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Sample records for simple actuator based

  1. Simple adaptive control for quadcopters with saturated actuators

    Science.gov (United States)

    Borisov, Oleg I.; Bobtsov, Alexey A.; Pyrkin, Anton A.; Gromov, Vladislav S.

    2017-01-01

    The stabilization problem for quadcopters with saturated actuators is considered. A simple adaptive output control approach is proposed. The control law "consecutive compensator" is augmented with the auxiliary integral loop and anti-windup scheme. Efficiency of the obtained regulator was confirmed by simulation of the quadcopter control problem.

  2. Soft Sensors and Actuators based on Nanomaterials

    Science.gov (United States)

    Yao, Shanshan

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

  3. Programmable and functional electrothermal bimorph actuators based on large-area anisotropic carbon nanotube paper

    Science.gov (United States)

    Li, Qingwei; Liu, Changhong; Fan, Shoushan

    2018-04-01

    Electro-active polymer (EAP) actuators, such as electronic, ionic and electrothermal (ET) actuators, have become an important branch of next-generation soft actuators in bionic robotics. However, most reported EAP actuators could realize only simple movements, being restricted by the small area of flexible electrodes and simple designs. We prepared large-area flexible electrodes of high anisotropy, made of oriented carbon nanotube (CNT) paper, and carried out artful graphic designs and processing on the electrodes to make functional ET bimorph actuators which can realize large bending deformations (over 220°, curvature > 1.5 cm-1) and bionic movements driven by electricity. The anisotropy of CNT paper benefits electrode designs and multiform actuations for complex actuators. Based on the large-area CNT paper, more interesting and functional actuators can be designed and prepared which will have practical applications in the fields of artificial muscles, complicated actuations, and soft and bionic robotics.

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

    DEFF Research Database (Denmark)

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

    2016-01-01

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

  5. Simple and Accurate Analytical Solutions of the Electrostatically Actuated Curled Beam Problem

    KAUST Repository

    Younis, Mohammad I.

    2014-01-01

    We present analytical solutions of the electrostatically actuated initially deformed cantilever beam problem. We use a continuous Euler-Bernoulli beam model combined with a single-mode Galerkin approximation. We derive simple analytical expressions

  6. 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...

  7. Graphene-nanoplatelet-based photomechanical actuators

    International Nuclear Information System (INIS)

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

    2012-01-01

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

  8. Simple and Accurate Analytical Solutions of the Electrostatically Actuated Curled Beam Problem

    KAUST Repository

    Younis, Mohammad I.

    2014-08-17

    We present analytical solutions of the electrostatically actuated initially deformed cantilever beam problem. We use a continuous Euler-Bernoulli beam model combined with a single-mode Galerkin approximation. We derive simple analytical expressions for two commonly observed deformed beams configurations: the curled and tilted configurations. The derived analytical formulas are validated by comparing their results to experimental data in the literature and numerical results of a multi-mode reduced order model. The derived expressions do not involve any complicated integrals or complex terms and can be conveniently used by designers for quick, yet accurate, estimations. The formulas are found to yield accurate results for most commonly encountered microbeams of initial tip deflections of few microns. For largely deformed beams, we found that these formulas yield less accurate results due to the limitations of the single-mode approximations they are based on. In such cases, multi-mode reduced order models need to be utilized.

  9. 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

  10. Soft silicone based interpenetrating networks as materials for actuators

    DEFF Research Database (Denmark)

    Yu, Liyun; Gonzalez, Lidia; Hvilsted, Søren

    2014-01-01

    A new approach based on silicone interpenetrating networks with orthogonal chemistries has been investigated with focus on developing soft and flexible elastomers with high energy densities and small viscous losses. The interpenetrating networks are made as simple two pot mixtures...... as for the commercial available silylation based elastomers such as Elastosil RT625. The resulting interpenetrating networks are formulated to be softer than RT625 to increase the actuation caused when applying a voltage due to their softness combined with the significantly higher permittivity than the pure silicone...

  11. Nanostructured carbon materials based electrothermal air pump actuators

    Science.gov (United States)

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

    2014-05-01

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

  12. 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

  13. 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.

  14. 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.

  15. 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.

  16. 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

  17. Actuator Disc Model Using a Modified Rhie-Chow/SIMPLE Pressure Correction Algorithm

    DEFF Research Database (Denmark)

    Rethore, Pierre-Elouan; Sørensen, Niels

    2008-01-01

    An actuator disc model for the flow solver EllipSys (2D&3D) is proposed. It is based on a correction of the Rhie-Chow algorithm for using discreet body forces in collocated variable finite volume CFD code. It is compared with three cases where an analytical solution is known.......An actuator disc model for the flow solver EllipSys (2D&3D) is proposed. It is based on a correction of the Rhie-Chow algorithm for using discreet body forces in collocated variable finite volume CFD code. It is compared with three cases where an analytical solution is known....

  18. Humidity Responsive Photonic Sensor based on a Carboxymethyl Cellulose Mechanical Actuator

    OpenAIRE

    Hartings, Matthew; Douglass, Kevin O.; Neice, Claire; Ahmed, Zeeshan

    2017-01-01

    We describe an intuitive and simple method for exploiting humidity-driven volume changes in carboxymethyl cellulose (CMC) to fabricate a humidity responsive actuator on a glass fiber substrate. We optimize this platform to generate a photonic-based humidity sensor where CMC coated on a fiber optic containing a fiber Bragg grating (FBG) actuates a mechanical strain in response to humidity changes. The humidity-driven mechanical deformation of the FBG results in a large lin...

  19. Multipoint fiber-optic laser-ultrasonic actuator based on fiber core-opened tapers.

    Science.gov (United States)

    Tian, Jiajun; Dong, Xiaolong; Gao, Shimin; Yao, Yong

    2017-11-27

    In this study, a novel fiber-optic, multipoint, laser-ultrasonic actuator based on fiber core-opened tapers (COTs) is proposed and demonstrated. The COTs were fabricated by splicing single-mode fibers using a standard fiber splicer. A COT can effectively couple part of a core mode into cladding modes, and the coupling ratio can be controlled by adjusting the taper length. Such characteristics are used to obtain a multipoint, laser-ultrasonic actuator with balanced signal strength by reasonably controlling the taper lengths of the COTs. As a prototype, we constructed an actuator that generated ultrasound at four points with a balanced ultrasonic strength by connecting four COTs with coupling ratios of 24.5%, 33.01%, 49.51%, and 87.8% in a fiber link. This simple-to-fabricate, multipoint, laser-ultrasonic actuator with balanced ultrasound signal strength has potential applications in fiber-optic ultrasound testing technology.

  20. Paper-based Pneumatic Locomotive Robot with Sticky Actuator

    Directory of Open Access Journals (Sweden)

    Du Xiaohan

    2016-01-01

    Full Text Available Demands for small-scale and low-cost robots have witnessed a great increase in recent years [1–5]. This paper introduces the design and fabrication of a novel, simple, low-cost and designer-friendly locomotive robot. The materials and tools to build the robot originate from everyday life. The robot is pneumatically powered and manually controlled by simply pumping and vacuuming the syringe repeatedly, which realizes reliable locomotion by folding and opening of the planes. In order to realize this complicated motion, a “3D Sticky Actuator” is developed. The motion and force analysis of actuator are then modelled by the numerical method to develop the relations between design parameters. This suggests a systematic and user interactive way of manufacturing various shapes of the actuator, depending on user-defined road condition (e.g. obstacles and slopes and other constraints. One key advantage of the paper-based robot is suggested by its high feasibility.

  1. 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

  2. Actuators, transducers and motors based on giant magnetostrictive materials

    Energy Technology Data Exchange (ETDEWEB)

    Claeyssen, F.; Lhermet, N.; Le Letty, R. [Cedrat Recherche, Meylan (France); Bouchilloux, P. [Magsoft Corporation, 1223 People`s Avenue, New York 12180 (United States)

    1997-08-01

    Rare earth-iron magnetostrictive alloys, especially Terfenol-D, feature ``giant`` magnetostrains: static strains of 1000-2000 ppm and dynamic strains of 3500 ppm are reported. These strains permit building various actuating devices (actuators, transducers, motors) both at macro and micro scale. The object of the paper is to recall adapted design methods, especially finite element methods such as ATILA, and to review these different kinds of devices studied at Cedrat Recherche, providing both up-dated experimental and numerical results. The presented devices will include several large displacement longitudinal and shear actuators biased using permanent magnets and used either as characterisation devices or as electromechanical actuators (for active damping, for sonar transducers..), a 1 kHz 4 kW Tonpilz-type sonar transducer called the tripode, a 2 N m torque rotating multi-mode motor, a torsion based drift free micro actuator and a wireless linear micromotor. (orig.)

  3. Development of a metal-based composite actuator

    Science.gov (United States)

    Asanuma, Hiroshi; Haga, Osamu; Ishii, Toshio; Kurihara, Haruki; Ohira, Junichiro; Hakoda, Genji

    2000-06-01

    This paper describes a basic concept and elemental developments to realize a metal based composite actuator to be used for smart structures. In this study, CFRP prepreg was laminated on aluminum plate to develop an actuator and this laminate could perform unidirectional actuation. SiC continuous fiber/Al composite thin plate could also be used for form a modified type of actuator instead of using CFRP. As sensors to be embedded in this actuator, the following ones wee developed. (1) A pre-notched optical fiber filament could be embedded in aluminum matrix without fracture by the interphase forming/bonding method with copper insert and could be fractured in it at the notch, which enabled forming of an optical interference type strain sensor. (2) Nickel wire could be uniformly oxidized and embedded in aluminum matrix without fracture, which could successfully work as a temperature sensor and a strain sensor.

  4. 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

  5. Design challenges for stepper motor actuated microvalve based on fine and micro-machining

    NARCIS (Netherlands)

    Fazal, I.; Elwenspoek, Michael Curt

    2007-01-01

    We present a normally open stepper motor actuated microvalve based on micro and fine-machining technique. In this paper, first we have described how the larger controllable flow range can be achieved with simple micromachining techniques and secondly we have presented the results which show how the

  6. Construction of a Fish-like Robot Based on High Performance Graphene/PVDF Bimorph Actuation Materials.

    Science.gov (United States)

    Xiao, Peishuang; Yi, Ningbo; Zhang, Tengfei; Huang, Yi; Chang, Huicong; Yang, Yang; Zhou, Ying; Chen, Yongsheng

    2016-06-01

    Smart actuators have many potential applications in various areas, so the development of novel actuation materials, with facile fabricating methods and excellent performances, are still urgent needs. In this work, a novel electromechanical bimorph actuator constituted by a graphene layer and a PVDF layer, is fabricated through a simple yet versatile solution approach. The bimorph actuator can deflect toward the graphene side under electrical stimulus, due to the differences in coefficient of thermal expansion between the two layers and the converse piezoelectric effect and electrostrictive property of the PVDF layer. Under low voltage stimulus, the actuator (length: 20 mm, width: 3 mm) can generate large actuation motion with a maximum deflection of about 14.0 mm within 0.262 s and produce high actuation stress (more than 312.7 MPa/g). The bimorph actuator also can display reversible swing behavior with long cycle life under high frequencies. on this basis, a fish-like robot that can swim at the speed of 5.02 mm/s is designed and demonstrated. The designed graphene-PVDF bimorph actuator exhibits the overall novel performance compared with many other electromechanical avtuators, and may contribute to the practical actuation applications of graphene-based materials at a macro scale.

  7. Construction of a Fish‐like Robot Based on High Performance Graphene/PVDF Bimorph Actuation Materials

    Science.gov (United States)

    Xiao, Peishuang; Yi, Ningbo; Zhang, Tengfei; Chang, Huicong; Yang, Yang; Zhou, Ying

    2016-01-01

    Smart actuators have many potential applications in various areas, so the development of novel actuation materials, with facile fabricating methods and excellent performances, are still urgent needs. In this work, a novel electromechanical bimorph actuator constituted by a graphene layer and a PVDF layer, is fabricated through a simple yet versatile solution approach. The bimorph actuator can deflect toward the graphene side under electrical stimulus, due to the differences in coefficient of thermal expansion between the two layers and the converse piezoelectric effect and electrostrictive property of the PVDF layer. Under low voltage stimulus, the actuator (length: 20 mm, width: 3 mm) can generate large actuation motion with a maximum deflection of about 14.0 mm within 0.262 s and produce high actuation stress (more than 312.7 MPa/g). The bimorph actuator also can display reversible swing behavior with long cycle life under high frequencies. on this basis, a fish‐like robot that can swim at the speed of 5.02 mm/s is designed and demonstrated. The designed graphene‐PVDF bimorph actuator exhibits the overall novel performance compared with many other electromechanical avtuators, and may contribute to the practical actuation applications of graphene‐based materials at a macro scale. PMID:27818900

  8. Fast-Response Electrostatic Actuator Based on Nano-Gap

    Directory of Open Access Journals (Sweden)

    Edward Kostsov

    2017-03-01

    Full Text Available The possibility of constructing new high-performance electrostatic fast actuators based on energy transformation in nanometer gaps is considered. The construction and the properties of the operation of such devices as well as their typical parameters are described. The drives are based on ferroelectrics with high values of dielectric permittivity (above 1000. They can be constructed using microelectronic technology. It is demonstrated that the actuators are capable of maintaining forces with a specific density up to 106 N/m2 and up to 100–1000 N in real devices for 10–100 µs. Experimental research results of such actuators are presented.

  9. Plant-based torsional actuator with memory

    Science.gov (United States)

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

    2013-01-01

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

  10. Tough nanocomposite ionogel-based actuator exhibits robust performance.

    Science.gov (United States)

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

    2014-10-20

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

  11. Electromechanical actuator with controllable motion, fast response rate, and high-frequency resonance based on graphene and polydiacetylene.

    Science.gov (United States)

    Liang, Jiajie; Huang, Lu; Li, Na; Huang, Yi; Wu, Yingpeng; Fang, Shaoli; Oh, Jiyoung; Kozlov, Mikhail; Ma, Yanfeng; Li, Feifei; Baughman, Ray; Chen, Yongsheng

    2012-05-22

    Although widely investigated, novel electromechanical actuators with high overall actuation performance are still in urgent need for various practical and scientific applications, such as robots, prosthetic devices, sensor switches, and sonar projectors. In this work, combining the properties of unique environmental perturbations-actuated deformational isomerization of polydiacetylene (PDA) and the outstanding intrinsic features of graphene together for the first time, we design and fabricate an electromechanical bimorph actuator composed of a layer of PDA crystal and a layer of flexible graphene paper through a simple yet versatile solution approach. Under low applied direct current (dc), the graphene-PDA bimorph actuator with strong mechanical strength can generate large actuation motion (curvature is about 0.37 cm(-1) under a current density of 0.74 A/mm(2)) and produce high actuation stress (more than 160 MPa/g under an applied dc of only 0.29 A/mm(2)). When applying alternating current (ac), this actuator can display reversible swing behavior with long cycle life under high frequencies even up to 200 Hz; significantly, while the frequency and the value of applied ac and the state of the actuators reach an appropriate value, the graphene-PDA actuator can produce a strong resonance and the swing amplitude will jump to a peak value. Moreover, this stable graphene-PDA actuator also demonstrates rapidly and partially reversible electrochromatic phenomenon when applying an ac. Two mechanisms-the dominant one, electric-induced deformation, and a secondary one, thermal-induced expansion of PDA-are proposed to contribute to these interesting actuation performances of the graphene-PDA actuators. On the basis of these results, a mini-robot with controllable direction of motion based on the graphene-PDA actuator is designed to illustrate the great potential of our discoveries for practical use. Combining the unique actuation mechanism and many outstanding properties of

  12. 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.

  13. Simple and robust phase-locking of optical cavities with > 200 KHz servo-bandwidth using a piezo-actuated mirror mounted in soft materials.

    Science.gov (United States)

    Goldovsky, David; Jouravsky, Valery; Pe'er, Avi

    2016-12-12

    We present an approach to locking of optical cavities with piezoelectric actuated mirrors based on a simple and effective mechanical decoupling of the mirror and actuator from the surrounding mount. Using simple elastic materials (e.g. rubber or soft silicone gel pads) as mechanical dampers between the piezo-mirror compound and the surrounding mount, a firm and stable mounting of a relatively large mirror (8mm diameter) can be maintained that is isolated from external mechanical resonances, and is limited only by the internal piezo-mirror resonance of > 330 KHz. Our piezo lock showed positive servo gain up to 208 KHz, and a temporal response to a step interference within < 3 μs.

  14. More Insight of Piezoelectric-based Synthetic Jet Actuators

    Science.gov (United States)

    Housley, Kevin; Amitay, Michael

    2016-11-01

    Increased understanding of the internal flow of piezoelectric-based synthetic jet actuators is needed for the development of specialized actuator cavity geometries to increase jet momentum coefficients and tailor acoustic resonant frequencies. Synthetic jet actuators can benefit from tuning of the structural resonant frequency of the piezoelectric diaphragm(s) and the acoustic resonant frequency of the actuator cavity such that they experience constructive coupling. The resulting coupled behavior produces increased jet velocities. The ability to design synthetic jet actuators to operate with this behavior at select driving frequencies allows for them to be better used in flow control applications, which sometimes require specific jet frequencies in order to utilize the natural instabilities of a given flow field. A parametric study of varying actuator diameters was conducted to this end. Phase-locked data were collected on the jet velocity, the cavity pressure at various locations, and the three-dimensional deformation of the surface of the diaphragm. These results were compared to previous analytical work on the interaction between the structural resonance of the diaphragm and the acoustic resonance of the cavity. Funded by the Boeing Company.

  15. Design-based modeling of magnetically actuated soft diaphragm materials

    Science.gov (United States)

    Jayaneththi, V. R.; Aw, K. C.; McDaid, A. J.

    2018-04-01

    Magnetic polymer composites (MPC) have shown promise for emerging biomedical applications such as lab-on-a-chip and implantable drug delivery. These soft material actuators are capable of fast response, large deformation and wireless actuation. Existing MPC modeling approaches are computationally expensive and unsuitable for rapid design prototyping and real-time control applications. This paper proposes a macro-scale 1-DOF model capable of predicting force and displacement of an MPC diaphragm actuator. Model validation confirmed both blocked force and displacement can be accurately predicted in a variety of working conditions i.e. different magnetic field strengths, static/dynamic fields, and gap distances. The contribution of this work includes a comprehensive experimental investigation of a macro-scale diaphragm actuator; the derivation and validation of a new phenomenological model to describe MPC actuation; and insights into the proposed model’s design-based functionality i.e. scalability and generalizability in terms of magnetic filler concentration and diaphragm diameter. Due to the lumped element modeling approach, the proposed model can also be adapted to alternative actuator configurations, and thus presents a useful tool for design, control and simulation of novel MPC applications.

  16. Magnetic actuator for the control and mixing of magnetic bead-based reactions on-chip.

    Science.gov (United States)

    Berenguel-Alonso, Miguel; Granados, Xavier; Faraudo, Jordi; Alonso-Chamarro, Julián; Puyol, Mar

    2014-10-01

    While magnetic bead (MB)-based bioassays have been implemented in integrated devices, their handling on-chip is normally either not optimal--i.e. only trapping is achieved, with aggregation of the beads--or requires complex actuator systems. Herein, we describe a simple and low-cost magnetic actuator to trap and move MBs within a microfluidic chamber in order to enhance the mixing of a MB-based reaction. The magnetic actuator consists of a CD-shaped plastic unit with an arrangement of embedded magnets which, when rotating, generate the mixing. The magnetic actuator has been used to enhance the amplification reaction of an enzyme-linked fluorescence immunoassay to detect Escherichia coli O157:H7 whole cells, an enterohemorrhagic strain, which have caused several outbreaks in food and water samples. A 2.7-fold sensitivity enhancement was attained with a detection limit of 603 colony-forming units (CFU) /mL, when employing the magnetic actuator.

  17. 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.

  18. New Design of a Soft Robotics Wearable Elbow Exoskeleton Based on Shape Memory Alloy Wire Actuators

    Science.gov (United States)

    Cano, Enrique; Moreno, Luis; Blanco, Dolores

    2017-01-01

    The elbow joint is a complex articulation composed of the humeroulnar and humeroradial joints (for flexion-extension movement) and the proximal radioulnar articulation (for pronation-supination movement). During the flexion-extension movement of the elbow joint, the rotation center changes and this articulation cannot be truly represented as a simple hinge joint. The main goal of this project is to design and assemble a medical rehabilitation exoskeleton for the elbow with one degree of freedom for flexion-extension, using the rotation center for proper patient elbow joint articulation. Compared with the current solutions, which align the exoskeleton axis with the elbow axis, this offers an ergonomic physical human-robot interface with a comfortable interaction. The exoskeleton is actuated with shape memory alloy wire-based actuators having minimum rigid parts, for guiding the actuators. Thanks to this unusual actuation system, the proposed exoskeleton is lightweight and has low noise in operation with a simple design 3D-printed structure. Using this exoskeleton, these advantages will improve the medical rehabilitation process of patients that suffered stroke and will influence how their lifestyle will change to recover from these diseases and improve their ability with activities of daily living, thanks to brain plasticity. The exoskeleton can also be used to evaluate the real status of a patient, with stroke and even spinal cord injury, thanks to an elbow movement analysis. PMID:29104424

  19. New Design of a Soft Robotics Wearable Elbow Exoskeleton Based on Shape Memory Alloy Wire Actuators.

    Science.gov (United States)

    Copaci, Dorin; Cano, Enrique; Moreno, Luis; Blanco, Dolores

    2017-01-01

    The elbow joint is a complex articulation composed of the humeroulnar and humeroradial joints (for flexion-extension movement) and the proximal radioulnar articulation (for pronation-supination movement). During the flexion-extension movement of the elbow joint, the rotation center changes and this articulation cannot be truly represented as a simple hinge joint. The main goal of this project is to design and assemble a medical rehabilitation exoskeleton for the elbow with one degree of freedom for flexion-extension, using the rotation center for proper patient elbow joint articulation. Compared with the current solutions, which align the exoskeleton axis with the elbow axis, this offers an ergonomic physical human-robot interface with a comfortable interaction. The exoskeleton is actuated with shape memory alloy wire-based actuators having minimum rigid parts, for guiding the actuators. Thanks to this unusual actuation system, the proposed exoskeleton is lightweight and has low noise in operation with a simple design 3D-printed structure. Using this exoskeleton, these advantages will improve the medical rehabilitation process of patients that suffered stroke and will influence how their lifestyle will change to recover from these diseases and improve their ability with activities of daily living, thanks to brain plasticity. The exoskeleton can also be used to evaluate the real status of a patient, with stroke and even spinal cord injury, thanks to an elbow movement analysis.

  20. New Design of a Soft Robotics Wearable Elbow Exoskeleton Based on Shape Memory Alloy Wire Actuators

    Directory of Open Access Journals (Sweden)

    Dorin Copaci

    2017-01-01

    Full Text Available The elbow joint is a complex articulation composed of the humeroulnar and humeroradial joints (for flexion-extension movement and the proximal radioulnar articulation (for pronation-supination movement. During the flexion-extension movement of the elbow joint, the rotation center changes and this articulation cannot be truly represented as a simple hinge joint. The main goal of this project is to design and assemble a medical rehabilitation exoskeleton for the elbow with one degree of freedom for flexion-extension, using the rotation center for proper patient elbow joint articulation. Compared with the current solutions, which align the exoskeleton axis with the elbow axis, this offers an ergonomic physical human-robot interface with a comfortable interaction. The exoskeleton is actuated with shape memory alloy wire-based actuators having minimum rigid parts, for guiding the actuators. Thanks to this unusual actuation system, the proposed exoskeleton is lightweight and has low noise in operation with a simple design 3D-printed structure. Using this exoskeleton, these advantages will improve the medical rehabilitation process of patients that suffered stroke and will influence how their lifestyle will change to recover from these diseases and improve their ability with activities of daily living, thanks to brain plasticity. The exoskeleton can also be used to evaluate the real status of a patient, with stroke and even spinal cord injury, thanks to an elbow movement analysis.

  1. Large displacement vertical translational actuator based on piezoelectric thin films.

    Science.gov (United States)

    Qiu, Zhen; Pulskamp, Jeffrey S; Lin, Xianke; Rhee, Choong-Ho; Wang, Thomas; Polcawich, Ronald G; Oldham, Kenn

    2010-07-01

    A novel vertical translational microactuator based on thin-film piezoelectric actuation is presented, using a set of four compound bend-up/bend-down unimorphs to produce translational motion of a moving platform or stage. The actuation material is a chemical-solution deposited lead-zirconate-titanate (PZT) thin film. Prototype designs have shown as much as 120 μ m of static displacement, with 80-90 μ m displacements being typical, using four 920 μ m long by 70 μ m legs. Analytical models are presented that accurately describe nonlinear behavior in both static and dynamic operation of prototype stages when the dependence of piezoelectric coefficients on voltage is known. Resonance of the system is observed at a frequency of 200 Hz. The large displacement and high bandwidth of the actuators at low-voltage and low-power levels should make them useful to a variety of optical applications, including endoscopic microscopy.

  2. Multi-actuation and PI control: A simple recipe for high-speed and large-range atomic force microscopy

    Energy Technology Data Exchange (ETDEWEB)

    Soltani Bozchalooi, I., E-mail: isoltani@mit.edu; Youcef-Toumi, K.

    2014-11-15

    High speed atomic force microscopy enables observation of dynamic nano-scale processes. However, maintaining a minimal interaction force between the sample and the probe is challenging at high speed specially when using conventional piezo-tubes. While rigid AFM scanners are operational at high speeds with the drawback of reduced tracking range, multi-actuation schemes have shown potential for high-speed and large-range imaging. Here we present a method to seamlessly incorporate additional actuators into conventional AFMs. The equivalent behavior of the resulting multi-actuated setup resembles that of a single high-speed and large-range actuator with maximally flat frequency response. To achieve this, the dynamics of the individual actuators and their couplings are treated through a simple control scheme. Upon the implementation of the proposed technique, commonly used PI controllers are able to meet the requirements of high-speed imaging. This forms an ideal platform for retroactive enhancement of existing AFMs with minimal cost and without compromise on the tracking range. A conventional AFM with tube scanner is retroactively enhanced through the proposed method and shows an order of magnitude improvement in closed loop bandwidth performance while maintaining large range. The effectiveness of the method is demonstrated on various types of samples imaged in contact and tapping modes, in air and in liquid. - Highlights: • We present a novel method to incorporate extra actuators into conventional AFMs. • A maximally flat frequency response is achieved for the out of plane piezo-motion. • Commonly used PI or PID control is enabled to handle high speed AFM imaging. • An order of magnitude improvement in closed loop bandwidth performance is obtained. • High speed imaging is achieved on a large range piezo-tube.

  3. Multi-actuation and PI control: A simple recipe for high-speed and large-range atomic force microscopy

    International Nuclear Information System (INIS)

    Soltani Bozchalooi, I.; Youcef-Toumi, K.

