01

The fire protection engineer often must decide what size fire can be tolerated before automatic fire suppression systems actuate. Is it a wastepaper basket fire, a bushel basket fire...? In the case of state-of-the-art clean rooms, the answer clearly is not even an incipient fire. Minor fires in clean rooms can cause major losses. This paper discusses what a clean room is and gives a brief overview of the unique fire protection challenges encountered. The two major causes of fire related to clean rooms in the semiconductor industry are flammable/pyrophoric gas fires in plastic ducts and polypropylene wet bench fires. This paper concentrates on plastic ductwork in clean rooms, sprinkler protection in ductwork, and protection for wet benches

Optimization of actuator arrays for aircraft interior noise control

Science.gov (United States)

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.

Seismic analysis of a nonlinear airlock system

International Nuclear Information System (INIS)

Huang, S.N.

1983-01-01

The containment equipment airlock door of the Fast Flux Test Facility utilizes screw-type actuators as a push-pull mechanism for closing and opening operations. Special design features were used to protect these actuators from pressure differential loading. These made the door behave as a nonlinear system during a seismic event. Seismic analyses, utilizing the time history method, were conducted to determine the seismic loads on these scew-type actuators. Several sizes of actuators were examined. Procedures for determining the final optimum design are discussed in detail

Refillable and magnetically actuated drug delivery system using pear-shaped viscoelastic membrane

KAUST Repository

So, Hongyun

2014-07-01

We report a refillable and valveless drug delivery device actuated by an external magnetic field for on-demand drug release to treat localized diseases. The device features a pear-shaped viscoelastic magnetic membrane inducing asymmetrical deflection and consecutive touchdown motion to the bottom of the dome-shaped drug reservoir in response to a magnetic field, thus achieving controlled discharge of the drug. Maximum drug release with 18 ± 1.5 μg per actuation was achieved under a 500 mT magnetic flux density, and various controlled drug doses were investigated with the combination of the number of accumulated actuations and the strength of the magnetic field.

V-stack piezoelectric actuator

Science.gov (United States)

Ardelean, Emil V.; Clark, Robert L.

2001-07-01

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

MEMS earthworm: a thermally actuated peristaltic linear micromotor

Science.gov (United States)

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

2011-03-01

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

MEMS earthworm: a thermally actuated peristaltic linear micromotor

International Nuclear Information System (INIS)

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

2011-01-01

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

The Variable Stiffness Actuator vsaUT-II: Mechanical Design, Modeling, and Identification

NARCIS (Netherlands)

Groothuis, Stefan; Rusticelli, Giacomo; Zucchelli, Andrea; Stramigioli, Stefano; Carloni, Raffaella

In this paper, the rotational variable stiffness actuator vsaUT-II is presented. This actuation system is characterized by the property that the apparent stiffness at the actuator output can be varied independently from its position. This behavior is realized by implementing a variable transmission

Development of active rear steer actuator. Development of four wheel steer actuator for active safety; Active rear steer actuator no kaihatsu. Yobo anzen ni muketa 4WS actuator no kaihatsu

Energy Technology Data Exchange (ETDEWEB)

Yamanaka, T [Aisin Seiki Co. Ltd., Aichi (Japan)

1997-10-01

Recently, ecology, energy saving and safety have become important issues. And Active Safety is spotlighted in vehicle control area. Many researches and developments on four wheel steer system have been done to improve vehicle stability. We have developed the Active Rear Steer system with electromechanical Actuator, which is mass-productive, compact, and high response and durable. 10 figs., 5 tabs.