    2014-01-01

    High speed atomic force microscopy enables observation of dynamic nano-scale processes. However, maintaining a minimal interaction force between the sample and the probe is challenging at high speed specially when using conventional piezo-tubes. While rigid AFM scanners are operational at high speeds with the drawback of reduced tracking range, multi-actuation schemes have shown potential for high-speed and large-range imaging. Here we present a method to seamlessly incorporate additional actuators into conventional AFMs. The equivalent behavior of the resulting multi-actuated setup resembles that of a single high-speed and large-range actuator with maximally flat frequency response. To achieve this, the dynamics of the individual actuators and their couplings are treated through a simple control scheme. Upon the implementation of the proposed technique, commonly used PI controllers are able to meet the requirements of high-speed imaging. This forms an ideal platform for retroactive enhancement of existing AFMs with minimal cost and without compromise on the tracking range. A conventional AFM with tube scanner is retroactively enhanced through the proposed method and shows an order of magnitude improvement in closed loop bandwidth performance while maintaining large range. The effectiveness of the method is demonstrated on various types of samples imaged in contact and tapping modes, in air and in liquid. - Highlights: • We present a novel method to incorporate extra actuators into conventional AFMs. • A maximally flat frequency response is achieved for the out of plane piezo-motion. • Commonly used PI or PID control is enabled to handle high speed AFM imaging. • An order of magnitude improvement in closed loop bandwidth performance is obtained. • High speed imaging is achieved on a large range piezo-tube

  4. 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.

  5. Nonlinear Model-Based Fault Detection for a Hydraulic Actuator

    NARCIS (Netherlands)

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

    2011-01-01

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

  6. Theoretical and experimental study on active sound transmission control based on single structural mode actuation using point force actuators.

    Science.gov (United States)

    Sanada, Akira; Tanaka, Nobuo

    2012-08-01

    This study deals with the feedforward active control of sound transmission through a simply supported rectangular panel using vibration actuators. The control effect largely depends on the excitation method, including the number and locations of actuators. In order to obtain a large control effect at low frequencies over a wide frequency, an active transmission control method based on single structural mode actuation is proposed. Then, with the goal of examining the feasibility of the proposed method, the (1, 3) mode is selected as the target mode and a modal actuation method in combination with six point force actuators is considered. Assuming that a single input single output feedforward control is used, sound transmission in the case minimizing the transmitted sound power is calculated for some actuation methods. Simulation results showed that the (1, 3) modal actuation is globally effective at reducing the sound transmission by more than 10 dB in the low-frequency range for both normal and oblique incidences. Finally, experimental results also showed that a large reduction could be achieved in the low-frequency range, which proves the validity and feasibility of the proposed method.

  7. Photoredox-Based Actuation of an Artificial Molecular Muscle.

    Science.gov (United States)

    Liles, Kevin P; Greene, Angelique F; Danielson, Mary K; Colley, Nathan D; Wellen, Andrew; Fisher, Jeremy M; Barnes, Jonathan C

    2018-01-24

    The use of light to actuate materials is advantageous because it represents a cost-effective and operationally straightforward way to introduce energy into a stimuli-responsive system. Common strategies for photoinduced actuation of materials typically rely on light irradiation to isomerize azobenzene or spiropyran derivatives, or to induce unidirectional rotation of molecular motors incorporated into a 3D polymer network. Although interest in photoredox catalysis has risen exponentially in the past decade, there are far fewer examples where photoinduced electron transfer (PET) processes are employed to actuate materials. Here, a novel mode of actuation in a series of redox-responsive hydrogels doped with a visible-light-absorbing ruthenium-based photocatalyst is reported. The hydrogels are composed primarily of polyethylene glycol and low molar concentrations of a unimolecular electroactive polyviologen that is activated through a PET mechanism. The rate and degree of contraction of the hydrogels are measured over several hours while irradiating with blue light. Likewise, the change in mechanical properties-determined through oscillatory shear rheology experiments-is assessed as a function of polyviologen concentration. Finally, an artificial molecular muscle is fabricated using the best-performing hydrogel composition, and its ability to perform work, while irradiated, is demonstrated by lifting a small weight. © 2018 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

  8. Note: A simple vibrating orifice monodisperse droplet generator using a hard drive actuator arm

    Energy Technology Data Exchange (ETDEWEB)

    Kosch, Sebastian, E-mail: skosch@mie.utoronto.ca, E-mail: ashgriz@mie.utoronto.ca; Ashgriz, Nasser, E-mail: skosch@mie.utoronto.ca, E-mail: ashgriz@mie.utoronto.ca [Department of Industrial and Mechanical Engineering, University of Toronto, Toronto, Ontario M5S 3G8 (Canada)

    2015-04-15

    We propose that the rotary voice coil actuators found in magnetic hard drives are fit to supercede loudspeakers as expedient vibration sources in the laboratory setting. A specific use case is the excitation of a liquid jet to induce controlled breakup into monodisperse droplets. Like loudspeakers, which are typically used for prototyping such devices, hard drive actuators are cheap and ubiquitous, but they are less unwieldy and supply greater amplitudes without producing noise. Frequencies between 0 and 17 kHz, and likely beyond, can be reproduced reliably. No machining tools or amplifying electronics are needed for the construction and operation of the presented droplet generator.

  9. 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.

  10. Controlling Tensegrity Robots through Evolution using Friction based Actuation

    Science.gov (United States)

    Kothapalli, Tejasvi; Agogino, Adrian K.

    2017-01-01

    Traditional robotic structures have limitations in planetary exploration as their rigid structural joints are prone to damage in new and rough terrains. In contrast, robots based on tensegrity structures, composed of rods and tensile cables, offer a highly robust, lightweight, and energy efficient solution over traditional robots. In addition tensegrity robots can be highly configurable by rearranging their topology of rods, cables and motors. However, these highly configurable tensegrity robots pose a significant challenge for locomotion due to their complexity. This study investigates a control pattern for successful locomotion in tensegrity robots through an evolutionary algorithm. A twelve-rod hardware model is rapidly prototyped to utilize a new actuation method based on friction. A web-based physics simulation is created to model the twelve-rod tensegrity ball structure. Square-waves are used as control policies for the actuators of the tensegrity structure. Monte Carlo trials are run to find the most successful number of amplitudes for the square-wave control policy. From the results, an evolutionary algorithm is implemented to find the most optimized solution for locomotion of the twelve-rod tensegrity structure. The software pattern coupled with the new friction based actuation method can serve as the basis for highly efficient tensegrity robots in space exploration.

  11. Adaptive deformable mirror : based on electromagnetic actuators

    NARCIS (Netherlands)

    Hamelinck, R.F.M.M.

    2010-01-01

    Refractive index variations in the earth's atmosphere cause wavefront aberrations and limit thereby the resolution in ground-based telescopes. With Adaptive Optics (AO) the temporally and spatially varying wavefront distortions can be corrected in real time. Most implementations in a ground based

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

    NARCIS (Netherlands)

    Gaasbeek, Rolf; de Jager, Bram

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

  13. Comparison of microtweezers based on three lateral thermal actuator configurations

    Science.gov (United States)

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

    2005-06-01

    Thermal actuator-based microtweezers with three different driving configurations have been designed, fabricated and characterized. Finite element analysis has been used to model the device performance. It was found that one configuration of microtweezer, based on two lateral bimorph thermal actuators, has a small displacement (tip opening of the tweezers) and a very limited operating power range. An alternative configuration consisting of two horizontal hot bars with separated beams as the arms can deliver a larger displacement with a much-extended operating power range. This structure can withstand a higher temperature due to the wider beams used, and has flexible arms for increased displacement. Microtweezers driven by a number of chevron structures in parallel have similar maximum displacements but at a cost of higher power consumption. The measured temperature of the devices confirms that the device with the chevron structure can deliver the largest displacement for a given working temperature, while the bimorph thermal actuator design has the highest operating temperature at the same power due to its thin hot arm, and is prone to structural failure.

  14. Multilayer modal actuator-based piezoelectric transformers.

    Science.gov (United States)

    Huang, Yao-Tien; Wu, Wen-Jong; Wang, Yen-Chieh; Lee, Chih-Kung

    2007-02-01

    An innovative, multilayer piezoelectric transformer equipped with a full modal filtering input electrode is reported herein. This modal-shaped electrode, based on the orthogonal property of structural vibration modes, is characterized by full modal filtering to ensure that only the desired vibration mode is excited during operation. The newly developed piezoelectric transformer is comprised of three layers: a multilayered input layer, an insulation layer, and a single output layer. The electrode shape of the input layer is derived from its structural vibration modal shape, which takes advantage of the orthogonal property of the vibration modes to achieve a full modal filtering effect. The insulation layer possesses two functions: first, to couple the mechanical vibration energy between the input and output, and second, to provide electrical insulation between the two layers. To meet the two functions, a low temperature, co-fired ceramic (LTCC) was used to provide the high mechanical rigidity and high electrical insulation. It can be shown that this newly developed piezoelectric transformer has the advantage of possessing a more efficient energy transfer and a wider optimal working frequency range when compared to traditional piezoelectric transformers. A multilayer piezoelectric, transformer-based inverter applicable for use in LCD monitors or portable displays is presented as well.

  15. Shape memory-based actuators and release mechanisms therefrom

    Science.gov (United States)

    Vaidyanathan, Rajan (Inventor); Snyder, Daniel W. (Inventor); Schoenwald, David K. (Inventor); Lam, Nhin S. (Inventor); Watson, Daniel S. (Inventor); Krishnan, Vinu B. (Inventor); Noebe, Ronald D. (Inventor)

    2012-01-01

    SM-based actuators (110) and release mechanisms (100) therefrom and systems (500) including one or more release mechanisms (100). The actuators (110) comprise a SM member (118) and a deformable member (140) mechanically coupled to the SM member (118) which deforms upon a shape change of the SM member triggered by a phase transition of the SM member. A retaining element (160) is mechanically coupled to the deformable member (140), wherein the retaining element (160) moves upon the shape change. Release mechanism (100) include an actuator, a rotatable mechanism (120) including at least one restraining feature (178) for restraining rotational movement of the retaining element (160) before the shape change, and at least one spring (315) that provides at least one locked spring-loaded position when the retaining element is in the restraining feature and at least one released position that is reached when the retaining element is in a position beyond the restraining feature (178). The rotatable mechanism (120) includes at least one load-bearing protrusion (310). A hitch (400) is for mechanically coupling to the load, wherein the hitch is supported on the load bearing protrusion (310) when the rotatable mechanism is in the locked spring-loaded position.

  16. Design and Simulation of an Electrothermal Actuator Based Rotational Drive

    Science.gov (United States)

    Beeson, Sterling; Dallas, Tim

    2008-10-01

    As a participant in the Micro and Nano Device Engineering (MANDE) Research Experience for Undergraduates program at Texas Tech University, I learned how MEMS devices operate and the limits of their operation. Using specialized AutoCAD-based design software and the ANSYS simulation program, I learned the MEMS fabrication process used at Sandia National Labs, the design limitations of this process, the abilities and drawbacks of micro devices, and finally, I redesigned a MEMS device called the Chevron Torsional Ratcheting Actuator (CTRA). Motion is achieved through electrothermal actuation. The chevron (bent-beam) actuators cause a ratcheting motion on top of a hub-less gear so that as voltage is applied the CTRA spins. The voltage applied needs to be pulsed and the frequency of the pulses determine the angular frequency of the device. The main objective was to design electromechanical structures capable of transforming the electrical signals into mechanical motion without overheating. The design was optimized using finite element analysis in ANSYS allowing multi-physics simulations of our model system.

  17. Fabrication of wrist-like SMA-based actuator by double smart soft composite casting

    Science.gov (United States)

    Rodrigue, Hugo; Wei, Wang; Bhandari, Binayak; Ahn, Sung-Hoon

    2015-12-01

    A new manufacturing method for smart soft composite (SSC) actuators that consists of double casting a SSC actuator to produce an actuator with non-linear shape memory alloy (SMA) wire positioning is proposed. This method is used to manufacture a tube-shaped SSC actuator in which the SMA wires follow the curvature of the tube and is capable of pure-twisting deformations while sustaining a cantilever load. The concept is tested by measuring the maximum twisting angle and a simple control method is proposed to control the twisting angle of the actuator. Then, a soft robotic wrist with a length of 18 cm is built, its load-carrying capability is tested by measuring the cantilever force required for deforming the actuator, and its load-carrying capability during actuation is tested by loading one end with different objects and actuating the actuator. This wrist actuator shows good repeatability, is capable of twisting deformations up to 25° while holding objects weighing 100 g, and can sustain loads above 2 N without undergoing buckling.

  18. Fabrication of wrist-like SMA-based actuator by double smart soft composite casting

    International Nuclear Information System (INIS)

    Rodrigue, Hugo; Wei, Wang; Bhandari, Binayak; Ahn, Sung-Hoon

    2015-01-01

    A new manufacturing method for smart soft composite (SSC) actuators that consists of double casting a SSC actuator to produce an actuator with non-linear shape memory alloy (SMA) wire positioning is proposed. This method is used to manufacture a tube-shaped SSC actuator in which the SMA wires follow the curvature of the tube and is capable of pure-twisting deformations while sustaining a cantilever load. The concept is tested by measuring the maximum twisting angle and a simple control method is proposed to control the twisting angle of the actuator. Then, a soft robotic wrist with a length of 18 cm is built, its load-carrying capability is tested by measuring the cantilever force required for deforming the actuator, and its load-carrying capability during actuation is tested by loading one end with different objects and actuating the actuator. This wrist actuator shows good repeatability, is capable of twisting deformations up to 25° while holding objects weighing 100 g, and can sustain loads above 2 N without undergoing buckling. (paper)

  19. Plasma actuators for active flow control based on a glow discharge

    International Nuclear Information System (INIS)

    Kühn, M.; Kühn-Kauffeldt, M.; Schein, J.; Belinger, A.

    2017-01-01

    In this work a glow discharge based active flow control for high flow velocities and low Reynolds numbers is presented. Unlike common plasma actuators such as dielectric barrier discharge (DBD) or spark jets, this actuator uses small impulse bits at frequencies. The actuator is optimized for frequencies up to 40 kHz to counter Tollmien Schlichting wave effects and so reduce overall air foil drag. Several measurements to prove the non-eroding effect of the actuator and the electrical properties were performed. It was found that the actuator is capable of operating at high frequencies without measurable erosion. (paper)

  20. 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

  1. Design of a rotary dielectric elastomer actuator using a topology optimization method based on pairs of curves

    Science.gov (United States)

    Wang, Nianfeng; Guo, Hao; Chen, Bicheng; Cui, Chaoyu; Zhang, Xianmin

    2018-05-01

    Dielectric elastomers (DE), known as electromechanical transducers, have been widely used in the field of sensors, generators, actuators and energy harvesting for decades. A large number of DE actuators including bending actuators, linear actuators and rotational actuators have been designed utilizing an experience design method. This paper proposes a new method for the design of DE actuators by using a topology optimization method based on pairs of curves. First, theoretical modeling and optimization design are discussed, after which a rotary dielectric elastomer actuator has been designed using this optimization method. Finally, experiments and comparisons between several DE actuators have been made to verify the optimized result.

  2. Low-voltage, large-strain soft electrothermal actuators based on laser-reduced graphene oxide/Ag particle composites

    Science.gov (United States)

    Wang, Qian; Li, Yu-Tao; Zhang, Tian-Yu; Wang, Dan-Yang; Tian, Ye; Yan, Jun-Chao; Tian, He; Yang, Yi; Yang, Fan; Ren, Tian-Ling

    2018-03-01

    In this paper, low-voltage, large-strain flexible electrothermal actuators (ETAs) based on laser-reduced graphene oxide (LRGO)/Ag particle composites were fabricated in a simple and cost-efficient process. By adding Ag particles to the LRGO, the sheet resistance decreased effectively. Under a driving voltage of 28 V, the actuator obtained a bending angle of 192° within 6 s. Besides, the bending deformation could be precisely controlled by the driving voltage ranging from 10° to 192°. Finally, a gripper composed of two actuators was demonstrated to manipulate a piece of polydimethylsiloxane block. With the advantages of low-voltage, fast-response, and easy-to-manufacture, the graphene based ETAs have a promising application in soft robotics and soft machines.

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

    Science.gov (United States)

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

    2016-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Guojun Liu

    2016-01-01

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

  5. New Incremental Actuators based on Electro-active Polymer: Conceptual, Control, and Driver Design Considerations. 

    OpenAIRE

    Thummala, Prasanth; Schneider, Henrik; Zhang, Zhe; Andersen, Michael A. E.; Sarban, Rahimullah

    2016-01-01

    This paper presents an overview of the widely usedconventional linear actuator technologies and existing electroactivepolymer based linear and rotary actuators. It also providesthe conceptual, control and driver design considerations for anew dielectric electro-active polymer (DEAP) based incrementalactuator. The DEAP incremental actuator consists of threeindependent DEAP actuators with a unique cylindrical designthat potentially simplifies mass production and scalabilitycompared to existing ...

  6. Actuation mechanisms of carbon nanotube-based architectures

    Science.gov (United States)

    Geier, Sebastian; Mahrholz, Thorsten; Wierach, Peter; Sinapius, Michael

    2016-04-01

    State of the art smart materials such as piezo ceramics or electroactive polymers cannot feature both, mechanical stiffness and high active strain. Moreover, properties like low density, high mechanical stiffness and high strain at the same time driven by low energy play an increasingly important role for their future application. Carbon nanotubes (CNT), show this behavior. Their active behavior was observed 1999 the first time using paper-like mats made of CNT. Therefore the CNT-papers are electrical charged within an electrolyte thus forming a double- layer. The measured deflection of CNT material is based on the interaction between the charged high surface area formed by carbon nanotubes and ions provided by the electrolyte. Although CNT-papers have been extensively analyzed as well at the macro-scale as nano-scale there is still no generally accepted theory for the actuation mechanism. This paper focuses on investigations of the actuation mechanisms of CNT-papers in comparison to vertically aligned CNT-arrays. One reason of divergent results found in literature might be attributed to different types of CNT samples. While CNT-papers represent architectures of short CNTs which need to bridge each other to form the dimensions of the sample, the continuous CNTs of the array feature a length of almost 3 mm, along which the experiments are carried out. Both sample types are tested within an actuated tensile test set-up under different conditions. While the CNT-papers are tested in water-based electrolytes with comparably small redox-windows the hydrophobic CNT-arrays are tested in ionic liquids with comparatively larger redox-ranges. Furthermore an in-situ micro tensile test within an SEM is carried out to prove the optimized orientation of the MWCNTs as result of external load. It was found that the performance of CNT-papers strongly depends on the test conditions. However, the CNT-arrays are almost unaffected by the conditions showing active response at negative

  7. Asymmetric actuating structure generates negligible influence on the supporting base for high performance scanning probe microscopies

    Science.gov (United States)

    Yi Yan, Gang; Bin Liu, Yong; Hua Feng, Zhi

    2014-02-01

    An asymmetric actuating structure generating negligible influence on the supporting base for high performance scanning probe microscopies is proposed in this paper. The actuator structure consists of two piezostacks, one is used for actuating while the other is for counterbalancing. In contrast with balanced structure, the two piezostacks are installed at the same side of the supporting base. The effectiveness of the structure is proved by some experiments with the actuators fixed to the free end of a cantilever. Experimental results show that almost all of the vibration modes of the cantilever are suppressed effectively at a wide frequency range of 90 Hz-10 kHz.

  8. Smart Material-Actuated Flexible Tendon-Based Snake Robot

    Directory of Open Access Journals (Sweden)

    Mohiuddin Ahmed

    2016-05-01

    Full Text Available A flexible snake robot has better navigation ability compare with the existing electrical motor-based rigid snake robot, due to its excellent bending capability during navigation inside a narrow maze. This paper discusses the modelling, simulation and experiment of a flexible snake robot. The modelling consists of the kinematic analysis and the dynamic analysis of the snake robot. A platform based on the Incompletely Restrained Positioning Mechanism (IRPM is proposed, which uses the external force provided by a compliant flexible beam in each of the actuators. The compliant central column allows the configuration to achieve three degrees of freedom (3DOFs with three tendons. The proposed flexible snake robot has been built using smart material, such as electroactive polymers (EAPs, which can be activated by applying power to it. Finally, the physical prototype of the snake robot has been built. An experiment has been performed in order to justify the proposed model.

  9. Graphitic carbon nitride nanosheet electrode-based high-performance ionic actuator

    Science.gov (United States)

    Wu, Guan; Hu, Ying; Liu, Yang; Zhao, Jingjing; Chen, Xueli; Whoehling, Vincent; Plesse, Cédric; Nguyen, Giao T. M.; Vidal, Frédéric; Chen, Wei

    2015-01-01

    Ionic actuators have attracted attention due to their remarkably large strain under low-voltage stimulation. Because actuation performance is mainly dominated by the electrochemical and electromechanical processes of the electrode layer, the electrode material and structure are crucial. Here, we report a graphitic carbon nitride nanosheet electrode-based ionic actuator that displays high electrochemical activity and electromechanical conversion abilities, including large specific capacitance (259.4 F g−1) with ionic liquid as the electrolyte, fast actuation response (0.5±0.03% in 300 ms), large electromechanical strain (0.93±0.03%) and high actuation stability (100,000 cycles) under 3 V. The key to the high performance lies in the hierarchical pore structure with dominant size actuation performance. PMID:26028354

  10. Bismuth Sodium Titanate Based Materials for Piezoelectric Actuators.

    Science.gov (United States)

    Reichmann, Klaus; Feteira, Antonio; Li, Ming

    2015-12-04

    The ban of lead in many electronic products and the expectation that, sooner or later, this ban will include the currently exempt piezoelectric ceramics based on Lead-Zirconate-Titanate has motivated many research groups to look for lead-free substitutes. After a short overview on different classes of lead-free piezoelectric ceramics with large strain, this review will focus on Bismuth-Sodium-Titanate and its solid solutions. These compounds exhibit extraordinarily high strain, due to a field induced phase transition, which makes them attractive for actuator applications. The structural features of these materials and the origin of the field-induced strain will be revised. Technologies for texturing, which increases the useable strain, will be introduced. Finally, the features that are relevant for the application of these materials in a multilayer design will be summarized.

  11. Rotational actuator of motor based on carbon nanotubes

    Science.gov (United States)

    Zettl, Alexander K.; Fennimore, Adam M.; Yuzvinsky, Thomas D.

    2008-11-18

    A rotational actuator/motor based on rotation of a carbon nanotube is disclosed. The carbon nanotube is provided with a rotor plate attached to an outer wall, which moves relative to an inner wall of the nanotube. After deposit of a nanotube on a silicon chip substrate, the entire structure may be fabricated by lithography using selected techniques adapted from silicon manufacturing technology. The structures to be fabricated may comprise a multiwall carbon nanotube (MWNT), two in plane stators S1, S2 and a gate stator S3 buried beneath the substrate surface. The MWNT is suspended between two anchor pads and comprises a rotator attached to an outer wall and arranged to move in response to electromagnetic inputs. The substrate is etched away to allow the rotor to freely rotate. Rotation may be either in a reciprocal or fully rotatable manner.

  12. Optimized electrode coverage of membrane actuators based on epitaxial PZT thin films

    International Nuclear Information System (INIS)

    Nguyen, M D; Dekkers, M; Blank, D H A; Rijnders, G; Nazeer, H

    2013-01-01

    This research presents an optimization of piezoelectric membrane actuators by maximizing the actuator displacement. Membrane actuators based on epitaxial Pb(Zr,Ti)O 3 thin films grown on all-oxide electrodes and buffer layers using silicon technology were fabricated. Electrode coverage was found to be an important factor in the actuation displacement of the piezoelectric membranes. The optimum electrode coverage for maximum displacement was theoretically determined to be 39%, which is in good agreement with the experimental results. Dependences of membrane displacement and optimum electrode coverage on membrane diameter and PZT-film/Si-device-layer thickness ratio have also been investigated. (paper)

  13. Actuators based on polyurethanes with different types of polyol

    Science.gov (United States)

    Lim, Hyun-Ok; Bark, Geong-Mi; Jo, Nam-Ju

    2007-07-01

    This study dealt with the electrostrictive responses of polyurethane (PU) actuators with different microphase separation structure, which was a promising candidate for a material used in polymer actuators. In order to construct PUs with different higher-order structure, we synthesized PUs with different diols; poly(neopentyl glycol adipate) (PNAD), poly(tetramethylene glycol) (PTMG), and poly(dimethyl siloxnae) (PDMS). Synthesized PU was characterized by FT-IR spectroscopy and GPC. Thermal analysis and mechanical properties of PU films were carried out with DSC and UTM, respectively. And PU actuator was formed in a monomorph type which made by carbon black electrodes on the both surfaces of PU film by spin coating method. Actuation behavior was mainly influenced on microphase separation structure and mechanical property of PU. In result, PU actuator with PNAD, polyester urethane, had the largest field-induced displacement.

  14. Polymer-based actuators for virtual reality devices

    Science.gov (United States)

    Bolzmacher, Christian; Hafez, Moustapha; Benali Khoudja, Mohamed; Bernardoni, Paul; Dubowsky, Steven

    2004-07-01

    Virtual Reality (VR) is gaining more importance in our society. For many years, VR has been limited to the entertainment applications. Today, practical applications such as training and prototyping find a promising future in VR. Therefore there is an increasing demand for low-cost, lightweight haptic devices in virtual reality (VR) environment. Electroactive polymers seem to be a potential actuation technology that could satisfy these requirements. Dielectric polymers developed the past few years have shown large displacements (more than 300%). This feature makes them quite interesting for integration in haptic devices due to their muscle-like behaviour. Polymer actuators are flexible and lightweight as compared to traditional actuators. Using stacks with several layers of elatomeric film increase the force without limiting the output displacement. The paper discusses some design methods for a linear dielectric polymer actuator for VR devices. Experimental results of the actuator performance is presented.

  15. Simple sorting algorithm test based on CUDA

    OpenAIRE

    Meng, Hongyu; Guo, Fangjin

    2015-01-01

    With the development of computing technology, CUDA has become a very important tool. In computer programming, sorting algorithm is widely used. There are many simple sorting algorithms such as enumeration sort, bubble sort and merge sort. In this paper, we test some simple sorting algorithm based on CUDA and draw some useful conclusions.

  16. New Incremental Actuators based on Electro-active Polymer: Conceptual, Control, and Driver Design Considerations

    DEFF Research Database (Denmark)

    Thummala, Prasanth; Schneider, Henrik; Zhang, Zhe

    2016-01-01

    This paper presents an overview of the widely usedconventional linear actuator technologies and existing electroactivepolymer based linear and rotary actuators. It also providesthe conceptual, control and driver design considerations for anew dielectric electro-active polymer (DEAP) based...