Extended DNA Tile Actuators

DEFF Research Database (Denmark)

Kristiansen, Martin; Kryger, Mille; Zhang, Zhao

2012-01-01

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

Dielectric Actuation of Polymers

Science.gov (United States)

Niu, Xiaofan

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

Technical improvement for the output drive unit of the reactor protection system in QNPP

International Nuclear Information System (INIS)

Jiang Zuyue

1995-11-01

For improving the reliability of the output drive unit of the reactor protection system in Qinshan NPP, the former design of this part was improved and researched on the problem appeared during the commissioning and operation under the conditions of narrow process space of cabinets and unchanged overall arrangement: (1) The output relay modules was redesigned to unify the relay specification to improve the versatility, and also to improve the pin's contact by means of welding them directly on the printed circuit boards and to make the modules detachable by connectors instead of previously non-detachable. Th modules were connected in series by both power supply line and ground line which were finally connected at same point respectively, so that other protection signals can still be output correctly when a single module is removed. (2) The relay drive circuit was also redesigned for working in on-off state instead of in amplification to minimize the power consumption. On the other hand, the CMOS buffers were taken to couple the CMOS circuits to the TTL circuits. The actuating time for the new shutdown relay was decreased from the former 35 ms to 5 ms, the actuating time for the engineered safety feature drive signal relay was decreased from 10 ms to 6 ms after the above-mentioned improvements, the reliability of the RPS is remarkably improved and a great economic benefit is obtained. (4 refs., 3 figs., 2 tabs.)

Iterative Learning Control of Hysteresis in Piezoelectric Actuators

Directory of Open Access Journals (Sweden)

Guilin Zhang

2014-01-01

input in hysteretic systems. In the analysis, the Prandtl-Ishlinskii model is utilized to capture the nonlinear behavior in piezoelectric actuators. Finally, we apply the control algorithm to an experimental piezoelectric actuator and conclude that the tracking error is reduced to 0.15% of the total displacement, which is approximately the noise level of the sensor measurement.

Novel compliant actuator for wearable robotics applications.

Science.gov (United States)

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.

Orthopaedic Rehabilitation Device Actuated with Pneumatic Muscles

Directory of Open Access Journals (Sweden)

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.

Electrostatically Driven Nanoballoon Actuator.

Science.gov (United States)

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.

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

OpenAIRE

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...

Impact of pulsed jet actuators on aircraft mass and fuel consumption

NARCIS (Netherlands)

Bertels, F.G.A.; van Dijk, R.E.C.; Elmendorp, R.J.M.; Vos, R.

2016-01-01

Pulsed jet actuators (PJAs) are one of the candidate technologies to be integrated in Fowler flaps to increase the maximum lift coefficient of transport aircraft in the landing configuration. The total system consists of the actuators plus sensors, a piping system to supply pressurized air and a

Honeycomb Actuators Inspired by the Unfolding of Ice Plant Seed Capsules.

Directory of Open Access Journals (Sweden)

Lorenzo Guiducci

Full Text Available Plant hydro-actuated systems provide a rich source of inspiration for designing autonomously morphing devices. One such example, the pentagonal ice plant seed capsule, achieves complex mechanical actuation which is critically dependent on its hierarchical organization. The functional core of this actuation system involves the controlled expansion of a highly swellable cellulosic layer, which is surrounded by a non-swellable honeycomb framework. In this work, we extract the design principles behind the unfolding of the ice plant seed capsules, and use two different approaches to develop autonomously deforming honeycomb devices as a proof of concept. By combining swelling experiments with analytical and finite element modelling, we elucidate the role of each design parameter on the actuation of the prototypes. Through these approaches, we demonstrate potential pathways to design/develop/construct autonomously morphing systems by tailoring and amplifying the initial material's response to external stimuli through simple geometric design of the system at two different length scales.

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

Science.gov (United States)

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.

Optical nano and micro actuator technology

CERN Document Server

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

Dissipativity-Based Reliable Control for Fuzzy Markov Jump Systems With Actuator Faults.

Science.gov (United States)

Tao, Jie; Lu, Renquan; Shi, Peng; Su, Hongye; Wu, Zheng-Guang

2017-09-01

This paper is concerned with the problem of reliable dissipative control for Takagi-Sugeno fuzzy systems with Markov jumping parameters. Considering the influence of actuator faults, a sufficient condition is developed to ensure that the resultant closed-loop system is stochastically stable and strictly ( Q, S,R )-dissipative based on a relaxed approach in which mode-dependent and fuzzy-basis-dependent Lyapunov functions are employed. Then a reliable dissipative control for fuzzy Markov jump systems is designed, with sufficient condition proposed for the existence of guaranteed stability and dissipativity controller. The effectiveness and potential of the obtained design method is verified by two simulation examples.