  17. Low voltage driven dielectric electro active polymer actuator with integrated piezoelectric transformer based driver

    DEFF Research Database (Denmark)

    Andersen, Thomas; Rødgaard, Martin Schøler; Thomsen, Ole Cornelius

    2011-01-01

    actuators, a low voltage solution is developed by integrating the driver electronic into a 110 mm tall cylindrical coreless Push InLastor actuator. To decrease the size of the driver, a piezoelectric transformer (PT) based solution is utilized. The PT is essentially an improved Rosen type PT...

  18. An Enhanced Soft Vibrotactile Actuator Based on ePVC Gel with Silicon Dioxide Nanoparticles.

    Science.gov (United States)

    Park, Won-Hyeong; Shin, Eun-Jae; Yun, Sungryul; Kim, Sang-Youn

    2018-01-01

    In this paper, we propose a soft vibrotactile actuator made by mixing silicon dioxide nanoparticles and plasticized PVC gel. The effect of the silicon dioxide nanoparticles in the plasticized PVC gel for the haptic performance is investigated in terms of electric, dielectric, and mechanical properties. Furthermore, eight soft vibrotactile actuators are prepared as a function of the content. Experiments are conducted to examine the haptic performance of the prepared eight soft vibrotactile actuators and to find the best weight ratio of the plasticized PVC gel to the nanoparticles. The experiments should show that the plasticized PVC gel with silicon dioxide nanoparticles improves the haptic performance of the plasticized PVC gel-based vibrotactile actuator, and the proposed vibrotactile actuator can create a variety of haptic sensations in a wide frequency range.

  19. 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

  20. Parameter identification based on modified simulated annealing differential evolution algorithm for giant magnetostrictive actuator

    Science.gov (United States)

    Gao, Xiaohui; Liu, Yongguang

    2018-01-01

    There is a serious nonlinear relationship between input and output in the giant magnetostrictive actuator (GMA) and how to establish mathematical model and identify its parameters is very important to study characteristics and improve control accuracy. The current-displacement model is firstly built based on Jiles-Atherton (J-A) model theory, Ampere loop theorem and stress-magnetism coupling model. And then laws between unknown parameters and hysteresis loops are studied to determine the data-taking scope. The modified simulated annealing differential evolution algorithm (MSADEA) is proposed by taking full advantage of differential evolution algorithm's fast convergence and simulated annealing algorithm's jumping property to enhance the convergence speed and performance. Simulation and experiment results shows that this algorithm is not only simple and efficient, but also has fast convergence speed and high identification accuracy.

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

    Science.gov (United States)

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

    2017-03-01

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

  2. Actuated polymer based dielectric mirror for visual spectral range applications

    Science.gov (United States)

    Vergara, Pedro P.; Lunardi, Leda

    2017-08-01

    Miniature dielectric mirrors are useful components for lasers, thin film beam splitters and high quality mirrors in optics. These mirrors usually made from rigid inorganic materials can achieve a reflectance of almost one hundred percent. Being structural components, as soon as fabricated their reflectance and/or bandwidth remains constant. Here it is presented a novel fabrication process of a dielectric mirror based on free standing polymer layers. By applying an electrostatic force between the top and the bottom layers the reflectance can be changed. The large difference between the polymers refractive index and the air allows to achieve a reflectance of more than 85% using only six pairs of nanolayers. Preliminary simulations indicate an actuation speed of less than 1ms. Experimental optical characterization of fabricated structures agrees well with simulation results. Furthermore, structures can be designed to reflect a particular set of colors and/or isolated by using color filters, so a color pixel is fabricated, where the reflectance for each isolated color can be voltage controlled. Potential applications include an active component in a reflective screen display.

  3. Design of a Telescopic Linear Actuator Based on Hollow Shape Memory Springs

    Science.gov (United States)

    Spaggiari, Andrea; Spinella, Igor; Dragoni, Eugenio

    2011-07-01

    Shape memory alloys (SMAs) are smart materials exploited in many applications to build actuators with high power to mass ratio. Typical SMA drawbacks are: wires show poor stroke and excessive length, helical springs have limited mechanical bandwidth and high power consumption. This study is focused on the design of a large-scale linear SMA actuator conceived to maximize the stroke while limiting the overall size and the electric consumption. This result is achieved by adopting for the actuator a telescopic multi-stage architecture and using SMA helical springs with hollow cross section to power the stages. The hollow geometry leads to reduced axial size and mass of the actuator and to enhanced working frequency while the telescopic design confers to the actuator an indexable motion, with a number of different displacements being achieved through simple on-off control strategies. An analytical thermo-electro-mechanical model is developed to optimize the device. Output stroke and force are maximized while total size and power consumption are simultaneously minimized. Finally, the optimized actuator, showing good performance from all these points of view, is designed in detail.

  4. Fabrication of a Miniature Paper-Based Electroosmotic Actuator

    Directory of Open Access Journals (Sweden)

    Deepa Sritharan

    2016-11-01

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

  5. An artificial flexible robot arm based on pneumatic muscle actuators

    Directory of Open Access Journals (Sweden)

    Renn Jyh-Chyang

    2017-01-01

    Full Text Available The purpose of this paper is to develop a novel human-friendly artificial flexible robot arm using four parallel-connected pneumatic muscle actuators (PMAs. The PMA is a flexible silicone rubber actuator which has some behaviors nearest to the real biological muscle including translational and rotational motions. An inverse kinematic model for the motion control is also developed. Finally, from experiment results, it is proved that not only the axial contraction control of a single PMA but also the attitude control of the whole pneumatic flexible robot arm using PID controller are satisfactory.

  6. High-strain actuator materials based on dielectric elastomers

    DEFF Research Database (Denmark)

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

    2000-01-01

    Dielectric elastomers are a new class of actuator materials that exhibit excellent performance. The principle of operation, as well as methods to fabricate and test these elastomers, is summarized here. The Figure is a sketch of an elastomer film (light gray) stretched on a frame (black) and patt......Dielectric elastomers are a new class of actuator materials that exhibit excellent performance. The principle of operation, as well as methods to fabricate and test these elastomers, is summarized here. The Figure is a sketch of an elastomer film (light gray) stretched on a frame (black...

  7. 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.

  8. Design and characterization of low-cost fabric-based flat pneumatic actuators for soft assistive glove application.

    Science.gov (United States)

    Yap, Hong Kai; Sebastian, Frederick; Wiedeman, Christopher; Yeow, Chen-Hua

    2017-07-01

    We present the design of low-cost fabric-based Hat pneumatic actuators for soft assistive glove application. The soft assistive glove is designed to assist hand impaired patients in performing activities of daily living and rehabilitation. The actuators consist of flexible materials such as fabric and latex bladder. Using zero volume actuation concept, the 2D configuration of the actuators simplifies the manufacturing process and allows the actuators to be more compact. The actuators achieve bi-directional flexion and extension motions. Compared to previously developed inflatable soft actuators, the actuators generate sufficient force and torque to assist in both finger flexion and extension at lower air pressure. Preliminary evaluation results show that the glove is able to provide both active finger flexion and extension assistance for activities of daily living and rehabilitative training.

  9. Design and property analysis of a hybrid linear actuator based on shape memory alloy

    International Nuclear Information System (INIS)

    Zhang, Xiaoguang; Hu, Jinhong; Mao, Shixin; Dong, Erbao; Yang, Jie

    2014-01-01

    This paper introduces two methods for solving two bottlelike problems regarding the shape memory alloy (SMA) application as actuators. These methods are ‘rotating output,’ which aims to solve the problem of the low working frequency caused by the demand for cool time, and ‘accumulated shifting,’ which solves the problem of difficult-to-obtain output displacements in a large scale. We also introduce a hybrid linear actuator that applies the two methods and achieves both a strong force and an accurate large output displacement while working at a high frequency based on the SMA wires and DC motors. A prototype of this actuator was fabricated and tested to verify the two methods. This hybrid actuator system dynamic model, which was composed of the constitutive model of the SMA, the electrical and heat transfer behavior of the SMA wires and the dynamics of the linear actuation system, was established and discussed. Our study aims to illuminate the application of an SMA in actuators with the proposed methods with regard to its two main problems. An actuator with a high power-weight ratio and the capability to work at a high frequency, as well as accurate linear step displacements in a large scale, is also presented. (paper)

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

    Science.gov (United States)

    Kim, Jeonglae; Moin, Parviz

    2015-11-01

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

  11. 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.

  12. 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.

  13. Dielectric oil-based polymer actuator for improved thickness strain and breakdown voltage

    Energy Technology Data Exchange (ETDEWEB)

    Cho, Min Sung; Yamamoto, Akio [Dept. of Precision Engineering, School of Engineering, The University of Tokyo, Tokyo (Japan)

    2016-09-15

    Dielectric elastomer actuators (DEAs) have been increasingly investigated as alternative actuators to conventional ones. However, DEAs suffer from high rates of premature failure. Therefore, this study proposes a dielectric oil-based polymer actuator, also called a Dielectric liquid actuator (DLA), to compensate for the drawbacks of DEAs. DLA was experimentally compared with conventional DEAs. Results showed that DLA successfully prevented thermal runaway at defects in the electrode and excessive thinning of the film, resulting in increased breakdown voltage. Consequently, premature failure was inhibited, and the performance was improved. The breakdown voltages of DLA and DEA were 6000 and 2000 V, respectively, and their maximum thickness strains were 49.5% and 37.5%, respectively.

  14. Dielectric oil-based polymer actuator for improved thickness strain and breakdown voltage

    International Nuclear Information System (INIS)

    Cho, Min Sung; Yamamoto, Akio

    2016-01-01

    Dielectric elastomer actuators (DEAs) have been increasingly investigated as alternative actuators to conventional ones. However, DEAs suffer from high rates of premature failure. Therefore, this study proposes a dielectric oil-based polymer actuator, also called a Dielectric liquid actuator (DLA), to compensate for the drawbacks of DEAs. DLA was experimentally compared with conventional DEAs. Results showed that DLA successfully prevented thermal runaway at defects in the electrode and excessive thinning of the film, resulting in increased breakdown voltage. Consequently, premature failure was inhibited, and the performance was improved. The breakdown voltages of DLA and DEA were 6000 and 2000 V, respectively, and their maximum thickness strains were 49.5% and 37.5%, respectively

  15. A spongy graphene based bimorph actuator with ultra-large displacement towards biomimetic application.

    Science.gov (United States)

    Hu, Ying; Lan, Tian; Wu, Guan; Zhu, Zicai; Chen, Wei

    2014-11-07

    Bimorph actuators, consisting of two layers with asymmetric expansion and generating bending displacement, have been widely researched. Their actuation performances greatly rely on the difference of coefficients of thermal expansion (CTE) between the two material layers. Here, by introducing a spongy graphene (sG) paper with a large negative CTE as well as high electrical-to-thermal properties, an electromechanical sG/PDMS bimorph actuator is designed and fabricated, showing an ultra-large bending displacement output under low voltage stimulation (curvature of about 1.2 cm(-1) at 10 V for 3 s), a high displacement-to-length ratio (∼0.79), and vibration motion at AC voltage (up to 10 Hz), which is much larger and faster than that of the other electromechanical bimorph actuators. Based on the sG/PDMS bimorph serving as the "finger", a mechanical gripper is constructed to realize the fast manipulation of the objects under 0.1 Hz square wave voltage stimulation (0-8 V). The designed bimorph actuator coupled with ultra-large bending displacement, low driven voltage, and the ease of fabrication may open up substantial possibilities for the utilization of electromechanical actuators in practical biomimetic device applications.

  16. Multistable wireless micro-actuator based on antagonistic pre-shaped double beams

    International Nuclear Information System (INIS)

    Liu, X; Lamarque, F; Doré, E; Pouille, P

    2015-01-01

    This paper presents a monolithic multistable micro-actuator based on antagonistic pre-shaped double beams. The designed micro-actuator is formed by two rows of bistable micro-actuators providing four stable positions. The bistable mechanism for each row is a pair of antagonistic pre-shaped beams. This bistable mechanism has an easier pre-load operation compared to the pre-compressed bistable beams method. Furthermore, it solves the asymmetrical force output problem of parallel pre-shaped bistable double beams. At the same time, the geometrical limit is lower than parallel pre-shaped bistable double beams, which ensures a smaller stroke of the micro-actuator with the same dimensions. The designed micro-actuator is fabricated using laser cutting machine on medium density fiberboard (MDF). The bistability and merits of antagonistic pre-shaped double beams are experimentally validated. Finally, a contactless actuation test is performed using 660 nm wavelength laser heating shape memory alloy (SMA) active elements. (paper)

  17. Multistable wireless micro-actuator based on antagonistic pre-shaped double beams

    Science.gov (United States)

    Liu, X.; Lamarque, F.; Doré, E.; Pouille, P.

    2015-07-01

    This paper presents a monolithic multistable micro-actuator based on antagonistic pre-shaped double beams. The designed micro-actuator is formed by two rows of bistable micro-actuators providing four stable positions. The bistable mechanism for each row is a pair of antagonistic pre-shaped beams. This bistable mechanism has an easier pre-load operation compared to the pre-compressed bistable beams method. Furthermore, it solves the asymmetrical force output problem of parallel pre-shaped bistable double beams. At the same time, the geometrical limit is lower than parallel pre-shaped bistable double beams, which ensures a smaller stroke of the micro-actuator with the same dimensions. The designed micro-actuator is fabricated using laser cutting machine on medium density fiberboard (MDF). The bistability and merits of antagonistic pre-shaped double beams are experimentally validated. Finally, a contactless actuation test is performed using 660 nm wavelength laser heating shape memory alloy (SMA) active elements.

  18. Inverse grey-box model-based control of a dielectric elastomer actuator

    DEFF Research Database (Denmark)

    Jones, Richard William; Sarban, Rahimullah

    2012-01-01

    control performance across the operating range of the DE actuator, a gain scheduling term, which linearizes the operating characteristics of the tubular dielectric elastomer actuator, is developed and implemented in series with the IMC controller. The IMC-based approach is investigated for servo control......An accurate physical-based electromechanical model of a commercially available tubular dielectric elastomer (DE) actuator has been developed and validated. In this contribution, the use of the physical-based electromechanical model to formulate a model-based controller is examined. The choice...... of control scheme was dictated by the desire for transparency in both controller design and operation. The internal model control (IMC) approach was chosen. In this particular application, the inverse of the linearized form of the grey-box model is used to formulate the IMC controller. To ensure consistent...

  19. The Actuator Fault Diagnosis Based on the Valve Friction

    Directory of Open Access Journals (Sweden)

    Jiajiang Li

    2014-08-01

    Full Text Available Control valve (actuator is the frequently moving terminal Instrument of the control system. To avoid the leaking of the actuator, there is packing at the moving parts. However, the friction caused by the packing can do harm to the control of the system. The washing effect of the media, high temperature, high pressure, frequent movement and other effects can result in the leaking of the packing and the deformation of the valve stem, which causes the change of the friction. The study of the control of the friction has always been an interesting topic in the industry. In this paper, we theoretically analyze the relationship of the friction of the packing and the static performance of the control valve, and offer a method to check the quality of the moving parts by attaching a strain gage (strain rosette to the empty part of the valve stem. This method has been demonstrated via experiment and a method to do error detection is provided at last.

  20. High-cycle electromechanical aging of dielectric elastomer actuators with carbon-based electrodes

    Science.gov (United States)

    de Saint-Aubin, C. A.; Rosset, S.; Schlatter, S.; Shea, H.

    2018-07-01

    We present high-cycle aging tests of dielectric elastomer actuators (DEAs) based on silicone elastomers, reporting on the time-evolution of actuation strain and of electrode resistance over millions of cycles. We compare several types of carbon-based electrodes, and for the first time show how the choice of electrode has a dramatic influence on DEA aging. An expanding circle DEA configuration is used, consisting of a commercial silicone membrane with the following electrodes: commercial carbon grease applied manually, solvent-diluted carbon grease applied by stamping (pad printing), loose carbon black powder applied manually, carbon black powder suspension applied by inkjet-printing, and conductive silicone-carbon composite applied by stamping. The silicone-based DEAs with manually applied carbon grease electrodes show the shortest lifetime of less than 105 cycles at 5% strain, while the inkjet-printed carbon powder and the stamped silicone-carbon composite make for the most reliable devices, with lifetimes greater than 107 cycles at 5% strain. These results are valid for the specific dielectric and electrode configurations that were tested: using other dielectrics or electrode formulations would lead to different lifetimes and failure modes. We find that aging (as seen in the change in resistance and in actuation strain versus cycle number) is independent of the actuation frequency from 10 Hz to 200 Hz, and depends on the total accumulated time the DEA spends in an actuated state.

  1. PVC gel soft actuator-based wearable assist wear for hip joint support during walking

    Science.gov (United States)

    Li, Yi; Hashimoto, Minoru

    2017-12-01

    Plasticized polyvinyl chloride (PVC) gel and mesh electrode-based soft actuators have considerable potential to provide new types of artificial muscle, exhibiting similar responsiveness to biological muscle in air, >10% deformation, >90 kPa output stress, variable stiffness, long cycle life (>5 million cycles), and low power consumption. We have designed and fabricated a prototype of walking assist wear using the PVC gel actuator in previous study. The system has several advantages compared with traditional motor-based exoskeletons, including lower weight and power consumption, and no requirement for rigid external structures that constrain the wearer’s joints. In this study, we designed and established a control and power system to making the whole system portable and wearable outdoors. And we designed two control strategies based on the characteristics of the assist wear and the biological kinematics. In a preliminary experimental evaluation, a hemiparetic stroke patient performed a 10 m to-and-fro straight line walking task with and without assist wear on the affected side. We found that the assist wear enabled natural movement, increasing step length and decreasing muscular activity during straight line walking. We demonstrated that the assistance effect could be adjusted by controlling the on-off time of the PVC gel soft actuators. The results show the effectiveness of the proposed system and suggest the feasibility of PVC gel soft actuators for developing practical soft wearable assistive devices, informing the development of future wearable robots and the other soft actuator technologies for human movement assistance and rehabilitation.

  2. Smart materials-based actuators at the micronano-scale characterization, control, and applications

    CERN Document Server

    2013-01-01

    Smart Materials-Based Actuators at the Micro/Nano-Scale: Characterization, Control, and Applications gives a state of the art of emerging techniques to the characterization and control of actuators based on smart materials working at the micro/nano scale. The book aims to characterize some commonly used structures based on piezoelectric and electroactive polymeric actuators and also focuses on various and emerging techniques employed to control them. This book also includes two of the most emerging topics and applications: nanorobotics and cells micro/nano-manipulation. This book: Provides both theoretical and experimental results Contains complete information from characterization, modeling, identification, control to final applications for researchers and engineers that would like to model, characterize, control and apply their own micro/nano-systems Discusses applications such as microrobotics and their control, design and fabrication of microsystems, microassembly and its automation, nanorobotics and thei...

  3. Leveraging Disturbance Observer Based Torque Control for Improved Impedance Rendering with Series Elastic Actuators

    Science.gov (United States)

    Mehling, Joshua S.; Holley, James; O'Malley, Marcia K.

    2015-01-01

    The fidelity with which series elastic actuators (SEAs) render desired impedances is important. Numerous approaches to SEA impedance control have been developed under the premise that high-precision actuator torque control is a prerequisite. Indeed, the design of an inner torque compensator has a significant impact on actuator impedance rendering. The disturbance observer (DOB) based torque control implemented in NASA's Valkyrie robot is considered here and a mathematical model of this torque control, cascaded with an outer impedance compensator, is constructed. While previous work has examined the impact a disturbance observer has on torque control performance, little has been done regarding DOBs and impedance rendering accuracy. Both simulation and a series of experiments are used to demonstrate the significant improvements possible in an SEA's ability to render desired dynamic behaviors when utilizing a DOB. Actuator transparency at low impedances is improved, closed loop hysteresis is reduced, and the actuator's dynamic response to both commands and interaction torques more faithfully matches that of the desired model. All of this is achieved by leveraging DOB based control rather than increasing compensator gains, thus making improved SEA impedance control easier to achieve in practice.

  4. Plasma-based actuators for turbulent boundary layer control in transonic flow

    Science.gov (United States)

    Budovsky, A. D.; Polivanov, P. A.; Vishnyakov, O. I.; Sidorenko, A. A.

    2017-10-01

    The study is devoted to development of methods for active control of flow structure typical for the aircraft wings in transonic flow with turbulent boundary layer. The control strategy accepted in the study was based on using of the effects of plasma discharges interaction with miniature geometrical obstacles of various shapes. The conceptions were studied computationally using 3D RANS, URANS approaches. The results of the computations have shown that energy deposition can significantly change the flow pattern over the obstacles increasing their influence on the flow in boundary layer region. Namely, one of the most interesting and promising data were obtained for actuators basing on combination of vertical wedge with asymmetrical plasma discharge. The wedge considered is aligned with the local streamlines and protruding in the flow by 0.4-0.8 of local boundary layer thickness. The actuator produces negligible distortion of the flow at the absence of energy deposition. Energy deposition along the one side of the wedge results in longitudinal vortex formation in the wake of the actuator providing momentum exchange in the boundary layer. The actuator was manufactured and tested in wind tunnel experiments at Mach number 1.5 using the model of flat plate. The experimental data obtained by PIV proved the availability of the actuator.

  5. An electroactive conducting polymer actuator based on NBR/RTIL solid polymer electrolyte

    Science.gov (United States)

    Cho, M. S.; Seo, H. J.; Nam, J. D.; Choi, H. R.; Koo, J. C.; Lee, Y.

    2007-04-01

    This paper reports the fabrication of a dry-type conducting polymer actuator using nitrile rubber (NBR) as the base material in a solid polymer electrolyte. The conducting polymer, poly(3,4-ethylenedioxythiophene) (PEDOT), was synthesized on the surface of the NBR layer by using a chemical oxidation polymerization technique. Room-temperature ionic liquids (RTIL) based on imidazolium salts, e.g. 1-butyl-3-methyl imidazolium X (where X = BF4-, PF6-, (CF3SO2)2N-), were absorbed into the composite film. The compatibility between the ionic liquids and the NBR polymer was confirmed by DMA. The effect of the anion size of the ionic liquids on the displacement of the actuator was examined. The displacement increased with increasing anion size of the ionic liquids. The cyclic voltammetry responses and the redox switching dynamics of the actuators were examined in different ionic liquids.

  6. Magnetostrictive actuator-based micropositioner and its application in turning

    Science.gov (United States)

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

    1996-05-01

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

  7. 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.

  8. Compliant actuation based on dielectric elastomers for a force-feedback device: modeling and experimental evaluation

    Directory of Open Access Journals (Sweden)

    R. Vertechy

    2013-01-01

    Full Text Available Thanks to their large power densities, low costs and shock-insensitivity, Dielectric Elastomers (DE seem to be a promising technology for the implementation of light and compact force-feedback devices such as, for instance, haptic interfaces. Nonetheless, the development of these kinds of DE-based systems is not trivial owing to the relevant dissipative phenomena that affect the DE when subjected to rapidly changing deformations. In this context, the present paper addresses the development of a force feedback controller for an agonist-antagonist linear actuator composed of a couple of conically-shaped DE films and a compliant mechanism behaving as a negative-rate bias spring. The actuator is firstly modeled accounting for the visco-hyperelastic nature of the DE material. The model is then linearized and employed for the design of a force controller. The controller employs a position sensor, which determines the actuator configuration, and a force sensor, which measures the interaction force that the actuator exchanges with the environment. In addition, an optimum full-state observer is also implemented, which enables both accurate estimation of the time-dependent behavior of the elastomeric material and adequate suppression of the sensor measurement noise. Preliminary experimental results are provided to validate the proposed actuator-controller architecture.

  9. Thermally Driven Photonic Actuator Based on Silica Opal Photonic Crystal with Liquid Crystal Elastomer.

    Science.gov (United States)

    Xing, Huihui; Li, Jun; Shi, Yang; Guo, Jinbao; Wei, Jie

    2016-04-13

    We have developed a novel thermoresponsive photonic actuator based on three-dimensional SiO2 opal photonic crystals (PCs) together with liquid crystal elastomers (LCEs). In the process of fabrication of such a photonic actuator, the LCE precursor is infiltrated into the SiO2 opal PC followed by UV light-induced photopolymerization, thereby forming the SiO2 opal PC/LCE composite film with a bilayer structure. We find that this bilayer composite film simultaneously exhibits actuation behavior as well as the photonic band gap (PBG) response to external temperature variation. When the SiO2 opal PC/LCE composite film is heated, it exhibits a considerable bending deformation, and its PBG shifts to a shorter wavelength at the same time. In addition, this actuation is quite fast, reversible, and highly repeatable. The thermoresponsive behavior of the SiO2 opal PC/LCE composite films mainly derives from the thermal-driven change of nematic order of the LCE layer which leads to the asymmetric shrinkage/expansion of the bilayer structure. These results will be of interest in designing optical actuator systems for environment-temperature detection.

  10. 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

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

    International Nuclear Information System (INIS)

    Kim, Gi-Woo; Wang, K W

    2011-01-01

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

  12. A solid state actuator based on polypyrrole (PPy) and a solid electrolyte NBR working in air

    Science.gov (United States)

    Cho, Misuk; Nam, Jaedo; Choi, Hyouk Ryeol; Koo, Jachoon; Lee, Youngkwan

    2005-05-01

    The solid polymer electrolyte based conducting polymer actuator was presented. In the preparation of acutuator module, an ionic liquid impregnated a synthetic rubber (NBR) and PPy were used as a solid polymer electrolyte and conducting polymer, respectively. An ionic liquid, 1-butyl-3-methylimidazolium bis (trifluoromethyl sulfonyl)imide (BMITFSI) is gradually dispersed into the NBR film and the conducting polymer, PPy was synthesized on the surface of NBR. The ionic conductivity of new type solid polymer electrolyte as a function of the immersion time was investigated. The cyclic voltammetry responsed and the redox switching dynamics of PEDOT in NBR matrix were studied. The displacement of the actuator was measured by laser beam.

  13. Magnetic Shape Memory Alloy Actuator for Instrument Applications

    Data.gov (United States)

    National Aeronautics and Space Administration — This project will develop a simple actuator based on magnetic shape memory alloy (MSMA), a novel new family of crystalline materials which exhibit strain deformation...

  14. Low-Power Silicon-based Thermal Sensors and Actuators for Chemical Applications

    NARCIS (Netherlands)

    Vereshchagina, E.

    2011-01-01

    In the Hot Silicon project low and ultra-low-power Si-based hot surface devices have been developed, i.e. thermal sensors and actuators, for application in catalytic gas micro sensors, micro- and nano- calorimeters. This work include several scientific and technological aspects: • Design and

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

    Science.gov (United States)

    DeBlauw, Bradley G.

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

  16. Optimization of Comb-Drive Actuators [Nanopositioners for probe-based data storage and musical MEMS

    NARCIS (Netherlands)

    Engelen, Johannes Bernardus Charles

    2011-01-01

    The era of infinite storage seems near. To reach it, data storage capabilities need to grow, and new storage technologies must be developed.This thesis studies one aspect of one of the emergent storage technologies: optimizing electrostatic combdrive actuation for a parallel probe-based data storage

  17. Kinematics of an in-parallel actuated manipulator based on the Stewart platform mechanism

    Science.gov (United States)

    Williams, Robert L., II

    1992-01-01

    This paper presents kinematic equations and solutions for an in-parallel actuated robotic mechanism based on Stewart's platform. These equations are required for inverse position and resolved rate (inverse velocity) platform control. NASA LaRC has a Vehicle Emulator System (VES) platform designed by MIT which is based on Stewart's platform. The inverse position solution is straight-forward and computationally inexpensive. Given the desired position and orientation of the moving platform with respect to the base, the lengths of the prismatic leg actuators are calculated. The forward position solution is more complicated and theoretically has 16 solutions. The position and orientation of the moving platform with respect to the base is calculated given the leg actuator lengths. Two methods are pursued in this paper to solve this problem. The resolved rate (inverse velocity) solution is derived. Given the desired Cartesian velocity of the end-effector, the required leg actuator rates are calculated. The Newton-Raphson Jacobian matrix resulting from the second forward position kinematics solution is a modified inverse Jacobian matrix. Examples and simulations are given for the VES.

  18. A simple, remote, video based breathing monitor.

    Science.gov (United States)

    Regev, Nir; Wulich, Dov

    2017-07-01

    Breathing monitors have become the all-important cornerstone of a wide variety of commercial and personal safety applications, ranging from elderly care to baby monitoring. Many such monitors exist in the market, some, with vital signs monitoring capabilities, but none remote. This paper presents a simple, yet efficient, real time method of extracting the subject's breathing sinus rhythm. Points of interest are detected on the subject's body, and the corresponding optical flow is estimated and tracked using the well known Lucas-Kanade algorithm on a frame by frame basis. A generalized likelihood ratio test is then utilized on each of the many interest points to detect which is moving in harmonic fashion. Finally, a spectral estimation algorithm based on Pisarenko harmonic decomposition tracks the harmonic frequency in real time, and a fusion maximum likelihood algorithm optimally estimates the breathing rate using all points considered. The results show a maximal error of 1 BPM between the true breathing rate and the algorithm's calculated rate, based on experiments on two babies and three adults.

  19. Piezoelectric-based actuators for improved tractor-trailer performance (Conference Presentation)

    Science.gov (United States)

    Menicovich, David; Amitay, Michael; Gallardo, Daniele

    2017-04-01

    The application of piezo-electrically-driven synthetic-jet-based active flow control to reduce drag on tractor-trailers and to improve thermal mixing in refrigerated trailers was explored on full-scale tests. The active flow control technique that is being used relies on a modular system comprised of distributed, small, highly efficient actuators. These actuators, called synthetic jets, are jets that are synthesized at the edge of an orifice by a periodic motion of a piezoelectric diaphragm(s) mounted on one (or more) walls of a sealed cavity. The synthetic jet is zero net mass flux (ZNMF), but it allows momentum transfer to flow. It is typically driven near diaphragm and/or cavity resonance, and therefore, small electric input [O(10W)] is required. Another advantage of this actuator is that no plumbing is required. The system doesn't require changes to the body of the truck, can be easily reconfigured to various types of vehicles, and consumes small amounts of electrical power from the existing electrical system of the truck. The actuators are operated in a closed feedback loop based on inputs received from the tractor's electronic control unit, various system components and environmental sensors. The data are collected and processed on-board and transmitted to a cloud-based data management platform for further big data analytics and diagnostics. The system functions as a smart connected product through the interchange of data between the physical truck-mounted system and its cloud platform.

  20. 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.

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

    Science.gov (United States)

    Ahmed, Saad; Ounaies, Zoubeida

    2016-04-01

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

  2. Large-Deformation Curling Actuators Based on Carbon Nanotube Composite: Advanced-Structure Design and Biomimetic Application.

    Science.gov (United States)

    Chen, Luzhuo; Weng, Mingcen; Zhou, Zhiwei; Zhou, Yi; Zhang, Lingling; Li, Jiaxin; Huang, Zhigao; Zhang, Wei; Liu, Changhong; Fan, Shoushan

    2015-12-22

    In recent years, electroactive polymers have been developed as actuator materials. As an important branch of electroactive polymers, electrothermal actuators (ETAs) demonstrate potential applications in the fields of artificial muscles, biomimetic devices, robotics, and so on. Large-shape deformation, low-voltage-driven actuation, and ultrafast fabrication are critical to the development of ETA. However, a simultaneous optimization of all of these advantages has not been realized yet. Practical biomimetic applications are also rare. In this work, we introduce an ultrafast approach to fabricate a curling actuator based on a newly designed carbon nanotube and polymer composite, which completely realizes all of the above required advantages. The actuator shows an ultralarge curling actuation with a curvature greater than 1.0 cm(-1) and bending angle larger than 360°, even curling into a tubular structure. The driving voltage is down to a low voltage of 5 V. The remarkable actuation is attributed not only to the mismatch in the coefficients of thermal expansion but also to the mechanical property changes of materials during temperature change. We also construct an S-shape actuator to show the possibility of building advanced-structure actuators. A weightlifting walking robot is further designed that exhibits a fast-moving motion while lifting a sample heavier than itself, demonstrating promising biomimetic applications.

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

    Science.gov (United States)

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

    2018-06-01

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

  4. Functional materials based on carbon nanotubes: Carbon nanotube actuators and noncovalent carbon nanotube modification

    Science.gov (United States)

    Fifield, Leonard S.

    Carbon nanotubes have attractive inherent properties that encourage the development of new functional materials and devices based on them. The use of single wall carbon nanotubes as electromechanical actuators takes advantage of the high mechanical strength, surface area and electrical conductivity intrinsic to these molecules. The work presented here investigates the mechanisms that have been discovered for actuation of carbon nanotube paper: electrostatic, quantum chemical charge injection, pneumatic and viscoelastic. A home-built apparatus for the measurement of actuation strain is developed and utilized in the investigation. An optical fiber switch, the first demonstrated macro-scale device based on the actuation of carbon nanotubes, is described and its performance evaluated. Also presented here is a new general process designed to modify the surface of carbon nanotubes in a non-covalent, non-destructive way. This method can be used to impart new functionalities to carbon nanotube samples for a variety of applications including sensing, solar energy conversion and chemical separation. The process described involves the achievement of large degrees of graphitic surface coverage with polycyclic aromatic hydrocarbons through the use of supercritical fluids. These molecules are bifunctional agents that anchor a desired chemical group to the aromatic surface of the carbon nanotubes without adversely disrupting the conjugated backbone that gives rise the attractive electronic and physical properties of the nanotubes. Both the nanotube functionalization work and the actuator work presented here emphasize how an understanding and control of nanoscale structure and phenomena can be of vital importance in achieving desired performance for active materials. Opportunities for new devices with improved function over current state-of-the-art can be envisioned and anticipated based on this understanding and control.

  5. Pulse mode actuation-readout system based on MEMS resonator for liquid sensing

    DEFF Research Database (Denmark)

    Tang, Meng; Cagliani, Alberto; Davis, Zachary James

    2014-01-01

    A MEMS (Micro-Electro-Mechanical Systems) bulk disk resonator is applied for mass sensing under its dynamic mode. The classical readout circuitry involves sophisticated feedback loop and feedthrough compensation. We propose a simple straightforward non-loop pulse mode actuation and capacitive...... readout scheme. In order to verify its feasibility in liquid bio-chemical sensing environment, an experimental measurement is conducted with humidity sensing application. The measured resonant frequency changes 60kHz of 67.7MHz with a humidity change of 0~80%....

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

    International Nuclear Information System (INIS)

    Li, Cuihong; Meng, Yonggang; Tian, Yu

    2012-01-01

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

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

    Science.gov (United States)

    Kulkarni, Parth

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

  8. Enhanced Design of a Soft Thin-Film Vibrotactile Actuator Based on PVC Gel

    Directory of Open Access Journals (Sweden)

    Won-Hyeong Park

    2017-09-01

    Full Text Available We fabricated a soft thin-film vibrotactile actuator, which can be easily inserted into wearable devices, based on an electroactive PVC gel. One of the most important factors in fabricating a soft and thin vibrotactile actuator is to create vibrational force strong enough to stimulate human skin in a wide frequency range. To achieve this, we investigate the working principle of the PVC gel and suggest a new structure in which most of electric energy contributes to the deformation of the PVC gel. Due to this structure, the vibrational amplitude of the proposed PVC gel actuator could considerably increase (0.816 g (g = 9.8 m/s2 at resonant frequency. The vibrotactile amplitude is proportional to the amount of input voltage. It increased from 0.05 g up to 0.416 g with increasing applied voltages from 200 V to 1 kV at 1 Hz. The experimental results show that the proposed actuator can create a variety of haptic sensations.

  9. Pulse width modulation-based temperature tracking for feedback control of a shape memory alloy actuator.

    Science.gov (United States)

    Ayvali, Elif; Desai, Jaydev P

    2014-04-01

    This work presents a temperature-feedback approach to control the radius of curvature of an arc-shaped shape memory alloy (SMA) wire. The nonlinear properties of the SMA such as phase transformation and its dependence on temperature and stress make SMA actuators difficult to control. Tracking a desired trajectory is more challenging than controlling just the position of the SMA actuator since the desired path is continuously changing. Consequently, tracking the desired strain directly or tracking the parameters such as temperature and electrical resistance that are related to strain with a model is a challenging task. Temperature-feedback is an attractive approach when direct measurement of strain is not practical. Pulse width modulation (PWM) is an effective method for SMA actuation and it can be used along with a compensator to control the temperature of the SMA. Using the constitutive model of the SMA, the desired temperature profile can be obtained for a given strain trajectory. A PWM-based nonlinear PID controller with a feed-forward heat transfer model is proposed to use temperature-feedback for tracking a desired temperature trajectory. The proposed controller is used during the heating phase of the SMA actuator. The controller proves to be effective in tracking step-wise and continuous trajectories.

  10. The effect of carbon nanofillers on the performance of electromechanical polyaniline-based composite actuators

    International Nuclear Information System (INIS)

    García-Gallegos, J C; Martín-Gullón, I; Conesa, J A; Vega-Cantú, Y I; Rodríguez-Macías, F J

    2016-01-01

    Different types of crystalline carbon nanomaterials were used to reinforce polyaniline for use in electromechanical bilayer bending actuators. The objective is to analyze how the different graphitic structures of the nanocarbons affect and improve the in situ polymerized polyaniline composites and their subsequent actuator behavior. The nanocarbons investigated were multiwalled carbon nanotubes, nitrogen-doped carbon nanotubes, helical-ribbon carbon nanofibers and graphene oxide, each one presenting different shape and structural characteristics. Films of nanocarbon-PAni composite were tested in a liquid electrolyte cell system. Experimental design was used to select the type of nanocarbon filler and composite loadings, and yielded a good balance of electromechanical properties. Raman spectroscopy suggests good interaction between PAni and the nanocarbon fillers. Electron microscopy showed that graphene oxide dispersed the best, followed by multiwall carbon nanotubes, while nitrogen-doped nanotube composites showed dispersion problems and thus poor performance. Multiwall carbon nanotube composite actuators showed the best performance based on the combination of bending angle, bending velocity and maximum working cycles, while graphene oxide attained similarly good performance due to its best dispersion. This parallel testing of a broad set of nanocarbon fillers on PAni-composite actuators is unprecedented to the best of our knowledge and shows that the type and properties of the carbon nanomaterial are critical to the performance of electromechanical devices with other conditions remaining equal. (paper)

  11. Thermal Actuation Based 3-DoF Non-Resonant Microgyroscope Using MetalMUMPs

    Directory of Open Access Journals (Sweden)

    Muhammad Masood ul Hassan

    2009-04-01

    Full Text Available High force, large displacement and low voltage consumption are a primary concern for microgyroscopes. The chevron-shaped thermal actuators are unique in terms of high force generation combined with the large displacements at a low operating voltage in comparison with traditional electrostatic actuators. A Nickel based 3-DoF micromachined gyroscope comprising 2-DoF drive mode and 1-DoF sense mode oscillator utilizing the chevron-shaped thermal actuators is presented here. Analytical derivations and finite element simulations are carried out to predict the performance of the proposed device using the thermo-physical properties of electroplated nickel. The device sensitivity is improved by utilizing the dynamical amplification of the oscillation in 2-DoF drive mode using an active-passive mass configuration. A comprehensive theoretical description, dynamics and mechanical design considerations of the proposed gyroscopes model are discussed in detail. Parametric optimization of gyroscope, its prototype modeling and fabrication using MetalMUMPs has also been investigated. Dynamic transient simulation results predicted that the sense mass of the proposed device achieved a drive displacement of 4.1µm when a sinusoidal voltage of 0.5V is applied at 1.77 kHz exhibiting a mechanical sensitivity of 1.7μm /o/s in vacuum. The wide bandwidth frequency response of the 2-DoF drive mode oscillator consists of two resonant peaks and a flat region of 2.11 kHz between the peaks defining the operational frequency region. The sense mode resonant frequency can lie anywhere within this region and therefore the amplitude of the response is insensitive to structural parameter variations, enhancing device robustness against such variations. The proposed device has a size of 2.2 x 2.6 mm2, almost one third in comparison with existing M-DoF vibratory gyroscope with an estimated power consumption of 0.26 Watts. These predicted results illustrate that the chevron

  12. Gallium-Based Room-Temperature Liquid Metals: Actuation and Manipulation of Droplets and Flows

    Directory of Open Access Journals (Sweden)

    Leily Majidi

    2017-08-01

    Full Text Available Gallium-based room-temperature liquid metals possess extremely valuable properties, such as low toxicity, low vapor pressure, and high thermal and electrical conductivity enabling them to become suitable substitutes for mercury and beyond in wide range of applications. When exposed to air, a native oxide layer forms on the surface of gallium-based liquid metals which mechanically stabilizes the liquid. By removing or reconstructing the oxide skin, shape and state of liquid metal droplets and flows can be manipulated/actuated desirably. This can occur manually or in the presence/absence of a magnetic/electric field. These methods lead to numerous useful applications such as soft electronics, reconfigurable devices, and soft robots. In this mini-review, we summarize the most recent progresses achieved on liquid metal droplet generation and actuation of gallium-based liquid metals with/without an external force.

  13. Air Ambient-Operated pNIPAM-Based Flexible Actuators Stimulated by Human Body Temperature and Sunlight.

    Science.gov (United States)

    Yamamoto, Yuki; Kanao, Kenichiro; Arie, Takayuki; Akita, Seiji; Takei, Kuniharu

    2015-05-27

    Harnessing a natural power source such as the human body temperature or sunlight should realize ultimate low-power devices. In particular, macroscale and flexible actuators that do not require an artificial power source have tremendous potential. Here we propose and demonstrate electrically powerless polymer-based actuators operated at ambient conditions using a packaging technique in which the stimulating power source is produced by heat from the human body or sunlight. The actuating angle, force, and reliability are discussed as functions of temperature and exposure to sunlight. Furthermore, a wearable device platform and a smart curtain actuated by the temperature of human skin and sunlight, respectively, are demonstrated as the first proof-of-concepts. These nature-powered actuators should realize a new class of ultimate low-power devices.

  14. 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

  15. Synthesis of new solid polymer electrolyte and actuator based on PEDOT/NBR/ionic liquid

    Science.gov (United States)

    Cho, M. S.; Seo, H. J.; Nam, J. D.; Choi, H. R.; Koo, J. C.; Lee, Y.

    2006-03-01

    The conducting polymer actuator was presented. The solid polymer electrolyte based on nitrile rubber (NBR) activated with different ionic liquids was prepared. The three different grades of NBR films were synthesized by emulsion polymerization with different amount of acrylonitrile, 23, 35, and 40 mol. %, respectively. The effect of acrylonitrile content on the ionic conductivity and dielectric constant of solid polymer electrolytes was characterized. A conducting polymer, poly(3,4-ethylenedioxythiophene) (PEDOT), was synthesized on the surface of the NBR layer by using a chemical oxidation polymerization technique, and room temperature ionic liquids (RTIL) based on imidazolium salts, e.g. 1-butyl-3-methyl imidazolium X [where X= BF 4 -, PF 6 -, (CF 3SO II) IIN -], were absorbed into the composite film. The effects of the anion size of the ionic liquids on the displacement of the actuator were examined. The displacement increased with increasing the anion-size of the ionic liquids.

  16. 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.

  17. Robustness and Actuator Bandwidth of MRP-Based Sliding Mode Control for Spacecraft Attitude Control Problems

    Science.gov (United States)

    Keum, Jung-Hoon; Ra, Sung-Woong

    2009-12-01

    Nonlinear sliding surface design in variable structure systems for spacecraft attitude control problems is studied. A robustness analysis is performed for regular form of system, and calculation of actuator bandwidth is presented by reviewing sliding surface dynamics. To achieve non-singular attitude description and minimal parameterization, spacecraft attitude control problems are considered based on modified Rodrigues parameters (MRP). It is shown that the derived controller ensures the sliding motion in pre-determined region irrespective of unmodeled effects and disturbances.

  18. PZT crack detection in suspension-based dual stage actuator [for HDDs

    CERN Document Server

    Yung Ping Yeh; Ku, C

    2000-01-01

    An impedance method is proposed to detect cracks of PZT bars in suspension based dual stage-actuators. The frequency response amplitude of impedance at the resonance of 1.95 MHz, the PZT bar width extension mode, was very sensitive to the cracks in PZT material. As cracks in the PZT bars propagated from invisible micro cracks to visible macro cracks, the impedance gain at 1.95 MHz dropped suddenly. (3 refs).

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

    Science.gov (United States)

    Chakrabarti, Suryarghya; Dapino, Marcelo J.

    2009-03-01

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

  20. Towards a digital sound reconstruction MEMS device: Characterization of a single PZT based piezoelectric actuator

    KAUST Repository

    Carreno, Armando Arpys Arevalo; Conchouso Gonzalez, David; Castro, David; Jaber, Nizar; Younis, Mohammad I.; Foulds, Ian G.

    2015-01-01

    of acoustic actuators. These actuators consist of a flexible membrane fabricated using polyimide, which is actuated using a Lead-Zirconate-Titanate (PZT) piezoelectric ceramic layer working in the d31 actuation mode. The dimensions of the membrane are of 1mm

  1. Improved actuation strain of PDMS-based DEA materials chemically modified with softening agents

    Science.gov (United States)

    Biedermann, Miriam; Blümke, Martin; Wegener, Michael; Krüger, Hartmut

    2015-04-01

    Dielectric elastomer actuators (DEAs) are smart materials that gained much in interest particularly in recent years. One active field of research is the improvement of their properties by modification of their structural framework. The object of this work is to improve the actuation properties of polydimethylsiloxane (PDMS)-based DEAs by covalent incorporation of mono-vinyl-terminated low-molecular PDMS chains into the PDMS network. These low-molecular units act as a kind of softener within the PDMS network. The loose chain ends interfere with the network formation and lower the network's density. PDMS films with up to 50wt% of low-molecular PDMS additives were manufactured and the chemical, mechanical, electrical, and electromechanical properties of these novel materials were investigated.

  2. Stabilisation of a three-dimensional boundary layer by base-flow manipulation using plasma actuators

    International Nuclear Information System (INIS)

    Dörr, P C; Kloker, M J

    2015-01-01

    The applicability of dielectric barrier discharge plasma actuators for controlling the crossflow-vortex-induced laminar breakdown in a three-dimensional swept-wing-type boundary-layer flow is investigated using direct numerical simulation. Similar to the classical application of suction at the wall the aim is to modify the quasi two-dimensional base flow and to weaken primary crossflow (CF) instability, mainly due to a reduction of the basic CF. Not only localised volumetric forcing by plasma actuators but also CF counter-blowing and spots with a moving wall are investigated to identify effective fundamental mechanisms. It is found that counter blowing always results in partial blockage of the flow and eventually increased CF velocity, whereas moving-wall spots can slightly reduce the CF and the amplitude of crossflow vortices. Using discrete volumetric forcing a significant attenuation even of finite-amplitude crossflow vortices and thus a distinct transition delay is achieved. (paper)

  3. A new amplifier for improving piezoelectric actuator linearity based on current switching in precision positioning

    International Nuclear Information System (INIS)

    Ru, Changhai; Chen, Liguo; Shao, Bing; Rong, Weibin; Sun, Lining

    2008-01-01

    Piezoelectric actuators have traditionally been driven by voltage amplifiers. When driven at large voltages these actuators exhibit a significant amount of distortion, known as hysteresis, which may reduce the stability robustness of the system in feedback control applications. Piezoelectric transducers are known to exhibit less hysteresis when driven with current or charge rather than voltage. Despite this advantage, such methods have found little practical application due to the poor low frequency response of present current and charge driver designs. In this paper, a new piezoelectric amplifier based on current switching is presented which can reduce hysteresis. Special circuits and a hybrid control algorithm realize quick and precise positioning. Experimental results demonstrate that the amplifier can be used for dynamic and static applications and low frequency bandwidths can also be achieved

  4. A biomimetic jellyfish robot based on ionic polymer metal composite actuators

    International Nuclear Information System (INIS)

    Yeom, Sung-Weon; Oh, Il-Kwon

    2009-01-01

    A biomimetic jellyfish robot based on ionic polymer metal composite actuators was fabricated and activated to mimic real locomotive behavior with pulse and recovery processes. To imitate the curved shape of the jellyfish, a thermal treatment was applied to obtain a permanent initial deformation of a hemispherical form. The bio-inspired input signal was generated for mimicking real locomotion of the jellyfish. The vertical floating displacement and the thrust force of the biomimetic jellyfish robot under various input signals were measured and compared. The present results show that the bio-inspired electrical input signal with pulse-recovery process generates much higher floating velocity of the biomimetic jellyfish robot in comparison with pure sinusoidal excitations. The curved shape of the IPMC actuator through thermal treatments can be successfully applied to mimic the real biomimetic robots with smooth curves

  5. Dynamic behaviour of ISFET-based Sensor-Actuator systems

    NARCIS (Netherlands)

    Olthuis, Wouter; Luo, J.; Luo, J.; van der Schoot, B.H.; van der Schoot, B.H.; Bomer, Johan G.; Bergveld, Piet

    1990-01-01

    Rapid acid-base titrations can be performed at the surface of a noble-metal electrode with coulometrically generated ions. An ISFET is used as an indicator electrode to detect the equivalence point in the resulting titration curve. The time needed to reach the equivalence point is typically 0.5 to

  6. Tendon-Based Stiffening for a Pneumatically Actuated Soft Manipulator

    OpenAIRE

    Shiva, A.; Stilli, A.; Noh, Y.; Faragasso, A.; Falco, I. D.; Gerboni, G.; Cianchetti, M.; Menciassi, A.; Althoefer, K.; Wurdemann, H. A.

    2016-01-01

    There is an emerging trend toward soft robotics due to its extended manipulation capabilities compared to traditionally rigid robot links, showing promise for an extended applicability to new areas. However, as a result of the inherent property of soft robotics being less rigid, the ability to control/obtain higher overall stiffness when required is yet to be further explored. In this letter, an innovative design is introduced which allows varying the stiffness of a continuum silicon-based ma...

  7. Component based modelling of piezoelectric ultrasonic actuators for machining applications

    International Nuclear Information System (INIS)

    Saleem, A; Ahmed, N; Salah, M; Silberschmidt, V V

    2013-01-01

    Ultrasonically Assisted Machining (UAM) is an emerging technology that has been utilized to improve the surface finishing in machining processes such as turning, milling, and drilling. In this context, piezoelectric ultrasonic transducers are being used to vibrate the cutting tip while machining at predetermined amplitude and frequency. However, modelling and simulation of these transducers is a tedious and difficult task. This is due to the inherent nonlinearities associated with smart materials. Therefore, this paper presents a component-based model of ultrasonic transducers that mimics the nonlinear behaviour of such a system. The system is decomposed into components, a mathematical model of each component is created, and the whole system model is accomplished by aggregating the basic components' model. System parameters are identified using Finite Element technique which then has been used to simulate the system in Matlab/SIMULINK. Various operation conditions are tested and performed to demonstrate the system performance

  8. Non-linear time variant model intended for polypyrrole-based actuators

    Science.gov (United States)

    Farajollahi, Meisam; Madden, John D. W.; Sassani, Farrokh

    2014-03-01

    Polypyrrole-based actuators are of interest due to their biocompatibility, low operation voltage and relatively high strain and force. Modeling and simulation are very important to predict the behaviour of each actuator. To develop an accurate model, we need to know the electro-chemo-mechanical specifications of the Polypyrrole. In this paper, the non-linear time-variant model of Polypyrrole film is derived and proposed using a combination of an RC transmission line model and a state space representation. The model incorporates the potential dependent ionic conductivity. A function of ionic conductivity of Polypyrrole vs. local charge is proposed and implemented in the non-linear model. Matching of the measured and simulated electrical response suggests that ionic conductivity of Polypyrrole decreases significantly at negative potential vs. silver/silver chloride and leads to reduced current in the cyclic voltammetry (CV) tests. The next stage is to relate the distributed charging of the polymer to actuation via the strain to charge ratio. Further work is also needed to identify ionic and electronic conductivities as well as capacitance as a function of oxidation state so that a fully predictive model can be created.

  9. Kinematics and control of redundant robotic arm based on dielectric elastomer actuators

    Science.gov (United States)

    Branz, Francesco; Antonello, Andrea; Carron, Andrea; Carli, Ruggero; Francesconi, Alessandro

    2015-04-01

    Soft robotics is a promising field and its application to space mechanisms could represent a breakthrough in space technologies by enabling new operative scenarios (e.g. soft manipulators, capture systems). Dielectric Elastomers Actuators have been under deep study for a number of years and have shown several advantages that could be of key importance for space applications. Among such advantages the most notable are high conversion efficiency, distributed actuation, self-sensing capability, multi-degree-of-freedom design, light weight and low cost. The big potentialities of double cone actuators have been proven in terms of good performances (i.e. stroke and force/torque), ease of manufacturing and durability. In this work the kinematic, dynamic and control design of a two-joint redundant robotic arm is presented. Two double cone actuators are assembled in series to form a two-link design. Each joint has two degrees of freedom (one rotational and one translational) for a total of four. The arm is designed to move in a 2-D environment (i.e. the horizontal plane) with 4 DoF, consequently having two degrees of redundancy. The redundancy is exploited in order to minimize the joint loads. The kinematic design with redundant Jacobian inversion is presented. The selected control algorithm is described along with the results of a number of dynamic simulations that have been executed for performance verification. Finally, an experimental setup is presented based on a flexible structure that counteracts gravity during testing in order to better emulate future zero-gravity applications.

  10. Microheaters based on ultrasonic actuation of piezoceramic elements

    Science.gov (United States)

    Visvanathan, Karthik; Gianchandani, Yogesh B.