Performance characterization of active fiber-composite actuators for helicopter rotor blade applications

Science.gov (United States)

Wickramasinghe, Viresh K.; Hagood, Nesbitt W.

2002-07-01

The primary objective of this work was to characterize the performance of the Active Fiber Composite (AFC) actuator material system for the Boeing Active Material Rotor (AMR) blade application. The AFCs were a new structural actuator system consisting of piezoceramic fibers embedded in an epoxy matrix and sandwiched between interdigitated electrodes to orient the driving electric field in the fiber direction to use the primary piezoelectric effect. These actuators were integrated directly into the blade spar laminate as active plies within the composite structure to perform structural actuation for vibration control in helicopters. Therefore, it was necessary to conduct extensive electromechanical material characterization to evaluate AFCs both as actuators and as structural components of the rotor blade. The characterization tests designed to extract important electromechanical properties under simulated blade operating conditions included stress-strain tests, free strain tests and actuation under tensile load tests. This paper presents the test results as well as the comprehensive testing process developed to evaluate the relevant AFC material properties. The results from this comprehensive performance characterization of the AFC material system supported the design and operation of the Boeing AMR blade scheduled for hover and forward flight wind tunnel tests.

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

Science.gov (United States)

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

2018-04-24

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

Piezoelectric line moment actuator for active radiation control from light-weight structures

Science.gov (United States)

Jandak, Vojtech; Svec, Petr; Jiricek, Ondrej; Brothanek, Marek

2017-11-01

This article outlines the design of a piezoelectric line moment actuator used for active structural acoustic control. Actuators produce a dynamic bending moment that appears in the controlled structure resulting from the inertial forces when the attached piezoelectric stripe actuators start to oscillate. The article provides a detailed theoretical analysis necessary for the practical realization of these actuators, including considerations concerning their placement, a crucial factor in the overall system performance. Approximate formulas describing the dependency of the moment amplitude on the frequency and the required electric voltage are derived. Recommendations applicable for the system's design based on both theoretical and empirical results are provided.

Electrical actuation of dielectric droplets

International Nuclear Information System (INIS)

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

2008-01-01

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

Design of passive fault-tolerant flight controller against actuator failures

Directory of Open Access Journals (Sweden)

Xiang Yu

2015-02-01

Full Text Available The problem of designing passive fault-tolerant flight controller is addressed when the normal and faulty cases are prescribed. First of all, the considered fault and fault-free cases are formed by polytopes. As considering that the safety of a post-fault system is directly related to the maximum values of physical variables in the system, peak-to-peak gain is selected to represent the relationships among the amplitudes of actuator outputs, system outputs, and reference commands. Based on the parameter dependent Lyapunov and slack methods, the passive fault-tolerant flight controllers in the absence/presence of system uncertainty for actuator failure cases are designed, respectively. Case studies of an airplane under actuator failures are carried out to validate the effectiveness of the proposed approach.

Osmotic actuation for microfluidic components in point-of-care applications

KAUST Repository

Chen, Yu-Chih; Ingram, Patrick; Lou, Xia; Yoon, Euisik

2013-01-01

at low cost. In this work, we report two key active components actuated by osmotic mechanism for total integrated microfluidic system. For the proof of concept, we have demonstrated valve actuation, which can maintain stable ON/OFF switching operations

High performing actuation system for use with a louver array for satellite thermal control. [design and performance tests on prototype Bourdon spiral configuration

Science.gov (United States)

Reusser, P. U.; Coebergh, J. A. F.

1973-01-01

A high performing actuation system has been developed to drive one pair or a set of 9 pairs of louver blades. The system uses a Bourdon spiral as the driving member. The response time of the liquid expansion of the spiral system is in the order of three seconds. Besides performance tests, qualification tests have been carried out on a prototype system, demonstrating that the actuation system withstands normal launching conditions; projected operating life of 7 years with more than 7000 cycles can be expected.