    2011-08-01

    This paper describes the use of micromachined lead zirconate titanate (PZT) piezoceramic elements for heat generation by ultrasonic energy dissipated within the elements and surrounding media. Simulations based on three-dimensional finite-element models suggest that circular disk-shaped elements provide superior steady-state temperature rise for a given cross-sectional area, volume of the PZT element and drive voltage. Experimental validation is performed using PZT-5A heaters of 3.2 mm diameter and 0.191 mm thickness. Single-element heaters and dual-element stacks are evaluated. Although the steady-state temperature generated by these heaters reaches the maximum value at the frequency of maximum electromechanical conductance, the heating effectiveness is maximized at the frequency of maximum electromechanical impedance. Stacked PZT heaters provide 3.5 times the temperature rise and 3 times greater heating effectiveness than single elements. Furthermore, the heaters attain the maximum heating effectiveness when bonded to highly damping and non-conducting substrates. A maximum temperature of 120 °C is achieved at 160 mW input power. Experiments are performed using porcine tissue samples to show the feasibility of using PZT heaters in tissue cauterization. A PZT heater probe brands a porcine tissue in 2-3 s with 10 VRMS drive voltage. The interface temperature is ≈150 °C.

  11. Characterization​ and ​analysis of ​m​otion ​m​echanism​ of electroactive​ chitosan-based actuator.

    Science.gov (United States)

    Altınkaya, Emine; Seki, Yoldaş; Çetin, Levent; Gürses, Barış Oğuz; Özdemir, Okan; Sever, Kutlay; Sarıkanat, Mehmet

    2018-02-01

    In order to analyze the bending mechanism of the electroactive​ chitosan-based actuator, different amounts of poly(diallyldimethylammonium chloride) (PDAD) were incorporated in chitosan solution. The effects of PDAD concentration on electromechanical performance of chitosan actuator were investigated under various excitation voltages. With the incorporation of PDAD into chitosan solution, crosslinked chitosan film acts as an actuator showing a considerable displacement behavior. However it can be noted that higher incorporation of PDAD into chitosan solution decreased the performance of the actuators. Thermal, viscoelastic, and crystallographic properties of the chitosan films were examined by thermogravimetric analysis, dynamic mechanical analysis, and X-ray diffraction analysis, respectively. The effect of incorporation of PDAD in chitosan-based film on morphological properties of chitosan film was determined by scanning electron microscopy. It was observed that the films involving PDAD have larger pore size than the PDAD free film. Copyright © 2017 Elsevier Ltd. All rights reserved.

  12. Control of supersonic axisymmetric base flows using passive splitter plates and pulsed plasma actuators

    Science.gov (United States)

    Reedy, Todd Mitchell

    influenced considerably, the area-integrated pressure was only slightly affected. Normalized RMS levels indicate that base pressure fluctuations were significantly reduced with the addition of the splitter plates. Power-spectral-density estimates revealed a spectral broadening of fluctuating energy for the 1/2 cylinder configuration and a bimodal distribution for the 1/3 and 1/4 cylinder configurations. It was concluded that the recirculation region is not the most sensitive location to apply flow control; rather, the shear layer may be a more influential site for implementing flow control methodologies. For active flow control, pulsed plasma-driven fluidic actuators were investigated. Initially, the performance of two plasma actuator designs was characterized to determine their potential as supersonic flow control devices. For the first actuator considered, the pulsed plasma jet, electro-thermal heating from an electric discharge heats and pressurizes gas in a small cavity which is exhausted through a circular orifice forming a synthetic jet. Depending on the electrical energy addition, peak jet velocities ranged between 130 to nearly 500 m/s when exhausted to quiescent, ambient conditions. The second plasma actuator investigated is the localized arc filament plasma actuator (LAFPA), which created fluidic perturbations through the rapid, local thermal heating, generated from an electric arc discharge between two electrodes within a shallow open cavity. Electrical and emission properties of the LAFPA were first documented as a function of pressure in a quiescent, no-flow environment. Rotational and vibrational temperatures from N2 spectra were obtained for select plasma conditions and ambient pressures. Results further validate that the assumption of optically thin conditions for these electric arc plasmas is not necessary valid, even at low ambient pressure. Breakdown voltage, sustained plasma voltage, power, and energy per pulse were demonstrated to decrease with

  13. Dual sensing-actuation artificial muscle based on polypyrrole-carbon nanotube composite

    Science.gov (United States)

    Schumacher, J.; Otero, Toribio F.; Pascual, Victor H.

    2017-04-01

    Dual sensing artificial muscles based on conducting polymer are faradaic motors driven by electrochemical reactions, which announce the development of proprioceptive devices. The applicability of different composites has been investigated with the aim to improve the performance. Addition of carbon nanotubes may reduce irreversible reactions. We present the testing of a dual sensing artificial muscle based on a conducting polymer and carbon nanotubes composite. Large bending motions (up to 127 degrees) in aqueous solution and simultaneously sensing abilities of the operation conditions are recorded. The sensing and actuation equations are derived for incorporation into a control system.

  14. Efficient Structure-Based Models for the McKibben Contraction Pneumatic Muscle Actuator: The Full Description of the Behaviour of the Contraction PMA

    Directory of Open Access Journals (Sweden)

    Alaa Al-Ibadi

    2017-10-01

    Full Text Available To clarify the advantages of using soft robots in all aspects of life, the effective behaviour of the pneumatic muscle actuator (PMA must be known. In this work, the performances of the PMA are explained and modelled with three formulas. The first formula describes the pulling force of the actuator based on the structure parameters; furthermore, the formula presented is the generalised contraction force for wholly-pneumatic muscle actuators. The second important model is the length formula, which is modified to our previous work to fit different actuator structures. Based on these two models, the stiffness of the actuator is formulated to illustrate its variability at different air pressure amounts. In addition, these formulas will make the selection of proper actuators for any robot arm structure easier using the knowledge gained from their performance. On the other hand, the desired behaviour of this type of actuator will be predefined and controlled.

  15. 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.

  16. 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.

  17. High-speed tracking control of piezoelectric actuators using an ellipse-based hysteresis model.

    Science.gov (United States)

    Gu, Guoying; Zhu, Limin

    2010-08-01

    In this paper, an ellipse-based mathematic model is developed to characterize the rate-dependent hysteresis in piezoelectric actuators. Based on the proposed model, an expanded input space is constructed to describe the multivalued hysteresis function H[u](t) by a multiple input single output (MISO) mapping Gamma:R(2)-->R. Subsequently, the inverse MISO mapping Gamma(-1)(H[u](t),H[u](t);u(t)) is proposed for real-time hysteresis compensation. In controller design, a hybrid control strategy combining a model-based feedforward controller and a proportional integral differential (PID) feedback loop is used for high-accuracy and high-speed tracking control of piezoelectric actuators. The real-time feedforward controller is developed to cancel the rate-dependent hysteresis based on the inverse hysteresis model, while the PID controller is used to compensate for the creep, modeling errors, and parameter uncertainties. Finally, experiments with and without hysteresis compensation are conducted and the experimental results are compared. The experimental results show that the hysteresis compensation in the feedforward path can reduce the hysteresis-caused error by up to 88% and the tracking performance of the hybrid controller is greatly improved in high-speed tracking control applications, e.g., the root-mean-square tracking error is reduced to only 0.34% of the displacement range under the input frequency of 100 Hz.

  18. Nonlinear dynamic modeling of a V-shaped metal based thermally driven MEMS actuator for RF switches

    Science.gov (United States)

    Bakri-Kassem, Maher; Dhaouadi, Rached; Arabi, Mohamed; Estahbanati, Shahabeddin V.; Abdel-Rahman, Eihab

    2018-05-01

    In this paper, we propose a new dynamic model to describe the nonlinear characteristics of a V-shaped (chevron) metallic-based thermally driven MEMS actuator. We developed two models for the thermal actuator with two configurations. The first MEMS configuration has a small tip connected to the shuttle, while the second configuration has a folded spring and a wide beam attached to the shuttle. A detailed finite element model (FEM) and a lumped element model (LEM) are proposed for each configuration to completely characterize the electro-thermal and thermo-mechanical behaviors. The nonlinear resistivity of the polysilicon layer is extracted from the measured current-voltage (I-V) characteristics of the actuator and the simulated corresponding temperatures in the FEM model, knowing the resistivity of the polysilicon at room temperature from the manufacture’s handbook. Both developed models include the nonlinear temperature-dependent material properties. Numerical simulations in comparison with experimental data using a dedicated MEMS test apparatus verify the accuracy of the proposed LEM model to represent the complex dynamics of the thermal MEMS actuator. The LEM and FEM simulation results show an accuracy ranging from a maximum of 13% error down to a minimum of 1.4% error. The actuator with the lower thermal load to air that includes a folded spring (FS), also known as high surface area actuator is compared to the actuator without FS, also known as low surface area actuator, in terms of the I-V characteristics, power consumption, and experimental static and dynamic responses of the tip displacement.

  19. Feedforward-feedback hybrid control for magnetic shape memory alloy actuators based on the Krasnosel'skii-Pokrovskii model.

    Directory of Open Access Journals (Sweden)

    Miaolei Zhou

    Full Text Available As a new type of smart material, magnetic shape memory alloy has the advantages of a fast response frequency and outstanding strain capability in the field of microdrive and microposition actuators. The hysteresis nonlinearity in magnetic shape memory alloy actuators, however, limits system performance and further application. Here we propose a feedforward-feedback hybrid control method to improve control precision and mitigate the effects of the hysteresis nonlinearity of magnetic shape memory alloy actuators. First, hysteresis nonlinearity compensation for the magnetic shape memory alloy actuator is implemented by establishing a feedforward controller which is an inverse hysteresis model based on Krasnosel'skii-Pokrovskii operator. Secondly, the paper employs the classical Proportion Integration Differentiation feedback control with feedforward control to comprise the hybrid control system, and for further enhancing the adaptive performance of the system and improving the control accuracy, the Radial Basis Function neural network self-tuning Proportion Integration Differentiation feedback control replaces the classical Proportion Integration Differentiation feedback control. Utilizing self-learning ability of the Radial Basis Function neural network obtains Jacobian information of magnetic shape memory alloy actuator for the on-line adjustment of parameters in Proportion Integration Differentiation controller. Finally, simulation results show that the hybrid control method proposed in this paper can greatly improve the control precision of magnetic shape memory alloy actuator and the maximum tracking error is reduced from 1.1% in the open-loop system to 0.43% in the hybrid control system.

  20. Feedforward-feedback hybrid control for magnetic shape memory alloy actuators based on the Krasnosel'skii-Pokrovskii model.

    Science.gov (United States)

    Zhou, Miaolei; Zhang, Qi; Wang, Jingyuan

    2014-01-01

    As a new type of smart material, magnetic shape memory alloy has the advantages of a fast response frequency and outstanding strain capability in the field of microdrive and microposition actuators. The hysteresis nonlinearity in magnetic shape memory alloy actuators, however, limits system performance and further application. Here we propose a feedforward-feedback hybrid control method to improve control precision and mitigate the effects of the hysteresis nonlinearity of magnetic shape memory alloy actuators. First, hysteresis nonlinearity compensation for the magnetic shape memory alloy actuator is implemented by establishing a feedforward controller which is an inverse hysteresis model based on Krasnosel'skii-Pokrovskii operator. Secondly, the paper employs the classical Proportion Integration Differentiation feedback control with feedforward control to comprise the hybrid control system, and for further enhancing the adaptive performance of the system and improving the control accuracy, the Radial Basis Function neural network self-tuning Proportion Integration Differentiation feedback control replaces the classical Proportion Integration Differentiation feedback control. Utilizing self-learning ability of the Radial Basis Function neural network obtains Jacobian information of magnetic shape memory alloy actuator for the on-line adjustment of parameters in Proportion Integration Differentiation controller. Finally, simulation results show that the hybrid control method proposed in this paper can greatly improve the control precision of magnetic shape memory alloy actuator and the maximum tracking error is reduced from 1.1% in the open-loop system to 0.43% in the hybrid control system.

  1. A soft biomolecule actuator based on a highly functionalized bacterial cellulose nano-fiber network with carboxylic acid groups.

    Science.gov (United States)

    Wang, Fan; Jeon, Jin-Han; Park, Sukho; Kee, Chang-Doo; Kim, Seong-Jun; Oh, Il-Kwon

    2016-01-07

    Upcoming human-related applications such as soft wearable electronics, flexible haptic systems, and active bio-medical devices will require bio-friendly actuating materials. Here, we report a soft biomolecule actuator based on carboxylated bacterial cellulose (CBC), ionic liquid (IL), and poly (3,4-ethylenedioxythiophene)-poly(styrenesulfonate) ( PSS) electrodes. Soft and biocompatible polymer-IL composites were prepared via doping of CBC with ILs. The highly conductive PSS layers were deposited on both sides of the CBC-IL membranes by a dip-coating technique to yield a sandwiched actuator system. Ionic conductivity and ionic exchange capacity of the CBC membrane can be increased up to 22.8 times and 1.5 times compared with pristine bacterial cellulose (BC), respectively, resulting in 8 times large bending deformation than the pure BC actuators with metallic electrodes in an open air environment. The developed CBC-IL actuators show significant progress in the development of biocompatible and soft actuating materials with quick response, low operating voltage and comparatively large bending deformation.

  2. A simple polarized-based diffused reflectance colour imaging system

    African Journals Online (AJOL)

    A simple polarized-based diffuse reflectance imaging system has been developed. The system is designed for both in vivo and in vitro imaging of agricultural specimen in the visible region. The system uses a commercial web camera and a halogen lamp that makes it relatively simple and less expensive for diagnostic ...

  3. Large angle and high linearity two-dimensional laser scanner based on voice coil actuators

    Science.gov (United States)

    Wu, Xin; Chen, Sihai; Chen, Wei; Yang, Minghui; Fu, Wen

    2011-10-01

    A large angle and high linearity two-dimensional laser scanner with an in-house ingenious deflection angle detecting system is developed based on voice coil actuators direct driving mechanism. The specially designed voice coil actuators make the steering mirror moving at a sufficiently large angle. Frequency sweep method based on virtual instruments is employed to achieve the natural frequency of the laser scanner. The response shows that the performance of the laser scanner is limited by the mechanical resonances. The closed-loop controller based on mathematical model is used to reduce the oscillation of the laser scanner at resonance frequency. To design a qualified controller, the model of the laser scanner is set up. The transfer function of the model is identified with MATLAB according to the tested data. After introducing of the controller, the nonlinearity decreases from 13.75% to 2.67% at 50 Hz. The laser scanner also has other advantages such as large deflection mirror, small mechanical structure, and high scanning speed.

  4. Compensator design for hysteresis of a stacked PZT actuator using a congruency-based hysteresis model

    International Nuclear Information System (INIS)

    Nguyen, Phuong-Bac; Choi, Seung-Bok

    2012-01-01

    This paper proposes a rate-independent hysteresis compensator for a stacked PZT (lead zirconate titanate) actuator. From a congruency-based hysteresis (CBH) model which is derived from the inherent properties of this actuator, especially the congruency, a feedforward compensator associated with it is developed. The formulation of the proposed compensator is based on an assumption that the inverse operator also possesses the same properties as the CBH model does. This implies that the compensator also possesses properties such as the wiped-out loop closing between the consecutive control points and congruency. Consequently, the expressions for the compensator can be conducted by exploiting the equations for the CBH model in two cases of monotonic increase and monotonic decrease of input excitation. In order to assess the performance of the compensator, several experiments in both open-loop and closed-loop controls are undertaken. In the open-loop control experiment, the performance of the feedforward compensator using the CBH model is compared with the classical Preisach model-based one in three cases of reference waveforms. In the closed-loop control experiment, the proposed compensator is incorporated into a PID (proportional-integral-derivative) control system and the performance of this integrated system is then evaluated and compared to that of the PID with and without compensator. (paper)

  5. Development of a Flat Type Six-Axis Stage Based on Piezoelectric Actuators

    Directory of Open Access Journals (Sweden)

    Hau-Wei Lee

    2014-01-01

    Full Text Available This study presents and investigates a six-DOF (degrees of freedom piezoelectric based stage for positioning error compensation. The relationship between the displacement of the piezoelectric actuators and the stage can be computed according to the geometric relationships of the actuators installed. In this study, a feedforward compensator based on the hysteresis model has been designed for compensation and a PI controller was used for positioning. The combination of a feedforward compensator and PI controller gives the stage good positioning and tracking performance. Stage position information is feedback from a six-DOF optical measurement system comprised of three modular two-dimensional measurement devices. Each module employs a quadrant photodiode (QPD, a laser diode, and a lens. The measurement signal is acquired and processed using an FPGA based processor for real time control. The linear and angular positioning resolution is 0.02 μm and 0.1 arcsec, respectively. When the stage is controlled in a closed loop, the positioning errors are in the range of ±0.1 μm and ±0.5 arcsec. The stage is controlled to track a sinusoidal wave with an amplitude of 2.5 μm and a frequency of 5 Hz; tracking errors were within ±0.1 μm and ±0.2 arcsec.

  6. Neural networks based identification and compensation of rate-dependent hysteresis in piezoelectric actuators

    International Nuclear Information System (INIS)

    Zhang, Xinliang; Tan, Yonghong; Su, Miyong; Xie, Yangqiu

    2010-01-01

    This paper presents a method of the identification for the rate-dependent hysteresis in the piezoelectric actuator (PEA) by use of neural networks. In this method, a special hysteretic operator is constructed from the Prandtl-Ishlinskii (PI) model to extract the changing tendency of the static hysteresis. Then, an expanded input space is constructed by introducing the proposed hysteretic operator to transform the multi-valued mapping of the hysteresis into a one-to-one mapping. Thus, a feedforward neural network is applied to the approximation of the rate-independent hysteresis on the constructed expanded input space. Moreover, in order to describe the rate-dependent performance of the hysteresis, a special hybrid model, which is constructed by a linear auto-regressive exogenous input (ARX) sub-model preceded with the previously obtained neural network based rate-independent hysteresis sub-model, is proposed. For the compensation of the effect of the hysteresis in PEA, the PID feedback controller with a feedforward hysteresis compensator is developed for the tracking control of the PEA. Thus, a corresponding inverse model based on the proposed modeling method is developed for the feedforward hysteresis compensator. Finally, both simulations and experimental results on piezoelectric actuator are presented to verify the effectiveness of the proposed approach for the rate-dependent hysteresis.

  7. A Preliminary Investigation of Temperature Dependency of a Shape Memory Actuator with Time-Based Control in Aircraft Interiors

    Science.gov (United States)

    Otibar, Dennis; Weirich, Antonia; Kortenjann, Marcus; Kuhlenkötter, Bernd

    2017-06-01

    Shape memory alloys (SMA) possess an array of unique functional properties which are influenced by a complex interaction of different factors. Due to thermal sensitivity, slight changes in the environmental temperature may cause the properties to change significantly. This poses a huge challenge especially for the use of SMAs as actuators. The most common and elementary activation strategy of SMA actuators is based on the duration of activation and cooling with constant activation parameters. However, changing environmental influences cause the necessity to modify these parameters. This circumstance needs to be especially considered in the design process of actuator controls. This paper focuses on investigating the influence of environmental temperature changes on time-based activated SMA actuators. The results of the described experiments form the base for designing reactive control strategies for SMA actuators used in alternating environments. An example for application fields with changing environments and particularly changing temperatures are aircraft related implementations. This area also stands to benefit from the actuators’ advantages in ecological efficiency.

  8. Finite element analysis of displacement actuator based on giant magnetostrictive thin film

    Directory of Open Access Journals (Sweden)

    Shaopeng Yu

    2018-05-01

    Full Text Available With the rapid development of science and technology, mechanical and electrical equipment become more and more miniature. In order to achieve precise control in less than 1cm3, the giant magnetostrictive thin film has become a research hotspot. The micro displacement actuator with planar and arc film is designed by the dynamic coupling model based on J-A model and magneto-mechanical effect method which is proposed in this paper. The different structure and thickness of films are analyzed by COMSOL Multiphysics software when the current flows through driving coil. After comparing the simulation results with the test ones, it can be seen that the coupling model is accurate and the structure is reliable. At the same time, MATLAB is used to fit the current density-displacement curve and higher order equation is obtained, and then the feasibility of design can be verified. The actuator with arc structure had advantages of small volume, fast response, high precision, easy integration, etc., which has a broad application prospect in the field of vibration control, micro positioning, robot and so on.

  9. Finite element analysis of displacement actuator based on giant magnetostrictive thin film

    Science.gov (United States)

    Yu, Shaopeng; Wang, Bowen; Zhang, Changgeng; Cui, Baozhi

    2018-05-01

    With the rapid development of science and technology, mechanical and electrical equipment become more and more miniature. In order to achieve precise control in less than 1cm3, the giant magnetostrictive thin film has become a research hotspot. The micro displacement actuator with planar and arc film is designed by the dynamic coupling model based on J-A model and magneto-mechanical effect method which is proposed in this paper. The different structure and thickness of films are analyzed by COMSOL Multiphysics software when the current flows through driving coil. After comparing the simulation results with the test ones, it can be seen that the coupling model is accurate and the structure is reliable. At the same time, MATLAB is used to fit the current density-displacement curve and higher order equation is obtained, and then the feasibility of design can be verified. The actuator with arc structure had advantages of small volume, fast response, high precision, easy integration, etc., which has a broad application prospect in the field of vibration control, micro positioning, robot and so on.

  10. LMI-based adaptive reliable H∞ static output feedback control against switched actuator failures

    Science.gov (United States)

    An, Liwei; Zhai, Ding; Dong, Jiuxiang; Zhang, Qingling

    2017-08-01

    This paper investigates the H∞ static output feedback (SOF) control problem for switched linear system under arbitrary switching, where the actuator failure models are considered to depend on switching signal. An active reliable control scheme is developed by combination of linear matrix inequality (LMI) method and adaptive mechanism. First, by exploiting variable substitution and Finsler's lemma, new LMI conditions are given for designing the SOF controller. Compared to the existing results, the proposed design conditions are more relaxed and can be applied to a wider class of no-fault linear systems. Then a novel adaptive mechanism is established, where the inverses of switched failure scaling factors are estimated online to accommodate the effects of actuator failure on systems. Two main difficulties arise: first is how to design the switched adaptive laws to prevent the missing of estimating information due to switching; second is how to construct a common Lyapunov function based on a switched estimate error term. It is shown that the new method can give less conservative results than that for the traditional control design with fixed gain matrices. Finally, simulation results on the HiMAT aircraft are given to show the effectiveness of the proposed approaches.

  11. Neural networks dynamic hysteresis model for piezoceramic actuator based on hysteresis operator of first-order differential equation

    International Nuclear Information System (INIS)

    Dang Xuanju; Tan Yonghong

    2005-01-01

    A new neural networks dynamic hysteresis model for piezoceramic actuator is proposed by combining the Preisach model with diagonal recurrent neural networks. The Preisach model is based on elementary rate-independent operators and is not suitable for modeling piezoceramic actuator across a wide frequency band because of the rate-dependent hysteresis characteristic of the piezoceramic actuator. The structure of the developed model is based on the structure of the Preisach model, in which the rate-independent relay hysteresis operators (cells) are replaced by the rate-dependent hysteresis operators of first-order differential equation. The diagonal recurrent neural networks being modified by an adjustable factor can be used to model the hysteresis behavior of the pizeoceramic actuator because its structure is similar to the structure of the modified Preisach model. Therefore, the proposed model not only possesses that of the Preisach model, but also can be used for describing its dynamic hysteresis behavior. Through the experimental results of both the approximation and the prediction, the effectiveness of the neural networks dynamic hysteresis model for the piezoceramic actuator is demonstrated

  12. Towards a digital sound reconstruction MEMS device: Characterization of a single PZT based piezoelectric actuator

    KAUST Repository

    Carreno, Armando Arpys Arevalo

    2015-04-01

    In this paper we report the fabrication and characterization of a single piezoelectric actuator for digital sound reconstruction. This work is the first step towards the implementation of a true digital micro-loudspeaker by means of an array of acoustic actuators. These actuators consist of a flexible membrane fabricated using polyimide, which is actuated using a Lead-Zirconate-Titanate (PZT) piezoelectric ceramic layer working in the d31 actuation mode. The dimensions of the membrane are of 1mm diameter and 4μm in thickness, which is capable of being symmetrically actuated in both upward and downward directions, due to the back etch step releasing the membrane. Our electrical characterization shows an improvement in the polarization of the piezoelectric material after its final etch patterning step, and our mechanical characterization shows the natural modes of resonance of the stacked membrane. © 2015 IEEE.

  13. Bioinspired Smart Actuator Based on Graphene Oxide-Polymer Hybrid Hydrogels.

    Science.gov (United States)

    Wang, Tao; Huang, Jiahe; Yang, Yiqing; Zhang, Enzhong; Sun, Weixiang; Tong, Zhen

    2015-10-28

    Rapid response and strong mechanical properties are desired for smart materials used in soft actuators. A bioinspired hybrid hydrogel actuator was designed and prepared by series combination of three trunks of tough polymer-clay hydrogels to accomplish the comprehensive actuation of "extension-grasp-retraction" like a fishing rod. The hydrogels with thermo-creep and thermo-shrinking features were successively irradiated by near-infrared (NIR) to execute extension and retraction, respectively. The GO in the hydrogels absorbed the NIR energy and transformed it into thermo-energy rapidly and effectively. The hydrogel with adhesion or magnetic force was adopted as the "hook" of the hybrid hydrogel actuator for grasping object. The hook of the hybrid hydrogel actuator was replaceable according to applications, even with functional materials other than hydrogels. This study provides an innovative concept to explore new soft actuators through combining response hydrogels and programming the same stimulus.

  14. 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)

  15. Size-dependent pull-in instability of electrostatically actuated microbeam-based MEMS

    International Nuclear Information System (INIS)

    Wang, Binglei; Zhou, Shenjie; Zhao, Junfeng; Chen, Xi

    2011-01-01

    We present a size-dependent model for electrostatically actuated microbeam-based MEMS using strain gradient elasticity theory. The normalized pull-in voltage is shown to increase nonlinearly with the decrease of the beam height, and the size effect becomes prominent if the beam thickness is on the order of microns or smaller (i.e. when the beam dimension is comparable to the material length scale parameter). Very good agreement is found between the present model and available experimental data. The study may be helpful to characterize the mechanical properties of small size MEMS, or guide the design of microbeam-based devices for a wide range of potential applications. (technical note)

  16. Controllable nanoscale rotating actuator system based on carbon nanotube and graphene

    International Nuclear Information System (INIS)

    Huang, Jianzhang; Han, Qiang

    2016-01-01

    A controllable nanoscale rotating actuator system consisting of a double carbon nanotube and graphene driven by a temperature gradient is proposed, and its rotating dynamics performance and driving mechanism are investigated through molecular dynamics simulations. The outer tube exhibits stable pure rotation with certain orientation under temperature gradient and the steady rotational speed rises as the temperature gradient increases. It reveals that the driving torque is caused by the difference of atomic van der Waals potentials due to the temperature gradient and geometrical features of carbon nanotube. A theoretical model for driving torque is established based on lattice dynamics theory and its predicted results agree well with molecular dynamics simulations. Further discussion is taken according to the theoretical model. The work in this study would be a guide for design and application of controllable nanoscale rotating devices based on carbon nanotubes and graphene. (paper)

  17. Design and experimental characterization of a NiTi-based, high-frequency, centripetal peristaltic actuator

    International Nuclear Information System (INIS)

    Borlandelli, E; Scarselli, D; Bettini, P; Morandini, M; Sala, G; Quadrio, M; Nespoli, A; Rigamonti, D; Villa, E

    2015-01-01

    Development and experimental testing of a peristaltic device actuated by a single shape-memory NiTi wire are described. The actuator is designed to radially shrink a compliant silicone pipe, and must work on a sustained basis at an actuation frequency that is higher than those typical of NiTi actuators. Four rigid, aluminum-made circular sectors are sitting along the pipe circumference and provide the required NiTi wire housing. The aluminum assembly acts as geometrical amplifier of the wire contraction and as heat sink required to dissipate the thermal energy of the wire during the cooling phase. We present and discuss the full experimental investigation of the actuator performance, measured in terms of its ability to reduce the pipe diameter, at a sustained frequency of 1.5 Hz. Moreover, we investigate how the diameter contraction is affected by various design parameters as well as actuation frequencies up to 4 Hz. We manage to make the NiTi wire work at 3% in strain, cyclically providing the designed pipe wall displacement. The actuator performance is found to decay approximately linearly with actuation frequencies up to 4 Hz. Also, the interface between the wire and the aluminum parts is found to be essential in defining the functional performance of the actuator. (paper)

  18. A Uniform Energy Consumption Algorithm for Wireless Sensor and Actuator Networks Based on Dynamic Polling Point Selection

    Science.gov (United States)

    Li, Shuo; Peng, Jun; Liu, Weirong; Zhu, Zhengfa; Lin, Kuo-Chi

    2014-01-01

    Recent research has indicated that using the mobility of the actuator in wireless sensor and actuator networks (WSANs) to achieve mobile data collection can greatly increase the sensor network lifetime. However, mobile data collection may result in unacceptable collection delays in the network if the path of the actuator is too long. Because real-time network applications require meeting data collection delay constraints, planning the path of the actuator is a very important issue to balance the prolongation of the network lifetime and the reduction of the data collection delay. In this paper, a multi-hop routing mobile data collection algorithm is proposed based on dynamic polling point selection with delay constraints to address this issue. The algorithm can actively update the selection of the actuator's polling points according to the sensor nodes' residual energies and their locations while also considering the collection delay constraint. It also dynamically constructs the multi-hop routing trees rooted by these polling points to balance the sensor node energy consumption and the extension of the network lifetime. The effectiveness of the algorithm is validated by simulation. PMID:24451455

  19. Reconfiguring Worlds with Simple Actuation via Physics-Based Nonprehensile Actions

    Data.gov (United States)

    National Aeronautics and Space Administration — Increased capability in autonomous navigation has revolutionized space exploration. Autonomous rovers have allowed us to explore further and for longer durations...

  20. Laminated chemical and physical micro-jet actuators based on conductive media

    Science.gov (United States)

    Gadiraju, Priya D.

    2008-04-01

    This dissertation presents the development of electrically-powered, lamination-based microactuators for the realization of large arrays of high impulse and short duration micro-jets with potential applications in the field of micro-electro-mechanical systems (MEMS). Microactuators offer unique control opportunities by converting the input electrical or chemical energy stored in a propellant into useful mechanical energy. This small and precise control obtained can potentially be applied towards aerodynamic control and transdermal drug delivery applications. This thesis work discusses the feasibility of using microactuators for two such applications: Control of the motion of a spinning projectile by utilizing the chemically-driven microjets ejected from the actuators, and enhancement of the permeability properties of skin by selectively ablating the stratum corneum layer of skin using the physical microjets ejected from the actuators. This enhanced permeability of skin can later be used for the delivery of high molecular weight drugs for transdermal drug delivery. The development of electrically powered microactuators starts by fabricating an array of radially firing microactuators using lamination-based microfabrication techniques that potentially enable batch fabrication at low cost. The microactuators of this thesis consist of three main parts: a micro chamber in which the propellant is stored; two electrode structures through which electrical energy is supplied to the propellant; and a micro nozzle through which the propellant or released gases from the propellant are expanded as a jet. Once the actuators are fabricated, they are integrated with MEMS-process-compatible propellants and optimized so as to produce instantaneous ignition of the propellant. This instantaneous ignition is achieved either by making the propellant itself conductive, thus, passing an electric current directly through the propellant; or by discharging an arc across the propellant by

  1. Model-Based Evolution of a Fast Hybrid Fuzzy Adaptive Controller for a Pneumatic Muscle Actuator

    Directory of Open Access Journals (Sweden)

    Alexander Hošovský

    2012-07-01

    Full Text Available Pneumatic artificial muscle-based robotic systems usually necessitate the use of various nonlinear control techniques in order to improve their performance. Their robustness to parameter variation, which is generally difficult to predict, should also be tested. Here a fast hybrid adaptive control is proposed, where a conventional PD controller is placed into the feedforward branch and a fuzzy controller is placed into the adaptation branch. The fuzzy controller compensates for the actions of the PD controller under conditions of inertia moment variation. The fuzzy controller of Takagi-Sugeno type is evolved through a genetic algorithm using the dynamic model of a pneumatic muscle actuator. The results confirm the capability of the designed system to provide robust performance under the conditions of varying inertia.

  2. Wind Turbine Rotor Simulation via CFD Based Actuator Disc Technique Compared to Detailed Measurement

    Directory of Open Access Journals (Sweden)

    Esmail Mahmoodi

    2015-10-01

    Full Text Available In this paper, a generalized Actuator Disc (AD is used to model the wind turbine rotor of the MEXICO experiment, a collaborative European wind turbine project. The AD model as a combination of CFD technique and User Defined Functions codes (UDF, so-called UDF/AD model is used to simulate loads and performance of the rotor in three different wind speed tests. Distributed force on the blade, thrust and power production of the rotor as important designing parameters of wind turbine rotors are focused to model. A developed Blade Element Momentum (BEM theory as a code based numerical technique as well as a full rotor simulation both from the literature are included into the results to compare and discuss. The output of all techniques is compared to detailed measurements for validation, which led us to final conclusions.

  3. Flytrap-inspired robot using structurally integrated actuation based on bistability and a developable surface.

    Science.gov (United States)

    Kim, Seung-Won; Koh, Je-Sung; Lee, Jong-Gu; Ryu, Junghyun; Cho, Maenghyo; Cho, Kyu-Jin

    2014-09-01

    The Venus flytrap uses bistability, the structural characteristic of its leaf, to actuate the leaf's rapid closing motion for catching its prey. This paper presents a flytrap-inspired robot and novel actuation mechanism that exploits the structural characteristics of this structure and a developable surface. We focus on the concept of exploiting structural characteristics for actuation. Using shape memory alloy (SMA), the robot actuates artificial leaves made from asymmetrically laminated carbon fiber reinforced prepregs. We exploit two distinct structural characteristics of the leaves. First, the bistability acts as an implicit actuator enabling rapid morphing motion. Second, the developable surface has a kinematic constraint that constrains the curvature of the artificial leaf. Due to this constraint, the curved artificial leaf can be unbent by bending the straight edge orthogonal to the curve. The bending propagates from one edge to the entire surface and eventually generates an overall shape change. The curvature change of the artificial leaf is 18 m(-1) within 100 ms when closing. Experiments show that these actuation mechanisms facilitate the generation of a rapid and large morphing motion of the flytrap robot by one-way actuation of the SMA actuators at a local position.

  4. 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.

  5. Flytrap-inspired robot using structurally integrated actuation based on bistability and a developable surface

    International Nuclear Information System (INIS)

    Kim, Seung-Won; Koh, Je-Sung; Cho, Kyu-Jin; Lee, Jong-Gu; Ryu, Junghyun; Cho, Maenghyo

    2014-01-01

    The Venus flytrap uses bistability, the structural characteristic of its leaf, to actuate the leaf's rapid closing motion for catching its prey. This paper presents a flytrap-inspired robot and novel actuation mechanism that exploits the structural characteristics of this structure and a developable surface. We focus on the concept of exploiting structural characteristics for actuation. Using shape memory alloy (SMA), the robot actuates artificial leaves made from asymmetrically laminated carbon fiber reinforced prepregs. We exploit two distinct structural characteristics of the leaves. First, the bistability acts as an implicit actuator enabling rapid morphing motion. Second, the developable surface has a kinematic constraint that constrains the curvature of the artificial leaf. Due to this constraint, the curved artificial leaf can be unbent by bending the straight edge orthogonal to the curve. The bending propagates from one edge to the entire surface and eventually generates an overall shape change. The curvature change of the artificial leaf is 18 m −1  within 100 ms when closing. Experiments show that these actuation mechanisms facilitate the generation of a rapid and large morphing motion of the flytrap robot by one-way actuation of the SMA actuators at a local position. (paper)

  6. 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.

  7. 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

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

    International Nuclear Information System (INIS)

    You, Seung Han; Hahn, Jin Oh

    2012-01-01

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

  9. 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.

  10. 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

  11. Simple and robust image-based autofocusing for digital microscopy.

    Science.gov (United States)

    Yazdanfar, Siavash; Kenny, Kevin B; Tasimi, Krenar; Corwin, Alex D; Dixon, Elizabeth L; Filkins, Robert J

    2008-06-09

    A simple image-based autofocusing scheme for digital microscopy is demonstrated that uses as few as two intermediate images to bring the sample into focus. The algorithm is adapted to a commercial inverted microscope and used to automate brightfield and fluorescence imaging of histopathology tissue sections.

  12. A Simple Inquiry-Based Lab for Teaching Osmosis

    Science.gov (United States)

    Taylor, John R.

    2014-01-01

    This simple inquiry-based lab was designed to teach the principle of osmosis while also providing an experience for students to use the skills and practices commonly found in science. Students first design their own experiment using very basic equipment and supplies, which generally results in mixed, but mostly poor, outcomes. Classroom "talk…

  13. Hysteresis modeling of magnetic shape memory alloy actuator based on Krasnosel'skii-Pokrovskii model.

    Science.gov (United States)

    Zhou, Miaolei; Wang, Shoubin; Gao, Wei

    2013-01-01

    As a new type of intelligent material, magnetically shape memory alloy (MSMA) has a good performance in its applications in the actuator manufacturing. Compared with traditional actuators, MSMA actuator has the advantages as fast response and large deformation; however, the hysteresis nonlinearity of the MSMA actuator restricts its further improving of control precision. In this paper, an improved Krasnosel'skii-Pokrovskii (KP) model is used to establish the hysteresis model of MSMA actuator. To identify the weighting parameters of the KP operators, an improved gradient correction algorithm and a variable step-size recursive least square estimation algorithm are proposed in this paper. In order to demonstrate the validity of the proposed modeling approach, simulation experiments are performed, simulations with improved gradient correction algorithm and variable step-size recursive least square estimation algorithm are studied, respectively. Simulation results of both identification algorithms demonstrate that the proposed modeling approach in this paper can establish an effective and accurate hysteresis model for MSMA actuator, and it provides a foundation for improving the control precision of MSMA actuator.

  14. A multi-segment soft actuator for biomedical applications based on IPMCs

    Science.gov (United States)

    Zhao, Dongxu; Wang, Yanjie; Liu, Jiayu; Luo, Meng; Li, Dichen; Chen, Hualing

    2015-04-01

    With rapid progress of biomedical devices towards miniaturization, flexibility, multifunction and low cost, the restrictions of traditional mechanical structures become particularly apparent, while soft materials become research focus in broad fields. As one of the most attractive soft materials, Ionic Polymer-Metal Composite (IPMC) is widely used as artificial muscles and actuators, with the advantages of low driving-voltage, high efficiency of electromechanical transduction and functional stabilization. In this paper, a new intuitive control method was presented to achieve the omnidirectional bending movements and was applied on a representative actuation structure of a multi-degree-offreedom soft actuator composed of two segments bar-shaped IPMC with a square cross section. Firstly, the bar-shaped IPMCs were fabricated by the solution casting method, reducing plating, autocatalytic plating method and cut into shapes successively. The connectors of the multi-segment IPMC actuator were fabricated by 3D printing. Then, a new control method was introduced to realize the intuitive mapping relationship between the actuator and the joystick manipulator. The control circuit was designed and tested. Finally, the multi-degree-of-freedom actuator of 2 segments bar-shaped IPMCs was implemented and omnidirectional bending movements were achieved, which could be a promising actuator for biomedical applications, such as endoscope, catheterism, laparoscopy and the surgical resection of tumors.

  15. Hysteresis Modeling of Magnetic Shape Memory Alloy Actuator Based on Krasnosel'skii-Pokrovskii Model

    Directory of Open Access Journals (Sweden)

    Miaolei Zhou

    2013-01-01

    Full Text Available As a new type of intelligent material, magnetically shape memory alloy (MSMA has a good performance in its applications in the actuator manufacturing. Compared with traditional actuators, MSMA actuator has the advantages as fast response and large deformation; however, the hysteresis nonlinearity of the MSMA actuator restricts its further improving of control precision. In this paper, an improved Krasnosel'skii-Pokrovskii (KP model is used to establish the hysteresis model of MSMA actuator. To identify the weighting parameters of the KP operators, an improved gradient correction algorithm and a variable step-size recursive least square estimation algorithm are proposed in this paper. In order to demonstrate the validity of the proposed modeling approach, simulation experiments are performed, simulations with improved gradient correction algorithm and variable step-size recursive least square estimation algorithm are studied, respectively. Simulation results of both identification algorithms demonstrate that the proposed modeling approach in this paper can establish an effective and accurate hysteresis model for MSMA actuator, and it provides a foundation for improving the control precision of MSMA actuator.

  16. 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.

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

    Science.gov (United States)

    Tondu, Bertrand

    2018-01-01

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

  18. Capacitive sensing of droplets for microfluidic devices based on thermocapillary actuation

    NARCIS (Netherlands)

    Chen, J.-Z.; Darhuber, A.A.; Troian, S.M.; Wagner, S.

    2004-01-01

    The design and performance of a miniaturized coplanar capacitive sensor is presented whose electrode arrays can also function as resistive microheaters for thermocapillary actuation of liquid films and droplets. Optimal compromise between large capacitive signal and high spatial resolution is

  19. Synthetic Jet Actuator-Based Aircraft Tracking Using a Continuous Robust Nonlinear Control Strategy

    Directory of Open Access Journals (Sweden)

    N. Ramos-Pedroza

    2017-01-01

    Full Text Available A robust nonlinear control law that achieves trajectory tracking control for unmanned aerial vehicles (UAVs equipped with synthetic jet actuators (SJAs is presented in this paper. A key challenge in the control design is that the dynamic characteristics of SJAs are nonlinear and contain parametric uncertainty. The challenge resulting from the uncertain SJA actuator parameters is mitigated via innovative algebraic manipulation in the tracking error system derivation along with a robust nonlinear control law employing constant SJA parameter estimates. A key contribution of the paper is a rigorous analysis of the range of SJA actuator parameter uncertainty within which asymptotic UAV trajectory tracking can be achieved. A rigorous stability analysis is carried out to prove semiglobal asymptotic trajectory tracking. Detailed simulation results are included to illustrate the effectiveness of the proposed control law in the presence of wind gusts and varying levels of SJA actuator parameter uncertainty.

  20. SMA spring-based artificial muscle actuated by hot and cool water using faucet-like valve

    Science.gov (United States)

    Park, Cheol Hoon; Son, Young Su

    2017-04-01

    An artificial muscle for a human arm-like manipulator with high strain and high power density are under development, and an SMA(Shape memory alloy) spring is a good actuator for this application. In this study, an artificial muscle composed of a silicon tube and a bundle of SMA(Shape memory alloy) springs is evaluated. A bundle of SMA springs consists of five SMA springs which are fabricated by using SMA wires with a diameter of 0.5 mm, and hot and cool water actuates it by heating and cooling SMA springs. A faucet-like valve was also developed to mix hot water and cool water and control the water temperature. The mass of silicon tube and a bundle of SMA springs is only 3.3 g and 2.25 g, respectively, and the total mass of artificial muscle is 5.55 g. It showed good actuating performance for a load with a mass of 2.3 kg and the power density was more than 800 W/kg for continuous valve switching with a cycle of 0.6 s. The faucet-like valve can switch a water output from hot water to cold water within 0.3s, and the artificial muscle is actuated well in response to the valve position and speed. It is also presented that the temperature of the mixed water can be controlled depending on the valve position, and the displacement of the artificial muscle can be controlled well by the mixed water. Based on these results, SMA spring-based artificial muscle actuated by hot and cool water could be applicable to the human arm-like robot manipulators.

  1. 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

  2. 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....

  3. Finite element analysis of electroactive polymer and magnetoactive elastomer based actuation for origami folding

    Science.gov (United States)

    Zhang, Wei; Ahmed, Saad; Masters, Sarah; Ounaies, Zoubeida; Frecker, Mary

    2017-10-01

    The incorporation of smart materials such as electroactive polymers and magnetoactive elastomers in origami structures can result in active folding using external electric and magnetic stimuli, showing promise in many origami-inspired engineering applications. In this study, 3D finite element analysis (FEA) models are developed using COMSOL Multiphysics software for three configurations that incorporate a combination of active and passive material layers, namely: (1) a single-notch unimorph folding configuration actuated using only external electric field, (2) a double-notch unimorph folding configuration actuated using only external electric field, and (3) a bifold configuration which is actuated using multi-field (electric and magnetic) stimuli. The objectives of the study are to verify the effectiveness of the FEA models to simulate folding behavior and to investigate the influence of geometric parameters on folding quality. Equivalent mechanical pressure and surface stress are used as external loads in the FEA to simulate electric and magnetic fields, respectively. Compared quantitatively with experimental data, FEA captured the folding performance of electric actuation well for notched configurations and magnetic actuation for a bifold structure, but underestimated electric actuation for the bifold structure. By investigating the impact of geometric parameters and locations to place smart materials, FEA can be used in design, avoiding trial-and-error iterations of experiments.

  4. A novel vibration assisted polishing device based on the flexural mechanism driven by the piezoelectric actuators

    Directory of Open Access Journals (Sweden)

    Guilian Wang

    2018-01-01

    Full Text Available The vibration assisted polishing has widely application fields because of higher machining frequency and better polishing quality, especially the polishing with the non-resonant mode that is regarded as a kind of promising polishing method. This paper reports a novel vibration assisted polishing device, consisting of the flexible hinge mechanism driven by the piezoelectric actuators, which is suitable for polishing planes or curve surfaces with slow curvature. Firstly, the generation methods of vibration trajectory are investigated for the same frequency and different frequency signals’ inputs, respectively, and then the types of elliptic and Lissajous’s vibration trajectories are generated respectively. Secondly, a flexural mechanism consisting of the right circular flexible hinges and the leaf springs is developed to produce two-dimensional vibration trajectory. Statics and dynamics investigating of this flexible mechanism are finished in detail. The analytical models about input and output compliances of the flexural mechanism are established according to the matrix-based compliance modeling, and the dynamic model of the flexural mechanism based on the Euler-Lagrange equation is also presented. The finite element model of the flexural mechanism was established to carry out the numerical simulation in order to testify the rationality of device design. Finally, the polishing experiment is carried out to prove the effectiveness of the vibration device. The experimental results show that this novel vibration assisted polishing device developed in this study can remove more effectively the cutting marks left by last process and obviously reduce the workpiece surface roughness.

  5. Design, fabrication and actuation of a MEMS-based image stabilizer for photographic cell phone applications

    International Nuclear Information System (INIS)

    Chiou, Jin-Chern; Hung, Chen-Chun; Lin, Chun-Ying

    2010-01-01

    This work presents a MEMS-based image stabilizer applied for anti-shaking function in photographic cell phones. The proposed stabilizer is designed as a two-axis decoupling XY stage 1.4 × 1.4 × 0.1 mm 3 in size, and adequately strong to suspend an image sensor for anti-shaking photographic function. This stabilizer is fabricated by complex fabrication processes, including inductively coupled plasma (ICP) processes and flip-chip bonding technique. Based on the special designs of a hollow handle layer and a corresponding wire-bonding assisted holder, electrical signals of the suspended image sensor can be successfully sent out with 32 signal springs without incurring damage during wire-bonding packaging. The longest calculated traveling distance of the stabilizer is 25 µm which is sufficient to resolve the anti-shaking problem in a three-megapixel image sensor. Accordingly, the applied voltage for the 25 µm moving distance is 38 V. Moreover, the resonant frequency of the actuating device with the image sensor is 1.123 kHz.

  6. Morphology-based Enhancement of a French SIMPLE Lexicon

    OpenAIRE

    Namer , Fiammetta; Bouillon , Pierrette; Jacquey , Evelyne; Ruimy , Nilda

    2009-01-01

    International audience; In this paper, we propose a semi-automatic methodology for acquiring a French SIMPLE lexicon based on the morphological properties of complex words. This method combines the results of the French morphological analyzer DériF with infor-mation from general lexical resources and corpora, when available. It is evaluated on a set of neolo-gisms extracted from Le Monde newspaper cor-pora.

  7. Graphene-Based Functional Architectures: Sheets Regulation and Macrostructure Construction toward Actuators and Power Generators.

    Science.gov (United States)

    Cheng, Huhu; Huang, Yaxin; Shi, Gaoquan; Jiang, Lan; Qu, Liangti

    2017-07-18

    Graphene, with large delocalized π electron cloud on a two-dimensional (2D) atom-thin plane, possesses excellent carrier mobility, large surface area, high light transparency, high mechanical strength, and superior flexibility. However, the lack of intrinsic band gap, poor dispersibility, and weak reactivity of graphene hinder its application scope. Heteroatom-doping regulation and surface modification of graphene can effectively reconstruct the sp 2 bonded carbon atoms and tailor the surface chemistry and interfacial interaction, while microstructure mediation on graphene can induce the special chemical and physical properties because of the quantum confinement, edge effect, and unusual mass transport process. Based on these regulations on graphene, series of methods and techniques are developed to couple the promising characters of graphene into the macroscopic architectures for potential and practical applications. In this Account, we present our effort on graphene regulation from chemical modification to microstructure control, from the morphology-designed macroassemblies to their applications in functional systems excluding the energy-storage devices. We first introduce the chemically regulative graphene with incorporated heteroatoms into the honeycomb lattice, which could open the intrinsic band gap and provide many active sites. Then the surface modification of graphene with functional components will improve dispersibility, prevent aggregation, and introduce new functions. On the other hand, microstructure mediation on graphene sheets (e.g., 0D quantum dots, 1D nanoribbons, and 2D nanomeshes) is demonstrated to induce special chemical and physical properties. Benefiting from the effective regulation on graphene sheets, diverse methods including dimension-confined strategy, filtration assembly, and hydrothermal treatment have been developed to assemble individual graphene sheets to macroscopic graphene fibers, films, and frameworks. These rationally

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

    Directory of Open Access Journals (Sweden)

    André Wilkening

    2017-01-01

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

  9. Piezoelectric actuated micro-resonators based on the growth of diamond on aluminum nitride thin films

    International Nuclear Information System (INIS)

    Hees, J; Heidrich, N; Pletschen, W; Sah, R E; Wolfer, M; Lebedev, V; Nebel, C E; Ambacher, O; Williams, O A

    2013-01-01

    Unimorph heterostructures based on piezoelectric aluminum nitride (AlN) and diamond thin films are highly desirable for applications in micro- and nanoelectromechanical systems. In this paper, we present a new approach to combine thin conductive boron-doped as well as insulating nanocrystalline diamond (NCD) with sputtered AlN films without the need for any buffer layers between AlN and NCD or polishing steps. The zeta potentials of differently treated nanodiamond (ND) particles in aqueous colloids are adjusted to the zeta potential of AlN in water. Thereby, the nucleation density for the initial growth of diamond on AlN can be varied from very low (10 8 cm −2 ), in the case of hydrogen-treated ND seeding particles, to very high values of 10 11 cm −2 for oxidized ND particles. Our approach yielding high nucleation densities allows the growth of very thin NCD films on AlN with thicknesses as low as 40 nm for applications such as microelectromechanical beam resonators. Fabricated piezo-actuated micro-resonators exhibit enhanced mechanical properties due to the incorporation of boron-doped NCD films. Highly boron-doped NCD thin films which replace the metal top electrode offer Young’s moduli of more than 1000 GPa. (paper)

  10. A Statistical Methodology for Determination of Safety Systems Actuation Setpoints Based on Extreme Value Statistics

    Directory of Open Access Journals (Sweden)

    D. R. Novog

    2008-01-01

    Full Text Available This paper provides a novel and robust methodology for determination of nuclear reactor trip setpoints which accounts for uncertainties in input parameters and models, as well as accounting for the variations in operating states that periodically occur. Further it demonstrates that in performing best estimate and uncertainty calculations, it is critical to consider the impact of all fuel channels and instrumentation in the integration of these uncertainties in setpoint determination. This methodology is based on the concept of a true trip setpoint, which is the reactor setpoint that would be required in an ideal situation where all key inputs and plant responses were known, such that during the accident sequence a reactor shutdown will occur which just prevents the acceptance criteria from being exceeded. Since this true value cannot be established, the uncertainties in plant simulations and plant measurements as well as operational variations which lead to time changes in the true value of initial conditions must be considered. This paper presents the general concept used to determine the actuation setpoints considering the uncertainties and changes in initial conditions, and allowing for safety systems instrumentation redundancy. The results demonstrate unique statistical behavior with respect to both fuel and instrumentation uncertainties which has not previously been investigated.

  11. Stiffness Customization and Patterning for Property Modulation of Silicone-Based Soft Pneumatic Actuators.

    Science.gov (United States)

    Sun, Yi; Yap, Hong Kai; Liang, Xinquan; Guo, Jin; Qi, Peng; Ang, Marcelo H; Yeow, Chen-Hua

    2017-09-01

    Soft pneumatic actuators (SPAs), as novel types of motion drivers for robotic devices, excel in many applications, such as rehabilitation and biomimicry, which demand compliance and softness. To further expand their scope of utilization, the SPAs should be customizable to meet the distinctive requirements of different applications. This article proposes a novel perspective on the SPA working mechanism based on stiffness distribution and then presents a versatile method called stiffness customization and patterning (SCP) for SPA body stiffness layout as a novel attempt to customize SPAs with distinctive properties. We fabricated a hybrid type of material combining unstretchable material and silicone with customizable aggregated elasticity. The tensile results showed that embedding unstretchable material directly increases the stiffness of the hybrid material sample, and our stress-strain model for SCP is able to adequately predict the elasticity of hybrid samples with specific material ratios. By applying this approach to bending-type SPAs, we are able to mitigate SPA buckling, a main failure mode of SPAs, and improve the SPA tip force by using hybrid material with globally increased stiffness. We also diversify bending modalities with different stiffness configurations in the hybrid material. SCP offers numerous ways to engineer SPAs for more applications.