Faraday Cage Protects Against Lightning

Science.gov (United States)

Jafferis, W.; Hasbrouck, R. T.; Johnson, J. P.

1992-01-01

Faraday cage protects electronic and electronically actuated equipment from lightning. Follows standard lightning-protection principles. Whether lightning strikes cage or cables running to equipment, current canceled or minimized in equipment and discharged into ground. Applicable to protection of scientific instruments, computers, radio transmitters and receivers, and power-switching equipment.

Shape memory alloy actuation for a variable area fan nozzle

Science.gov (United States)

Rey, Nancy; Tillman, Gregory; Miller, Robin M.; Wynosky, Thomas; Larkin, Michael J.; Flamm, Jeffrey D.; Bangert, Linda S.

2001-06-01

The ability to control fan nozzle exit area is an enabling technology for next generation high-bypass-ratio turbofan engines. Performance benefits for such designs are estimated at up to 9% in thrust specific fuel consumption (TSFC) relative to current fixed-geometry engines. Conventionally actuated variable area fan nozzle (VAN) concepts tend to be heavy and complicated, with significant aircraft integration, reliability and packaging issues. The goal of this effort was to eliminate these undesirable features and formulate a design that meets or exceeds leakage, durability, reliability, maintenance and manufacturing cost goals. A Shape Memory Alloy (SMA) bundled cable actuator acting to move an array of flaps around the fan nozzle annulus is a concept that meets these requirements. The SMA bundled cable actuator developed by the United Technologies Corporation (Patents Pending) provides significant work output (greater than 2200 in-lb per flap, through the range of motion) in a compact package and minimizes system complexity. Results of a detailed design study indicate substantial engine performance, weight, and range benefits. The SMA- based actuation system is roughly two times lighter than a conventional mechanical system, with significant aircraft direct operating cost savings (2-3%) and range improvements (5-6%) relative to a fixed-geometry nozzle geared turbofan. A full-scale sector model of this VAN system was built and then tested at the Jet Exit Test Facility at NASA Langley to demonstrate the system's ability to achieve 20% area variation of the nozzle under full scale aerodynamic loads. The actuator exceeded requirements, achieving repeated actuation against full-scale loads representative of typical cruise as well as greater than worst-case (ultimate) aerodynamic conditions. Based on these encouraging results, work is continuing with the goal of a flight test on a C-17 transport aircraft.

Telescoping cylindrical piezoelectric fiber composite actuator assemblies

Science.gov (United States)

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.

Design, testing and control of a magnetorheological actuator for assistive knee braces

International Nuclear Information System (INIS)

Chen, J Z; Liao, W H

2010-01-01

This paper is aimed at developing a smart actuator for assistive knee braces to provide assistance to disabled or elderly people with mobility problems. A magnetorheological (MR) actuator is developed to be used in assistive knee braces to provide controllable torque. The MR actuator can work as a brake or a clutch. When active torque is needed, the DC motor works and the MR actuator functions as a clutch to transfer the torque generated by the motor to the leg; when passive torque is desired, the DC motor is turned off and the MR actuator functions as a brake to provide controllable passive torque. The prototype of the developed MR actuator is fabricated and experiments are carried out to investigate the characteristics of the MR actuator. The results show that the MR actuator is able to provide sufficient torque needed for normal human activities. Adaptive control is proposed for controlling the MR actuator. Anti-windup strategy is used to achieve better control performance. Experiments on the MR actuator under control are also performed to study the torque tracking ability of the system

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

Directory of Open Access Journals (Sweden)

Minh Khang Phan

2016-08-01

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

Stabilization of Neutral Systems with Saturating Actuators

Directory of Open Access Journals (Sweden)

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.

A system identification approach to the characterization and control of a piezoelectric tube actuator

International Nuclear Information System (INIS)

Mohammadzaheri, Morteza; Grainger, Steven; Bazghaleh, Mohsen

2013-01-01

This paper addresses the sensorless control of piezoelectric tube actuators to avoid the expense and practical limits of displacement sensors in nanopositioning applications. Three electrical signals have traditionally been used to estimate displacement: the piezoelectric voltage, the voltage induced in sensing electrodes and the voltage across a sensing resistor. In this work, the piezoelectric voltage was employed to estimate displacement; the use of this signal does not necessitate drift removal like the sensing voltage, and its superiority over the induced voltage is shown in this paper. The piezoelectric voltage is the actuating signal, so a feedforward architecture based on an inverse model is used for sensorless control. Inspired by internal model control (IMC), a filter together with the inverted model of the system, derived using system identification techniques, was used as the feedforward controller. The fixed-slope-input effect is illustrated as a prominent source of control error in tracking triangular references, then an additional nonlinear control command is proposed to address this effect and improve the control performance. (paper)

Development of a flexible microfluidic system integrating magnetic micro-actuators for trapping biological species

International Nuclear Information System (INIS)

Fulcrand, R; Jugieu, D; Escriba, C; Bancaud, A; Bourrier, D; Boukabache, A; Gué, A M

2009-01-01

A flexible microfluidic system embedding microelectromagnets has been designed, modeled and fabricated by using a photosensitive resin as structural material. The fabrication process involves the integration of micro-coils in a multilayer SU-8 microfluidic system by combining standard electroplating and dry films lamination. This technique offers numerous advantages in terms of integration, biocompatibility and chemical resistance. Various designs of micro-coils, including spiral, square or serpentine wires, have been simulated and experimentally tested. It has been established that thermal dissipation in micro-coils depends strongly on the number of turns and current density but remains compatible with biological applications. Real-time experimentations show that these micro-actuators are efficient in trapping magnetic micro-beads without any external field source or a permanent magnet and highlight that the size of microfluidic channels has been adequately designed for optimal trapping. Moreover, we trap magnetic beads in less than 2 s and release them instantaneously into the micro-channel. The actuation solely relies on electric fields, which are easier to control than standard magneto-fluidic modules

Development of a flexible microfluidic system integrating magnetic micro-actuators for trapping biological species

Science.gov (United States)

Fulcrand, R.; Jugieu, D.; Escriba, C.; Bancaud, A.; Bourrier, D.; Boukabache, A.; Gué, A. M.

2009-10-01

A flexible microfluidic system embedding microelectromagnets has been designed, modeled and fabricated by using a photosensitive resin as structural material. The fabrication process involves the integration of micro-coils in a multilayer SU-8 microfluidic system by combining standard electroplating and dry films lamination. This technique offers numerous advantages in terms of integration, biocompatibility and chemical resistance. Various designs of micro-coils, including spiral, square or serpentine wires, have been simulated and experimentally tested. It has been established that thermal dissipation in micro-coils depends strongly on the number of turns and current density but remains compatible with biological applications. Real-time experimentations show that these micro-actuators are efficient in trapping magnetic micro-beads without any external field source or a permanent magnet and highlight that the size of microfluidic channels has been adequately designed for optimal trapping. Moreover, we trap magnetic beads in less than 2 s and release them instantaneously into the micro-channel. The actuation solely relies on electric fields, which are easier to control than standard magneto-fluidic modules.

Airplane Actuation Trade Study

Science.gov (United States)

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

Modeling and control of precision actuators

CERN Document Server

Kiong, Tan Kok

2013-01-01

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

Development of electrothermal actuation based planar variable optical attenuators (VOAs)

International Nuclear Information System (INIS)

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

Adaptive sliding mode control of tri-layer conjugated polymer actuators

International Nuclear Information System (INIS)