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

    Science.gov (United States)

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

    2017-12-01

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

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

    Science.gov (United States)

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

    2014-06-01

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

  14. 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.

  15. 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

  16. 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).

  17. The Actuator Surface Model: A New Navier-Stokes Based Model for Rotor Computations

    DEFF Research Database (Denmark)

    Shen, Wen Zhong; Zhang, J.H.; Sørensen, Jens Nørkær

    2009-01-01

    This paper presents a new numerical technique for simulating two-dimensional wind turbine flow. The method, denoted as the 2D actuator surface technique, consists of a two-dimensional Navier-Stokes solver in which the pressure distribution is represented by body forces that are distributed along ....... In the last part, the actuator surface technique is applied to compute the flow past a two-bladed vertical axis wind turbine equipped with NACA 0012 airfoils. Comparisons with experimental data show an encouraging performance of the method.......This paper presents a new numerical technique for simulating two-dimensional wind turbine flow. The method, denoted as the 2D actuator surface technique, consists of a two-dimensional Navier-Stokes solver in which the pressure distribution is represented by body forces that are distributed along...

  18. 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.

  19. Intelligent control of an IPMC actuated manipulator using emotional learning-based controller

    Science.gov (United States)

    Shariati, Azadeh; Meghdari, Ali; Shariati, Parham

    2008-08-01

    In this research an intelligent emotional learning controller, Takagi- Sugeno- Kang (TSK) is applied to govern the dynamics of a novel Ionic-Polymer Metal Composite (IPMC) actuated manipulator. Ionic-Polymer Metal Composites are active actuators that show very large deformation in existence of low applied voltage. In this research, a new IPMC actuator is considered and applied to a 2-dof miniature manipulator. This manipulator is designed for miniature tasks. The control system consists of a set of neurofuzzy controller whose parameters are adapted according to the emotional learning rules, and a critic with task to assess the present situation resulted from the applied control action in terms of satisfactory achievement of the control goals and provides the emotional signal (the stress). The controller modifies its characteristics so that the critic's stress decreased.

  20. Validation and modification of the Blade Element Momentum theory based on comparisons with actuator disc simulations

    DEFF Research Database (Denmark)

    Aagaard Madsen, Helge; Bak, Christian; Døssing, Mads

    2010-01-01

    A comprehensive investigation of the Blade Element Momentum (BEM) model using detailed numerical simulations with an axis symmetric actuator disc (AD) model has been carried out. The present implementation of the BEM model is in a version where exactly the same input in the form of non-dimensiona......A comprehensive investigation of the Blade Element Momentum (BEM) model using detailed numerical simulations with an axis symmetric actuator disc (AD) model has been carried out. The present implementation of the BEM model is in a version where exactly the same input in the form of non...

  1. 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.

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

    Science.gov (United States)

    Xu, Rui; Zhou, Miaolei

    2018-04-01

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

  3. An orientation measurement method based on Hall-effect sensors for permanent magnet spherical actuators with 3D magnet array.

    Science.gov (United States)

    Yan, Liang; Zhu, Bo; Jiao, Zongxia; Chen, Chin-Yin; Chen, I-Ming

    2014-10-24

    An orientation measurement method based on Hall-effect sensors is proposed for permanent magnet (PM) spherical actuators with three-dimensional (3D) magnet array. As there is no contact between the measurement system and the rotor, this method could effectively avoid friction torque and additional inertial moment existing in conventional approaches. Curved surface fitting method based on exponential approximation is proposed to formulate the magnetic field distribution in 3D space. The comparison with conventional modeling method shows that it helps to improve the model accuracy. The Hall-effect sensors are distributed around the rotor with PM poles to detect the flux density at different points, and thus the rotor orientation can be computed from the measured results and analytical models. Experiments have been conducted on the developed research prototype of the spherical actuator to validate the accuracy of the analytical equations relating the rotor orientation and the value of magnetic flux density. The experimental results show that the proposed method can measure the rotor orientation precisely, and the measurement accuracy could be improved by the novel 3D magnet array. The study result could be used for real-time motion control of PM spherical actuators.

  4. Smart Tendon Actuated Flexible Actuator

    Directory of Open Access Journals (Sweden)

    Md. Masum Billah

    2015-01-01

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

  5. 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.

  6. Linear pneumatic actuator

    Directory of Open Access Journals (Sweden)

    Avram Mihai

    2017-01-01

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

  7. Linear pneumatic actuator

    OpenAIRE

    Avram Mihai; Niţu Constantin; Bucşan Constantin; Grămescu Bogdan

    2017-01-01

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

  8. Magnetic fish-robot based on multi-motion control of a flexible magnetic actuator.

    Science.gov (United States)

    Kim, Sung Hoon; Shin, Kyoosik; Hashi, Shuichiro; Ishiyama, Kazushi

    2012-09-01

    This paper presents a biologically inspired fish-robot driven by a single flexible magnetic actuator with a rotating magnetic field in a three-axis Helmholtz coil. Generally, magnetic fish-robots are powered by alternating and gradient magnetic fields, which provide a single motion such as bending the fish-robot's fins. On the other hand, a flexible magnetic actuator driven by an external rotating magnetic field can create several gaits such as the bending vibration, the twisting vibration, and their combination. Most magnetic fish-like micro-robots do not have pectoral fins on the side and are simply propelled by the tail fin. The proposed robot can swim and perform a variety of maneuvers with the addition of pectoral fins and control of the magnetic torque direction. In this paper, we find that the robot's dynamic actuation correlates with the magnetic actuator and the rotating magnetic field. The proposed robot is also equipped with new features, such as a total of six degrees of freedom, a new control method that stabilizes posture, three-dimensional swimming, a new velocity control, and new turning abilities.

  9. Magnetic fish-robot based on multi-motion control of a flexible magnetic actuator

    International Nuclear Information System (INIS)

    Kim, Sung Hoon; Hashi, Shuichiro; Ishiyama, Kazushi; Shin, Kyoosik

    2012-01-01

    This paper presents a biologically inspired fish-robot driven by a single flexible magnetic actuator with a rotating magnetic field in a three-axis Helmholtz coil. Generally, magnetic fish-robots are powered by alternating and gradient magnetic fields, which provide a single motion such as bending the fish-robot's fins. On the other hand, a flexible magnetic actuator driven by an external rotating magnetic field can create several gaits such as the bending vibration, the twisting vibration, and their combination. Most magnetic fish-like micro-robots do not have pectoral fins on the side and are simply propelled by the tail fin. The proposed robot can swim and perform a variety of maneuvers with the addition of pectoral fins and control of the magnetic torque direction. In this paper, we find that the robot's dynamic actuation correlates with the magnetic actuator and the rotating magnetic field. The proposed robot is also equipped with new features, such as a total of six degrees of freedom, a new control method that stabilizes posture, three-dimensional swimming, a new velocity control, and new turning abilities. (paper)

  10. Maximization of integral outlet quantities of an axisymmetric synthetic jet actuator based on a loudspeaker

    Czech Academy of Sciences Publication Activity Database

    Kordík, Jozef; Trávníček, Zdeněk

    2016-01-01

    Roč. 114, March (2016), č. článku 02152. ISSN 2101-6275. [International Conference on Experimental Fluid Mechanics /10./. Praha, 17.11.2015-20.11.2015] R&D Projects: GA ČR GA14-08888S Institutional support: RVO:61388998 Keywords : synthetic jet * synthetic jet actuator * resonance Subject RIV: JU - Aeronautics, Aerodynamics, Aircrafts

  11. A Method for Aileron Actuator Fault Diagnosis Based on PCA and PGC-SVM

    Directory of Open Access Journals (Sweden)

    Wei-Li Qin

    2016-01-01

    Full Text Available Aileron actuators are pivotal components for aircraft flight control system. Thus, the fault diagnosis of aileron actuators is vital in the enhancement of the reliability and fault tolerant capability. This paper presents an aileron actuator fault diagnosis approach combining principal component analysis (PCA, grid search (GS, 10-fold cross validation (CV, and one-versus-one support vector machine (SVM. This method is referred to as PGC-SVM and utilizes the direct drive valve input, force motor current, and displacement feedback signal to realize fault detection and location. First, several common faults of aileron actuators, which include force motor coil break, sensor coil break, cylinder leakage, and amplifier gain reduction, are extracted from the fault quadrantal diagram; the corresponding fault mechanisms are analyzed. Second, the data feature extraction is performed with dimension reduction using PCA. Finally, the GS and CV algorithms are employed to train a one-versus-one SVM for fault classification, thus obtaining the optimal model parameters and assuring the generalization of the trained SVM, respectively. To verify the effectiveness of the proposed approach, four types of faults are introduced into the simulation model established by AMESim and Simulink. The results demonstrate its desirable diagnostic performance which outperforms that of the traditional SVM by comparison.

  12. Performance of synthetic jet actuators based on hybrid and double-acting principles

    Czech Academy of Sciences Publication Activity Database

    Trávníček, Zdeněk; Tesař, Václav; Kordík, Jozef

    2008-01-01

    Roč. 11, č. 3 (2008), s. 221-229 ISSN 1343-8875 R&D Projects: GA ČR GA101/07/1499; GA AV ČR(CZ) IAA200760801 Institutional research plan: CEZ:AV0Z20760514 Keywords : synthetic jet * impinging jet * actuator Subject RIV: BK - Fluid Dynamics Impact factor: 0.943, year: 2008

  13. Numerical simulation of the aerodynamic field in complex terrain wind farm based on actuator disk model

    DEFF Research Database (Denmark)

    Xu, Chang; Li, Chen Qi; Han, Xing Xing

    2015-01-01

    Study on the aerodynamic field in complex terrain is significant to wind farm micro-sitting and wind power prediction. This paper modeled the wind turbine through an actuator disk model, and solved the aerodynamic field by CFD to study the influence of meshing, boundary conditions and turbulence ...

  14. Numerical Study of Wind Turbine Wake Modeling Based on a Actuator Surface Model

    DEFF Research Database (Denmark)

    Zhou, Huai-yang; Xu, Chang; Han, Xing Xing

    2017-01-01

    In the Actuator Surface Model (ALM), the turbine blades are represented by porous surfaces of velocity and pressure discontinuities to model the action of lifting surfaces on the flow. The numerical simulation is implemented on FLUENT platform combined with N-S equations. This model is improved o...

  15. High-performance hybrid (electrostatic double-layer and faradaic capacitor-based) polymer actuators incorporating nickel oxide and vapor-grown carbon nanofibers.

    Science.gov (United States)

    Terasawa, Naohiro; Asaka, Kinji

    2014-12-02

    The electrochemical and electromechanical properties of polymeric actuators prepared using nickel peroxide hydrate (NiO2·xH2O) or nickel peroxide anhydride (NiO2)/vapor-grown carbon nanofibers (VGCF)/ionic liquid (IL) electrodes were compared with actuators prepared using solely VGCFs or single-walled carbon nanotubes (SWCNTs) and an IL. The electrode in these actuator systems is equivalent to an electrochemical capacitor (EC) exhibiting both electrostatic double-layer capacitor (EDLC)- and faradaic capacitor (FC)-like behaviors. The capacitance of the metal oxide (NiO2·xH2O or NiO2)/VGCF/IL electrode is primarily attributable to the EDLC mechanism such that, at low frequencies, the strains exhibited by the NiO2·xH2O/VGCF/IL and NiO2/VGCF/IL actuators primarily result from the FC mechanism. The VGCFs in the NiO2·xH2O/VGCF/IL and NiO2/VGCF/IL actuators strengthen the EDLC mechanism and increase the electroconductivity of the devices. The mechanism underlying the functioning of the NiO2·xH2O/VGCF/IL actuator in which NiO2·xH2O/VGCF = 1.0 was found to be different from that of the devices produced using solely VGCFs or SWCNTs, which exhibited only the EDLC mechanism. In addition, it was found that both NiO2 and VGCFs are essential with regard to producing actuators that are capable of exhibiting strain levels greater than those of SWCNT-based polymer actuators and are thus suitable for practical applications. Furthermore, the frequency dependence of the displacement responses of the NiO2·xH2O/VGCF and NiO2/VGCF polymer actuators were successfully simulated using a double-layer charging kinetic model. This model, which accounted for the oxidization and reduction reactions of the metal oxide, can also be applied to SWCNT-based actuators. The results of electromechanical response simulations for the NiO2·xH2O/VGCF and NiO2/VGCF actuators predicted the strains at low frequencies as well as the time constants of the devices, confirming that the model is applicable

  16. Application of condition-based HRA method for a manual actuation of the safety features in a nuclear power Plant

    International Nuclear Information System (INIS)

    Kang, Hyun Gook; Jang, Seung-Cheol

    2006-01-01

    A practical approach to develop a more realistic fault-tree model with a consideration of various conditions endured by a human operator is proposed. In safety-critical systems, the generation failure of an actuation signal is caused by the concurrent failures of the automated systems and an operator action. These two sources of safety signals are complicatedly correlated. The failures of sensors or automated systems will cause a lack of necessary information for a human operator and result in error-forcing contexts such as the loss of corresponding alarms and indications. It is well known that the error-forcing contexts largely affect the operator's performance. An automated system which consists of multiple processing channels and complex components is also affected by the availability of the sensors. This paper proposes a condition-based human reliability assessment (CBHRA) method in order to address these complicated conditions in a practical way. We apply the CBHRA method to the manual actuation of the safety features such as a reactor trip and auxiliary feedwater actuation in Korean Standard Nuclear Power Plants. Even the human error probability of each given condition is simply assumed, the application results prove that the CBHRA effectively accommodates the complicated error-forcing contexts into the fault trees

  17. OffWindSolver: Wind farm design tool based on actuator line/actuator disk concept in OpenFoam architecture

    Directory of Open Access Journals (Sweden)

    Panjwani Balram

    2014-01-01

    Full Text Available Wind energy is a good alternative to meet the energy requirements in some parts of the world; however the efficiency of wind farm depends on the optimized location of the wind turbines. Therefore a software tool that is capable of predicting the in-situ performance of multiple turbine installations in different operating conditions with reliable accuracy is needed. In present study wind farm layout design tool OffWindSolver is developed within the OpenFoam architecture. Unsteady PisoFoam solver is extended to account for wind turbines, where each turbine is modeled as a sink term in the momentum equation. Turbine modeling is based on actuator line concepts derived from SOWFA code, where each blade of the turbine is represented as a line. The loading on each line/blade of the turbine is estimated using the Blade Element Method (BEM. The inputs for the solver are tabulated airfoil aerodynamic data, dimension and height of the wind turbines, wind magnitude and direction. OffWindSolver is validated for a real wind farm – Lillgrund offshore facility in Sweden/Denmark operated by Vattenfall Vindkraft AB. Because of the scale of the computation, we only examine the effect of wind from one direction at one speed. In the absence of time dependent Marine Atmospheric Boundary Layer (MABL, a log wind profile with surface roughness of 0.04 is used at the inlet. The simulated power production of each turbine is compared to the field data and large-eddy simulation. The overall power of the wind farm is well predicted. The simulation shows the significant decreases of the power for those turbines that were in the wake.

  18. Design of Rotating Moving-Magnet-Type VCM Actuator for Miniaturized Mobile Robot

    Energy Technology Data Exchange (ETDEWEB)

    Shin, Bu Hyun [Hanbat Nat' l Univ., Daejeon (Korea, Republic of); Lee, Seungyop [Sogana Univ., Seoul (Korea, Republic of); Lee, Kyungmin [Korean Intellectual Property Office, Seoul (Korea, Republic of); Oh, Dongho [Chungnam Nat' l Univ., Daejeon (Korea, Republic of)

    2013-12-15

    A voice coil actuator with a rotating moving magnet has been developed for a miniaturized mobile robot. The actuator has simple structure comprising a magnet, a coil, and a yoke. Actuator performance is predicted using a linearized theoretical model, and dynamic performance based on the air-gap between the magnet and the coil is predicted using motor constant and restoring constant obtained through finite element simulations. The theoretical model was verified using a prototype with 60 Hz resonance and 80 Hz bandwidth. We found that an input of 1.5 V can make the actuator rotate by 20 .deg. statically. The driving configuration of the proposed actuator can be simplified because of its implementation of open-loop control.

  19. 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

  20. Simple Smartphone-Based Guiding System for Visually Impaired People.

    Science.gov (United States)

    Lin, Bor-Shing; Lee, Cheng-Che; Chiang, Pei-Ying

    2017-06-13

    Visually impaired people are often unaware of dangers in front of them, even in familiar environments. Furthermore, in unfamiliar environments, such people require guidance to reduce the risk of colliding with obstacles. This study proposes a simple smartphone-based guiding system for solving the navigation problems for visually impaired people and achieving obstacle avoidance to enable visually impaired people to travel smoothly from a beginning point to a destination with greater awareness of their surroundings. In this study, a computer image recognition system and smartphone application were integrated to form a simple assisted guiding system. Two operating modes, online mode and offline mode, can be chosen depending on network availability. When the system begins to operate, the smartphone captures the scene in front of the user and sends the captured images to the backend server to be processed. The backend server uses the faster region convolutional neural network algorithm or the you only look once algorithm to recognize multiple obstacles in every image, and it subsequently sends the results back to the smartphone. The results of obstacle recognition in this study reached 60%, which is sufficient for assisting visually impaired people in realizing the types and locations of obstacles around them.

  1. Simple Smartphone-Based Guiding System for Visually Impaired People

    Directory of Open Access Journals (Sweden)

    Bor-Shing Lin

    2017-06-01

    Full Text Available Visually impaired people are often unaware of dangers in front of them, even in familiar environments. Furthermore, in unfamiliar environments, such people require guidance to reduce the risk of colliding with obstacles. This study proposes a simple smartphone-based guiding system for solving the navigation problems for visually impaired people and achieving obstacle avoidance to enable visually impaired people to travel smoothly from a beginning point to a destination with greater awareness of their surroundings. In this study, a computer image recognition system and smartphone application were integrated to form a simple assisted guiding system. Two operating modes, online mode and offline mode, can be chosen depending on network availability. When the system begins to operate, the smartphone captures the scene in front of the user and sends the captured images to the backend server to be processed. The backend server uses the faster region convolutional neural network algorithm or the you only look once algorithm to recognize multiple obstacles in every image, and it subsequently sends the results back to the smartphone. The results of obstacle recognition in this study reached 60%, which is sufficient for assisting visually impaired people in realizing the types and locations of obstacles around them.

  2. Nonlinear Analysis of Actuation Performance of Shape Memory Alloy Composite Film Based on Silicon Substrate

    Directory of Open Access Journals (Sweden)

    Shuangshuang Sun

    2014-01-01

    Full Text Available The mechanical model of the shape memory alloy (SMA composite film with silicon (Si substrate was established by the method of mechanics of composite materials. The coupled action between the SMA film and Si substrate under thermal loads was analyzed by combining static equilibrium equations, geometric equations, and physical equations. The material nonlinearity of SMA and the geometric nonlinearity of bending deformation were both considered. By simulating and analyzing the actuation performance of the SMA composite film during one cooling-heating thermal cycle, it is found that the final cooling temperature, boundary condition, and the thickness of SMA film have significant effects on the actuation performance of the SMA composite film. Besides, the maximum deflection of the SMA composite film is affected obviously by the geometric nonlinearity of bending deformation when the thickness of SMA film is very large.

  3. Capacitive sensing of droplets for microfluidic devices based on thermocapillary actuation

    OpenAIRE

    Chen, Jian Z.; Darhuber, Anton A.; Troian, Sandra M.; Wagner, Sigurd

    2004-01-01

    The design and performance of a miniaturized coplanar capacitive sensor is presented whose electrode arrays can also function as resistive microheaters for thermocapillary actuation of liquid films and droplets. Optimal compromise between large capacitive signal and high spatial resolution is obtained for electrode widths comparable to the liquid film thickness measured, in agreement with supporting numerical simulations which include mutual capacitance effects. An interdigitated, variable wi...

  4. Thermo-mechanical actuator-based miniature tagging module for localization in capsule endoscopy

    Science.gov (United States)

    Chandrappan, Jayakrishnan; Ruiqi, Lim; Su, Nandar; Yen Yi, Germaine Hoe; Vaidyanathan, Kripesh

    2011-04-01

    Capsule endoscopy is a frontline medical diagnostic tool for the gastro intestinal tract disorders. During diagnosis, efficient localization techniques are essential to specify a pathological area that may require further diagnosis or treatment. This paper presents the development of a miniature tagging module that relies on a novel concept to label the region of interest and has the potential to integrate with a capsule endoscope. The tagging module is a compact thermo-mechanical actuator loaded with a biocompatible micro tag. A low power microheater attached to the module serves as the thermal igniter for the mechanical actuator. At optimum temperature, the actuator releases the micro tag instantly and penetrates the mucosa layer of a GI tract, region of interest. Ex vivo animal trials are conducted to verify the feasibility of the tagging module concept. X-ray imaging is used to detect the location of the micro tag embedded in the GI tract wall. The method is successful, and radiopaque micro tags can provide valuable pre-operative position information on the infected area to facilitate further clinical procedures.

  5. A novel hybrid actuation mechanism based XY nanopositioning stage with totally decoupled kinematics

    Science.gov (United States)

    Zhu, Wu-Le; Zhu, Zhiwei; Guo, Ping; Ju, Bing-Feng

    2018-01-01

    This paper reports the design, analysis and testing of a parallel two degree-of-freedom piezo-actuated compliant stage for XY nanopositioning by introducing an innovative hybrid actuation mechanism. It mainly features the combination of two Scott-Russell and a half-bridge mechanisms for double-stage displacement amplification as well as moving direction modulation. By adopting the leaf-type double parallelogram (LTDP) structures at both input and output ends of the hybrid mechanism, the lateral stiffness and dynamic characteristics are significantly improved while the parasitic motions are greatly eliminated. The XY nanopositioning stage is constructed with two orthogonally configured hybrid mechanisms along with the LTDP mechanisms for totally decoupled kinematics at both input and output ends. An analytical model was established to describe the complete elastic deformation behavior of the stage, with further verification through the finite element simulation. Finally, experiments were implemented to comprehensively evaluate both the static and dynamic performances of the proposed stage. Closed-loop control of the piezoelectric actuators (PEA) by integrating strain gauges was also conducted to effectively eliminate the nonlinear hysteresis of the stage.

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

    Directory of Open Access Journals (Sweden)

    Shu-Hung Liu

    2009-12-01

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

  7. A Multi-Agent-Based Intelligent Sensor and Actuator Network Design for Smart House and Home Automation

    Directory of Open Access Journals (Sweden)

    Fei Hu

    2013-08-01

    Full Text Available The smart-house technology aims to increase home automation and security with reduced energy consumption. A smart house consists of various intelligent sensors and actuators operating on different platforms with conflicting objectives. This paper proposes a multi-agent system (MAS design framework to achieve smart house automation. The novelties of this work include the developments of (1 belief, desire and intention (BDI agent behavior models; (2 a regulation policy-based multi-agent collaboration mechanism; and (3 a set of metrics for MAS performance evaluation. Simulations of case studies are performed using the Java Agent Development Environment (JADE to demonstrate the advantages of the proposed method.

  8. A FEM-Experimental Approach for the Development of a Conceptual Linear Actuator Based on Tendril’s Free Coiling

    Directory of Open Access Journals (Sweden)

    Luca Cortese

    2017-01-01

    Full Text Available Within the vastness of the plant species, certain living systems show tendril structures whose motion is of particular interest for biomimetic engineers. Tendrils sense and coil around suitable grips, and by shortening in length, they erect the remaining plant body. To achieve contraction, tendrils rotate along their main axis and shift from a linear to a double-spring geometry. This phenomenon is denoted as the free-coiling phase. In this work, with the aim of understanding the fundamentals of the mechanics behind the free coiling, a reverse-engineering approach based on the finite element method was firstly applied. The model consisted of an elongated cylinder with suitable material properties, boundary, and loading conditions, in order to reproduce the kinematics of the tendril. The simulation succeeded in mimicking coiling faithfully and was therefore used to validate a tentative linear actuator model based on the plant’s working principle. More in detail, exploiting shape memory alloy materials to obtain large reversible deformations, the main tendril features were implemented into a nickel-titanium spring-based testing model. The results of the experimental tests confirmed the feasibility of the idea in terms of both functioning principles and actual performance. It can be concluded that the final set-up can be used as a base for a prototype design of a new kind of a linear actuator.

  9. Thermally Actuated Hydraulic Pumps

    Science.gov (United States)

    Jones, Jack; Ross, Ronald; Chao, Yi

    2008-01-01

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

  10. Comparison of Simple Versus Performance-Based Fall Prediction Models

    Directory of Open Access Journals (Sweden)

    Shekhar K. Gadkaree BS

    2015-05-01

    Full Text Available Objective: To compare the predictive ability of standard falls prediction models based on physical performance assessments with more parsimonious prediction models based on self-reported data. Design: We developed a series of fall prediction models progressing in complexity and compared area under the receiver operating characteristic curve (AUC across models. Setting: National Health and Aging Trends Study (NHATS, which surveyed a nationally representative sample of Medicare enrollees (age ≥65 at baseline (Round 1: 2011-2012 and 1-year follow-up (Round 2: 2012-2013. Participants: In all, 6,056 community-dwelling individuals participated in Rounds 1 and 2 of NHATS. Measurements: Primary outcomes were 1-year incidence of “ any fall ” and “ recurrent falls .” Prediction models were compared and validated in development and validation sets, respectively. Results: A prediction model that included demographic information, self-reported problems with balance and coordination, and previous fall history was the most parsimonious model that optimized AUC for both any fall (AUC = 0.69, 95% confidence interval [CI] = [0.67, 0.71] and recurrent falls (AUC = 0.77, 95% CI = [0.74, 0.79] in the development set. Physical performance testing provided a marginal additional predictive value. Conclusion: A simple clinical prediction model that does not include physical performance testing could facilitate routine, widespread falls risk screening in the ambulatory care setting.

  11. Prediction of potential drug targets based on simple sequence properties

    Directory of Open Access Journals (Sweden)

    Lai Luhua

    2007-09-01

    Full Text Available Abstract Background During the past decades, research and development in drug discovery have attracted much attention and efforts. However, only 324 drug targets are known for clinical drugs up to now. Identifying potential drug targets is the first step in the process of modern drug discovery for developing novel therapeutic agents. Therefore, the identification and validation of new and effective drug targets are of great value for drug discovery in both academia and pharmaceutical industry. If a protein can be predicted in advance for its potential application as a drug target, the drug discovery process targeting this protein will be greatly speeded up. In the current study, based on the properties of known drug targets, we have developed a sequence-based drug target prediction method for fast identification of novel drug targets. Results Based on simple physicochemical properties extracted from protein sequences of known drug targets, several support vector machine models have been constructed in this study. The best model can distinguish currently known drug targets from non drug targets at an accuracy of 84%. Using this model, potential protein drug targets of human origin from Swiss-Prot were predicted, some of which have already attracted much attention as potential drug targets in pharmaceutical research. Conclusion We have developed a drug target prediction method based solely on protein sequence information without the knowledge of family/domain annotation, or the protein 3D structure. This method can be applied in novel drug target identification and validation, as well as genome scale drug target predictions.