Wang, Xiangjiang; Alici, Gursel; Nguyen, Chuc Huu

2013-01-01

This paper proposes an adaptive sliding mode control methodology to enhance the positioning ability of conducting polymer actuators typified by tri-layer conjugated polymer actuators. This is motivated by the search for an effective control strategy to command such actuators to a desired configuration in the presence of parametric uncertainties and unmodeled disturbances. After analyzing the stability of the adaptive sliding mode control system, experiments were conducted to demonstrate its satisfactory tracking ability, based on a series of experimental results. Implementation of the control law requires a valid model of the conducting polymer actuator and boundaries of the uncertainties and disturbances. Based on the theoretical and experimental results presented, the adaptive sliding mode control methodology is very attractive in the field of smart actuators which contain significant uncertainties and disturbances. (paper)

Clean room actuators

Energy Technology Data Exchange (ETDEWEB)

Higuchi, Toshiro

1987-06-01

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

Contactless linear electromechanical actuator : experimental verification of the improved design

NARCIS (Netherlands)

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

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

Science.gov (United States)

Brennan, Daniel G

2013-12-10

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

A container for containing and protecting a radioactive substance

International Nuclear Information System (INIS)

1974-01-01

The invention relates to a container adapted to contain and protect a radio-active substance. That container comprises a heat sensitive device for automatically (and, preferably, sealingly) enclosing and protecting the radio-active substance, should room temperature reach a predetermined level. Thus, the radio-active substance cannot escape in case of fire. Preferably, a bolt is also provided, capable of being actuated at a temperature slightly above the temperature actuating the protective device so as to maintain the radioactive substance protected. This can be applied to containers containing a radio-active substance such as polonium 210 [fr

Fuzzy PID Feedback Control of Piezoelectric Actuator with Feedforward Compensation

Directory of Open Access Journals (Sweden)

Ziqiang Chi

2014-01-01

Full Text Available Piezoelectric actuator is widely used in the field of micro/nanopositioning. However, piezoelectric hysteresis introduces nonlinearity to the system, which is the major obstacle to achieve a precise positioning. In this paper, the Preisach model is employed to describe the hysteresis characteristic of piezoelectric actuator and an inverse Preisach model is developed to construct a feedforward controller. Considering that the analytical expression of inverse Preisach model is difficult to derive and not suitable for practical application, a digital inverse model is established based on the input and output data of a piezoelectric actuator. Moreover, to mitigate the compensation error of the feedforward control, a feedback control scheme is implemented using different types of control algorithms in terms of PID control, fuzzy control, and fuzzy PID control. Extensive simulation studies are carried out using the three kinds of control systems. Comparative investigation reveals that the fuzzy PID control system with feedforward compensation is capable of providing quicker response and better control accuracy than the other two ones. It provides a promising way of precision control for piezoelectric actuator.

Actuator technology and market outlook: where does the actuator move

Directory of Open Access Journals (Sweden)

Aleksanin Sergei Andreevich

2013-11-01

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

Multilayer Piezoelectric Stack Actuator Characterization

Science.gov (United States)

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.

Elastic Inflatable Actuators for Soft Robotic Applications.

Science.gov (United States)

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.

Rapid testing and identification of actuator using dSPACE real-time emulator

Science.gov (United States)

Xie, Daocheng; Wang, Zhongwei; Zeng, Qinghua

2011-10-01

To solve the problem of model identification of actuator in control system design of aerocraft, testing system based on dSPACE emulator is established, sending testing signal and receiving feedback voltage are realized using dSPACE interactive cards, communication between signal generating equipment and feedback voltage acquisition equipment is synchronized. This paper introduces the hardware architecture and key technologies of the simulation system. Constructing, downloading and calculating of the testing model is finished using dSPACE emulator, D/A transfer of testing signal is realized using DS2103 card, DS2002 card transfer the feedback voltage to digital value. Filtering module is added to the signal acquisition, for reduction of noise interference in the A/D channel. Precision of time and voltage is improved by setting acquisition period 1ms. The data gathered is recorded and displayed with Controldesk tools. The response of four actuators under different frequency are tested, frequency-domain analysis is done using least square method, the model of actuator is identified, simulation data fits well with real response of the actuator. The testing system created with dSPACE emulator satisfies the rapid testing and identification of actuator.

Dynamic structural analysis of a fast shutter with a pneumatic actuator

Energy Technology Data Exchange (ETDEWEB)

Nemov, A., E-mail: nemov@compmechlab.com [St. Petersburg State Polytechnical University, Mechanics and Control Processes Department, Computational Mechanichs Laboratory, Polytechnicheskaya, 29, 195251 St. Petersburg (Russian Federation); Panin, A. [Institut fuer Energieforschung – Plasmaphysik, Forschungszentrum Juelich GmbH, Association EURATOM-FZJ, Member of Trilateral Euregio Cluster, 52425 Juelich (Germany); Borovkov, A.; Khovayko, M.; Zhuravskaya, E. [St. Petersburg State Polytechnical University, Mechanics and Control Processes Department, Computational Mechanichs Laboratory, Polytechnicheskaya, 29, 195251 St. Petersburg (Russian Federation); Krasikov, Yu.; Biel, W.; Neubauer, O. [Institut fuer Energieforschung – Plasmaphysik, Forschungszentrum Juelich GmbH, Association EURATOM-FZJ, Member of Trilateral Euregio Cluster, 52425 Juelich (Germany)

2013-10-15

Highlights: ► The dynamical simulations of cCXRS shutter with the use of the LS-DYNA explicit solver are presented and discussed. ► The results of the implicit and explicit solvers are compared; their pros and cons are pointed out. ► The simplified LS-DYNA shutter model for parametric studies has been built up and benchmarked against the full model. ► Oscillations of the shutter arms for different actuator flood times were studied. -- Abstract: Fast shutters can play important role for the ITER diagnostics. They protect diagnostic mirrors, especially the first ones closest to the plasma, between measurements, during dwell time and baking. In a nominal mode, as it is assumed, for example, for the ITER upper port plug no. 3 diagnostics, its shutter stays open ∼1 s and closed ∼21 s. The principal idea of the shutter concept is its ability to make fast transitions between the open and closed positions within fractions of second. A pneumatic actuator produces a pressure force to open or close the shutter. Due to the fast transient nature of the shutter operation, complicated by the parts’ impact interaction, the FE codes using the explicit time integration scheme have an advantage over the implicit ones. The shutter operation is modeled using the explicit solver. Since the shutter dynamic behavior strongly depends on the actuator flood time, different time profiles of the actuator pressure rise (drop) has been verified, including a fast transient with duration of ∼0.1 s. The results of the implicit and explicit solvers are compared. Their pros and cons are pointed out. The system damping, estimations of energy loss and ways to specify damping in FE models are discussed in the paper.

Dynamic structural analysis of a fast shutter with a pneumatic actuator

International Nuclear Information System (INIS)

Nemov, A.; Panin, A.; Borovkov, A.; Khovayko, M.; Zhuravskaya, E.; Krasikov, Yu.; Biel, W.; Neubauer, O.

2013-01-01

Highlights: ► The dynamical simulations of cCXRS shutter with the use of the LS-DYNA explicit solver are presented and discussed. ► The results of the implicit and explicit solvers are compared; their pros and cons are pointed out. ► The simplified LS-DYNA shutter model for parametric studies has been built up and benchmarked against the full model. ► Oscillations of the shutter arms for different actuator flood times were studied. -- Abstract: Fast shutters can play important role for the ITER diagnostics. They protect diagnostic mirrors, especially the first ones closest to the plasma, between measurements, during dwell time and baking. In a nominal mode, as it is assumed, for example, for the ITER upper port plug no. 3 diagnostics, its shutter stays open ∼1 s and closed ∼21 s. The principal idea of the shutter concept is its ability to make fast transitions between the open and closed positions within fractions of second. A pneumatic actuator produces a pressure force to open or close the shutter. Due to the fast transient nature of the shutter operation, complicated by the parts’ impact interaction, the FE codes using the explicit time integration scheme have an advantage over the implicit ones. The shutter operation is modeled using the explicit solver. Since the shutter dynamic behavior strongly depends on the actuator flood time, different time profiles of the actuator pressure rise (drop) has been verified, including a fast transient with duration of ∼0.1 s. The results of the implicit and explicit solvers are compared. Their pros and cons are pointed out. The system damping, estimations of energy loss and ways to specify damping in FE models are discussed in the paper

Solid electroytes for CNT-based actuators

Science.gov (United States)

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

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

Science.gov (United States)

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

2009-03-01

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

A high resolution pneumatic stepping actuator for harsh reactor environments

Science.gov (United States)

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).

Electrical actuators in a Chilean copper mine; Elektrische Stellantriebe in chilenischem Kupferbergwerk

Energy Technology Data Exchange (ETDEWEB)

Herbstritt, Michael [AUMA Riester GmbH und Co. KG, Muellheim (Germany)

2008-03-15

Mining of copper at the Los Pelambres mine in Chile yields a mixture of water, sand, sludge and mineral reminiscent of fresh concrete. This high-viscosity material is treated in a series of filters and sedimentation installations. The gate-type and other valves necessary for distribution are operated by the electrical actuator systems examined in this article. A special feature of this arrangement is the fact that the actuator itself is separated from the appurtenant local control system. Separate installation means that the actuator drive systems, which are mounted on mobile stands of 2 m height, can be easily parameterized. (orig.)

Actuation Characteristics of 0.15mm Diameter Flexinol® and Biometal ® Wire Actuators for Robotic Applications

Directory of Open Access Journals (Sweden)

Jawaid Daudpoto

2013-01-01

Full Text Available In this paper the actuation properties of two NiTi (Nickel Titanium SMA (Shape Memory Alloy actuators available under the commercial names of Flexinol ® and Biometal ® are investigated and compared with each other. Both actuators have diameter of 0.15mm and transformation temperature of 70 o C. The diameter of 0.15mm is selected because of best combination of force and cooling time. An experimental test rig specially designed and developed by the first author was used to conduct tests on the actuators. Both actuators were tested by supplying actuation voltages of 5 and 5.5V. Actuators were thermomechanically loaded for 100 cycles and their strains were recorded. The results of the tests show that 5.5V actuation resulted in greater strain. It was found from the test results that Biometal ® actuators produced more strain as compared to Flexinol ® actuators for both the actuation voltages. However, the drift results showed that higher strains in Biometal ® are due the permanent deformation of the same. This shows that Flexinol ® actuators possess better actuation characteristics as compared to Biometal ® actuators.

Compact electrostatic comb actuator

Science.gov (United States)

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).

Design of shape memory alloy actuators for direct power by an automotive battery

International Nuclear Information System (INIS)

Leary, M.; Huang, S.; Ataalla, T.; Baxter, A.; Subic, A.

2013-01-01

Highlights: ► We model Ni–Ti SMA actuators directly powered by a standard automotive battery. ► Feasible permutations for direct power are identified and confirmed experimentally. ► 0.5 mm diameter SMA of 225 mm length or larger is feasible for direct power. ► The feasibility of 0.25 mm SMA is greater, although the actuation force is lower. ► Prototype actuators are developed for long-stroke and short-stroke applications. -- Abstract: Nickel–Titanium (Ni–Ti) Shape Memory Alloys (SMAs) are increasingly utilized as mechanical actuators due to high power-to-mass ratio, high fatigue life and low cost. The implementation of SMA actuators in an automotive environment is of particular interest due to the potential for lower end-user functional efforts, together with reduced component mass and cost within a limited packaging space. In applications of this kind, the actuators are powered by a standard automotive (six cell lead-acid) battery. Although resistors and electronic devices can be used to avoid overload of either the SMA or battery system, the feasibility of supplying power to the actuators directly from the battery becomes a key objective for reducing system cost and complexity. In this study, the electrical resistivity of a linear Ni–Ti SMA actuator was theoretically calculated and experimentally verified. Based on this developed knowledge, the resistance of various actuator permutations was calculated, and the feasibility of operating the actuators with a standard automotive battery was assessed. To confirm the feasibility of powering SMA actuators directly from the automotive battery, two SMA actuator concepts were developed and experimentally validated.