  12. Modeling of an ionic polymer metal composite actuator based on an extended Kalman filter trained neural network

    International Nuclear Information System (INIS)

    Truong, Dinh Quang; Ahn, Kyoung Kwan

    2014-01-01

    An ion polymer metal composite (IPMC) is an electroactive polymer that bends in response to a small applied electric field as a result of mobility of cations in the polymer network and vice versa. This paper presents an innovative and accurate nonlinear black-box model (NBBM) for estimating the bending behavior of IPMC actuators. The model is constructed via a general multilayer perceptron neural network (GMLPNN) integrated with a smart learning mechanism (SLM) that is based on an extended Kalman filter with self-decoupling ability (SDEKF). Here the GMLPNN is built with an ability to autoadjust its structure based on its characteristic vector. Furthermore, by using the SLM based on the SDEKF, the GMLPNN parameters are optimized with small computational effort, and the modeling accuracy is improved. An apparatus employing an IPMC actuator is first set up to investigate the IPMC characteristics and to generate the data for training and validating the model. The advanced NBBM model for the IPMC system is then created with the proper inputs to estimate IPMC tip displacement. Next, the model is optimized using the SLM mechanism with the training data. Finally, the optimized NBBM model is verified with the validating data. A comparison between this model and the previously developed model is also carried out to prove the effectiveness of the proposed modeling technique. (paper)

  13. 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

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

    OpenAIRE

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

    2017-01-01

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

  15. Towards a model-based development approach for wireless sensor-actuator network protocols

    DEFF Research Database (Denmark)

    Kumar S., A. Ajith; Simonsen, Kent Inge

    2014-01-01

    Model-Driven Software Engineering (MDSE) is a promising approach for the development of applications, and has been well adopted in the embedded applications domain in recent years. Wireless Sensor Actuator Networks consisting of resource constrained hardware and platformspecific operating system...... induced due to manual translations. With the use of formal semantics in the modeling approach, we can further ensure the correctness of the source model by means of verification. Also, with the use of network simulators and formal modeling tools, we obtain a verified and validated model to be used...

  16. 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.

  17. Simple Crosscutting Concerns Are Not So Simple : Analysing Variability in Large-Scale Idioms-Based Implementations

    NARCIS (Netherlands)

    Bruntink, M.; Van Deursen, A.; d’Hondt, M.; Tourwé, T.

    2007-01-01

    This paper describes a method for studying idioms-based implementations of crosscutting concerns, and our experiences with it in the context of a real-world, large-scale embedded software system. In particular, we analyse a seemingly simple concern, tracing, and show that it exhibits significant

  18. "Shape function + memory mechanism"-based hysteresis modeling of magnetorheological fluid actuators

    Science.gov (United States)

    Qian, Li-Jun; Chen, Peng; Cai, Fei-Long; Bai, Xian-Xu

    2018-03-01

    A hysteresis model based on "shape function + memory mechanism" is presented and its feasibility is verified through modeling the hysteresis behavior of a magnetorheological (MR) damper. A hysteresis phenomenon in resistor-capacitor (RC) circuit is first presented and analyzed. In the hysteresis model, the "memory mechanism" originating from the charging and discharging processes of the RC circuit is constructed by adopting a virtual displacement variable and updating laws for the reference points. The "shape function" is achieved and generalized from analytical solutions of the simple semi-linear Duhem model. Using the approach, the memory mechanism reveals the essence of specific Duhem model and the general shape function provides a direct and clear means to fit the hysteresis loop. In the frame of the structure of a "Restructured phenomenological model", the original hysteresis operator, i.e., the Bouc-Wen operator, is replaced with the new hysteresis operator. The comparative work with the Bouc-Wen operator based model demonstrates superior performances of high computational efficiency and comparable accuracy of the new hysteresis operator-based model.

  19. Hybrid nanocomposites based on electroactive hydrogels and cellulose nanocrystals for high-sensitivity electro-mechanical underwater actuation

    Science.gov (United States)

    Santaniello, Tommaso; Migliorini, Lorenzo; Locatelli, Erica; Monaco, Ilaria; Yan, Yunsong; Lenardi, Cristina; Comes Franchini, Mauro; Milani, Paolo

    2017-08-01

    We report the synthesis, fabrication and characterization of a hybrid hydrogel/cellulose nanocomposite, which exhibits high-performance electro-mechanical underwater actuation and high sensitivity in response to electrical stimuli below the standard potential of water electrolysis. The macromolecular structure of the material is constituted by an electroactive hydrogel, obtained through a photo-polymerization reaction with the use of three vinylic co-monomers: Na-4-vinylbenzenesulfonate, 2-hydroxyethylmethacrylate, and acrylonitrile. Different amounts (from 0.1% to 1.4% w/w) of biodegradable cellulose nanocrystals (CNCs) with sulfonate surface groups, obtained through the acidic hydrolysis of sulphite pulp lapsheets, are physically incorporated into the gel matrix during the synthesis step. Freestanding thin films of the nanocomposites are molded, and their swelling, mechanical and responsive properties are fully characterized. We observed that the embedding of the CNCs enhanced both the material Young’s modulus and its sensitivity to the applied electric field in the sub-volt regime (down to 5 mV cm-1). A demonstrator integrating multiple actuators that cooperatively bend together, mimicking the motion of an electro-valve, is also prototyped and tested. The presented nanocomposite is suitable for the development of soft smart components for bio-robotic applications and cells-based and bio-hybrid fluidic devices fabrication.

  20. 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

  1. 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)

  2. Firewater system inadvertent actuation frequencies

    International Nuclear Information System (INIS)

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

    1993-01-01

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

  3. Silicon-based micromembranes with piezoelectric actuation and piezoresistive detection for sensing purposes in liquid media

    International Nuclear Information System (INIS)

    Alava, T; Mathieu, F; Mazenq, L; Nicu, L; Soyer, C; Remiens, D

    2010-01-01

    In this paper, the authors report for the first time the physical cointegration of piezoelectric actuation and piezoresistive detection on resonating micromembranes dedicated to microgravimetric biosensing applications. The micromembranes are oscillated by a reverse piezoelectric phenomenon provided by a PbZr x Ti 1−x O 3 46/54 thin layer. The oscillation amplitudes are read-out by measuring the resistance change of piezoresistors precisely located on the clamped edges of each micromembrane. The detection of the micromembranes' resonant frequencies is reported in air and deionized water. A dedicated electronic set-up operating the micromembranes in a closed-loop configuration is described. The set-up enables multiplexed tracking of four micromembranes' resonant frequencies in liquid media while enhancing the corresponding quality factors' values. Increases up to 11-fold of the micromembranes' quality factors in liquid is reported for the (0,1) vibration mode. A quality factor of up to 417 is reported in fluid.

  4. Optimization Method of Intersection Signal Coordinated Control Based on Vehicle Actuated Model

    Directory of Open Access Journals (Sweden)

    Chen Zhao-Meng

    2015-01-01

    Full Text Available Traditional timing green wave control with predetermined cycle, split, and offset cannot adapt for dynamic real-time traffic flow. This paper proposes a coordinated control method for variable cycle time green wave bandwidth optimization integrated with traffic-actuated control. In the coordinated control, green split is optimized in real time by the measured presence of arriving and/or standing vehicles in each intersection and simultaneously green waves along arterials are guaranteed. Specifically, the dynamic bound of green wave is firstly determined, and then green early-start and green late-start algorithms are presented respectively to accommodate the fluctuations in vehicle arrival rates in each phase. Numerical examples show that the proposed method improves green time, expands green wave bandwidth, and reduces queuing.

  5. MEMS-based thermally-actuated image stabilizer for cellular phone camera

    International Nuclear Information System (INIS)

    Lin, Chun-Ying; Chiou, Jin-Chern

    2012-01-01

    This work develops an image stabilizer (IS) that is fabricated using micro-electro-mechanical system (MEMS) technology and is designed to counteract the vibrations when human using cellular phone cameras. The proposed IS has dimensions of 8.8 × 8.8 × 0.3 mm 3 and is strong enough to suspend an image sensor. The processes that is utilized to fabricate the IS includes inductive coupled plasma (ICP) processes, reactive ion etching (RIE) processes and the flip-chip bonding method. The IS is designed to enable the electrical signals from the suspended image sensor to be successfully emitted out using signal output beams, and the maximum actuating distance of the stage exceeds 24.835 µm when the driving current is 155 mA. Depending on integration of MEMS device and designed controller, the proposed IS can decrease the hand tremor by 72.5%. (paper)

  6. Context-Based Filtering for Assisted Brain-Actuated Wheelchair Driving

    Directory of Open Access Journals (Sweden)

    Gerolf Vanacker

    2007-01-01

    Full Text Available Controlling a robotic device by using human brain signals is an interesting and challenging task. The device may be complicated to control and the nonstationary nature of the brain signals provides for a rather unstable input. With the use of intelligent processing algorithms adapted to the task at hand, however, the performance can be increased. This paper introduces a shared control system that helps the subject in driving an intelligent wheelchair with a noninvasive brain interface. The subject's steering intentions are estimated from electroencephalogram (EEG signals and passed through to the shared control system before being sent to the wheelchair motors. Experimental results show a possibility for significant improvement in the overall driving performance when using the shared control system compared to driving without it. These results have been obtained with 2 healthy subjects during their first day of training with the brain-actuated wheelchair.

  7. Capacitive sensing of droplets for microfluidic devices based on thermocapillary actuation.

    Science.gov (United States)

    Chen, Jian Z; Darhuber, Anton A; Troian, Sandra M; Wagner, Sigurd

    2004-10-01

    The design and performance of a miniaturized coplanar capacitive sensor is presented whose electrode arrays can also function as resistive microheaters for thermocapillary actuation of liquid films and droplets. Optimal compromise between large capacitive signal and high spatial resolution is obtained for electrode widths comparable to the liquid film thickness measured, in agreement with supporting numerical simulations which include mutual capacitance effects. An interdigitated, variable width design, allowing for wider central electrodes, increases the capacitive signal for liquid structures with non-uniform height profiles. The capacitive resolution and time response of the current design is approximately 0.03 pF and 10 ms, respectively, which makes possible a number of sensing functions for nanoliter droplets. These include detection of droplet position, size, composition or percentage water uptake for hygroscopic liquids. Its rapid response time allows measurements of the rate of mass loss in evaporating droplets.

  8. Alpha-particle detection based on the BJT detector and simple, IC-based readout electronics

    Energy Technology Data Exchange (ETDEWEB)

    Rovati, L; Bonaiuti, M [Dipartimento di Ingegneria dell' Informazione, Universita di Modena e Reggio Emilia, Modena (Italy); Bettarini, S [Dipartimento di Fisica, Universita di Pisa and INFN Pisa, Pisa (Italy); Bosisio, L [Dipartimento di Fisica, Universita di Trieste and INFN Trieste, Trieste (Italy); Dalla Betta, G-F; Tyzhnevyi, V [Dipartimento di Ingegneria e Scienza dell' Informazione, Universita di Trento e INFN Trento, Trento (Italy); Verzellesi, G [Dipartimento di Scienze e Metodi dell' Ingegneria, Universita di Modena e Reggio Emilia and INFN Trento, Reggio Emilia (Italy); Zorzi, N, E-mail: giovanni.verzellesi@unimore.i [Fondazione Bruno Kessler (FBK), Trento (Italy)

    2009-11-15

    In this paper we propose a portable instrument for alpha-particle detection based on a previously-developed BJT detector and a simple, IC-based readout electronics. Experimental tests of the BJT detector and readout electronics are reported. Numerical simulations are adopted to predict the performance enhancement achievable with optimized BJT detectors.

  9. Alpha-particle detection based on the BJT detector and simple, IC-based readout electronics

    International Nuclear Information System (INIS)

    Rovati, L; Bonaiuti, M; Bettarini, S; Bosisio, L; Dalla Betta, G-F; Tyzhnevyi, V; Verzellesi, G; Zorzi, N

    2009-01-01

    In this paper we propose a portable instrument for alpha-particle detection based on a previously-developed BJT detector and a simple, IC-based readout electronics. Experimental tests of the BJT detector and readout electronics are reported. Numerical simulations are adopted to predict the performance enhancement achievable with optimized BJT detectors.

  10. Simple sequence repeat (SSR)-based genetic variability among ...

    African Journals Online (AJOL)

    The objective of this study was to compare if simple sequence repeat (SSR) markers could correctly identify peanut genotypes with difference in specific leaf weight (SLW) and relative water content (RWC). Four peanut genotypes and two water regimes (FC and 1/3 available water; 1/3 AW) were arranged in factorial ...

  11. Epoxy-Based Shape-Memory Actuators Obtained via Dual-Curing of Off-Stoichiometric “Thiol–Epoxy” Mixtures

    Directory of Open Access Journals (Sweden)

    Alberto Belmonte

    2017-03-01

    Full Text Available In this work, epoxy-based shape-memory actuators have been developed by taking advantage of the sequential dual-curing of off-stoichiometric “thiol–epoxy” systems. Bent-shaped designs for flexural actuation were obtained thanks to the easy processing of these materials in the intermediate stage (after the first curing process, and successfully fixed through the second curing process. The samples were programmed into a flat temporary-shape and the recovery-process was analyzed in unconstrained, partially-constrained and fully-constrained conditions using a dynamic mechanical analyzer (DMA. Different “thiol–epoxy” systems and off-stoichiometric ratios were used to analyze the effect of the network structure on the actuation performance. The results evidenced the possibility to take advantage of the flexural recovery as a potential actuator, the operation of which can be modulated by changing the network structure and properties of the material. Under unconstrained-recovery conditions, faster and narrower recovery-processes (an average speed up to 80%/min are attained by using materials with homogeneous network structure, while in partially- or fully-constrained conditions, a higher crosslinking density and the presence of crosslinks of higher functionality lead to a higher amount of energy released during the recovery-process, thus, increasing the work or the force released. Finally, an easy approach for the prediction of the work released by the shape-memory actuator has been proposed.

  12. A New Simple Chaotic Circuit Based on Memristor

    Science.gov (United States)

    Wu, Renping; Wang, Chunhua

    In this paper, a new memristor is proposed, and then an emulator built from off-the-shelf solid state components imitating the behavior of the proposed memristor is presented. Multisim simulation and breadboard experiment are done on the emulator, exhibiting a pinched hysteresis loop in the voltage-current plane when the emulator is driven by a periodic excitation voltage. In addition, a new simple chaotic circuit is designed by using the proposed memristor and other circuit elements. It is exciting that this circuit with only a linear negative resistor, a capacitor, an inductor and a memristor can generate a chaotic attractor. The dynamical behaviors of the proposed chaotic system are analyzed by Lyapunov exponents, phase portraits and bifurcation diagrams. Finally, an electronic circuit is designed to implement the chaotic system. For the sake of simple circuit topology, the proposed chaotic circuit can be easily manufactured at low cost.

  13. A Simple Square Rooting Circuit Based on Operational Amplifiers (OPAMPs

    Directory of Open Access Journals (Sweden)

    K. C. Selvam

    2013-02-01

    Full Text Available A simple circuit which accepts a negative voltage as input and provides an output voltage equal to the square root of the input voltage is described in this paper. The square rooting operation is dependent only on the ratio of two resistors and a DC voltage. Hence, the required accuracy can be obtained by employing precision resistors and a stable reference voltage. The feasibility of the circuit is examined by testing the results on a proto type.

  14. Dynamic pull-in instability of geometrically nonlinear actuated micro-beams based on the modified couple stress theory

    Directory of Open Access Journals (Sweden)

    Hamid M. Sedighi

    Full Text Available This paper investigates the dynamic pull-in instability of vibrating micro-beams undergoing large deflection under electrosatically actuation. The governing equation of motion is derived based on the modified couple stress theory. Homotopy Perturbation Method is employed to produce the high accuracy approximate solution as well as the second-order frequency- amplitude relationship. The nonlinear governing equation of micro beam vibrations predeformed by an electric field includes both even and odd nonlinearities. The influences of basic non-dimensional parameters on the pull-in instability as well as the natural frequency are studied. It is demonstrated that two terms in series expansions are sufficient to produce high accuracy solution of the micro-structure. The accuracy of proposed asymptotic approach is validated via numerical results. The phase portrait of the system exhibits periodic and homoclinic orbits.

  15. Improvement of fatigue resistance for multilayer lead zirconate titanate (PZT)-based ceramic actuators by external mechanical loads

    Science.gov (United States)

    Yang, Gang; Yue, Zhenxing; Ji, Ye; Chu, Xiangcheng; Li, Longtu

    2008-12-01

    The influence of external compressive loads, applied along a direction perpendicular to polarization, on fatigue behaviors of multilayer lead zirconate titanate (PZT)-based ceramic actuators was investigated. Under no external mechanical load, a normal fatigue behavior was observed, demonstrating that both switching polarization (Pswitching) and remnant polarization (Pr) progressively decreased with increasing switching cycles due to domain pinning by charge point defects. However, an anomalous enhancement in both switching and remnant polarizations was observed upon application of the external compressive loads. After 5×106 cycles of polarization switching, Pswitching and Pr increase by about 13% and 6% at 40 MPa, respectively, while Pswitching and Pr increase by about 11% and 21% at 60 MPa, respectively. The improvement of fatigue resistance can be attributed to non-180° domain switching and suppression of microcracking, triggered by external mechanical loads.

  16. Ion-Selective Ionic Polymer Metal Composite (IPMC) actuator based on crown ether containing sulfonated Poly(Arylene Ether Ketone)

    NARCIS (Netherlands)

    Tas, S.; Zoetebier, B.; Sukas, O.S.; Bayraktar, M.; Hempenius, M.; Vancso, G.J.; Nijmeijer, K.

    2017-01-01

    This study introduces the concept of ion selective actuation in polymer metal composite actuators, employing crown ether bearing aromatic polyether materials. For this purpose, sulfonated poly(arylene ether ketone) (SPAEK) and crown ether containing SPAEK with molar masses suitable for membrane

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

    International Nuclear Information System (INIS)

    Nam, Doan Ngoc Chi; Ahn, Kyoung Kwan

    2014-01-01

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

  18. Development of a non-explosive release actuator using shape memory alloy wire.

    Science.gov (United States)

    Yoo, Young Ik; Jeong, Ju Won; Lim, Jae Hyuk; Kim, Kyung-Won; Hwang, Do-Soon; Lee, Jung Ju

    2013-01-01

    We have developed a newly designed non-explosive release actuator that can replace currently used release devices. The release mechanism is based on a separation mechanism, which relies on segmented nuts and a shape memory alloy (SMA) wire trigger. A quite fast and simple trigger operation is made possible through the use of SMA wire. This actuator is designed to allow a high preload with low levels of shock for the solar arrays of medium-size satellites. After actuation, the proposed device can be easily and instantly reset. Neither replacement, nor refurbishment of any components is necessary. According to the results of a performance test, the release time, preload capacity, and maximum shock level are 50 ms, 15 kN, and 350 G, respectively. In order to increase the reliability of the actuator, more than ten sets of performance tests are conducted. In addition, the proposed release actuator is tested under thermal vacuum and extreme vibration environments. No degradation or damage was observed during the two environment tests, and the release actuator was able to operate successfully. Considering the test results as a whole, we conclude that the proposed non-explosive release actuator can be applied reliably to intermediate-size satellites to replace existing release systems.

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

    KAUST Repository

    Ruzziconi, Laura

    2017-11-03

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

  20. Adaptive observer-based control for an IPMC actuator under varying humidity conditions

    Science.gov (United States)

    Bernat, Jakub; Kolota, Jakub

    2018-05-01

    As ionic polymer metal composites (IPMC) are increasingly applied to mechatronic systems, many new IPMC modeling efforts have been reported in the literature. The demands of rapidly growing technology has generated interest in advancing the intrinsic actuation and sensing capabilities of IPMC. Classical IPMC applications need constant hydration to operate. On the other hand, for IPMCs operating in air, the water content of the polymer varies with the humidity level of the ambient environment, which leads to its strong humidity-dependent behavior. Furthermore, decreasing water content over time plays a crucial role in the effectiveness of IPMC. Therefore, the primary challenge of this work is to accurately model this phenomenon. The principal contribution of the paper is a new IPMC model, which considers the change of moisture content. A novel nonlinear adaptive observer is designed to determine the unknown electric potential and humidity level in the polymer membrane. This approach effectively determines the moisture content of the IPMC during long-term continuous operation in air. This subsequently allows us to develop an effective back-stepping control algorithm that considers varying moisture content. Data from experiments are presented to support the effectiveness of the observation process, which is shown in illustrative examples.

  1. Dielectric Actuation of Polymers

    Science.gov (United States)

    Niu, Xiaofan

    in tactile display is investigated by the prototyping of a large scale refreshable Braille display device. Braille is a critical way for the vision impaired community to learn literacy and improve life quality. Current piezoelectrics-based refreshable Braille display technologies are limited to up to 1 line of Braille text, due to the bulky size of bimorph actuators. Based on the unique actuation feature of BSEP, refreshable Braille display devices up to smartphone-size have been demonstrated by polymer sheet laminates. Dots in the devices can be individually controlled via incorporated field-driven BSEP actuators and Joule heater units. A composite material consisting of silver nanowires (AgNW) embedded in a polymer substrate is brought up as a compliant electrode candidate for BSEP application. The AgNW composite is highly conductive (Rs: 10 Ω/sq) and remains conductive at strains as high as 140% (Rs: <10 3 Ω/sq). The baseline conductivity has only small changes up to 90% strain, which makes it low enough for both field driving and stretchable Joule heating. An out-of-plane bistable area strain up to 68% under Joule heating is achieved.

  2. A micro-optical system for endoscopy based on mechanical compensation paradigm using miniature piezo-actuation.

    Science.gov (United States)

    Cerveri, Pietro; Zazzarini, Cynthia Corinna; Patete, Paolo; Baroni, Guido

    2014-06-01

    The goal of the study was to investigate the feasibility of a novel miniaturized optical system for endoscopy. Fostering the mechanical compensation paradigm, the modeled optical system, composed by 14 lenses, separated in 4 different sets, had a total length of 15.55mm, an effective focal length ranging from 1.5 to 4.5mm with a zoom factor of about 2.8×, and an angular field of view up to 56°. Predicted maximum lens travel was less than 3.5mm. The consistency of the image plane height across the magnification range testified the zoom capability. The maximum predicted achromatic astigmatism, transverse spherical aberration, longitudinal spherical aberration and relative distortion were less than or equal to 25μm, 15μm, 35μm and 12%, respectively. Tests on tolerances showed that the manufacturing and opto-mechanics mounting are critical as little deviations from design dramatically decrease the optical performances. However, recent micro-fabrication technology can guarantee tolerances close to nominal design. A closed-loop actuation unit, devoted to move the zoom and the focus lens sets, was implemented adopting miniaturized squiggle piezo-motors and magnetic position encoders based on Hall effect. Performance results, using a prototypical test board, showed a positioning accuracy of less than 5μm along a lens travel path of 4.0mm, which was in agreement with the lens set motion features predicted by the analysis. In conclusion, this study demonstrated the feasibility of the optical design and the viability of the actuation approach while tolerances must be carefully taken into account. Copyright © 2014 IPEM. Published by Elsevier Ltd. All rights reserved.

  3. Piezoelectric actuator based phase locking system to improve the dynamics of the control scheme for a heavy ion superconducting linac

    Energy Technology Data Exchange (ETDEWEB)

    Sahu, B.K., E-mail: bhuban@iuac.res.in [Inter University Accelerator Centre (IUAC), Aruna Asaf Ali Marg, New Delhi – 110 067 (India); Ahuja, R.; Kumar, Rajesh; Suman, S.K.; Mathuria, D.S.; Rai, A.; Patra, P.; Pandey, A.; Karmakar, J.; Chowdhury, G.K.; Dutt, R.N. [Inter University Accelerator Centre (IUAC), Aruna Asaf Ali Marg, New Delhi – 110 067 (India); Joshi, G. [Electronics Division, Bhabha Atomic Research Centre, Mumbai – 400 085 (India); Ghosh, S.; Kanjilal, D.; Roy, A. [Inter University Accelerator Centre (IUAC), Aruna Asaf Ali Marg, New Delhi – 110 067 (India)

    2015-03-21

    The superconducting heavy ion linear accelerator at Inter-University Accelerator Centre Delhi has been in operation since 2007. Initially, the superconducting niobium Quarter Wave Resonators (QWRs) in the linac were phase locked using a combination of electronic and mechanical controls which operated in fast (~10 μsec) and slow (~sec) time scales respectively. In this scheme, fast control was achieved through dynamic phase control whereas slow control of the frequency was done through the niobium tuner bellows installed at the drift tube end of the resonator and flexed using helium gas to change the resonance frequency. In order to improve the dynamics of this control system, an alternate scheme using piezoelectric actuator, instead of helium gas, to flex the same niobium bellows, has been implemented in the QWRs of the second and third accelerating modules of the linac. The piezoelectric actuator is used in closed loop along with the fast dynamic phase control scheme. The feedback loop of the piezoelectric control includes a dual control scheme - an integral control loop to arrest the slow drift, and the positive position feedback (PPF) based control loop to damp the microphonics. This control scheme has been found to arrest slow drifts in the resonator frequency more tightly along with damping of low frequency microphonics (~few tens of Hz) picked up by the resonator from its surrounding environment. This has substantially eased the load from the fast electronic control, resulting in the reduction of the radio frequency (RF) power requirement during operation. In addition, it has improved the stability of phase and amplitude of the QWRs. The details of the new scheme along with results obtained during the online run of the linac for beam acceleration are presented.

  4. Flight control actuation system

    Science.gov (United States)

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

    2006-01-01

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

  5. Direct Georeferencing of Uav Data Based on Simple Building Structures

    Science.gov (United States)

    Tampubolon, W.; Reinhardt, W.

    2016-06-01

    Unmanned Aerial Vehicle (UAV) data acquisition is more flexible compared with the more complex traditional airborne data acquisition. This advantage puts UAV platforms in a position as an alternative acquisition method in many applications including Large Scale Topographical Mapping (LSTM). LSTM, i.e. larger or equal than 1:10.000 map scale, is one of a number of prominent priority tasks to be solved in an accelerated way especially in third world developing countries such as Indonesia. As one component of fundamental geospatial data sets, large scale topographical maps are mandatory in order to enable detailed spatial planning. However, the accuracy of the products derived from the UAV data are normally not sufficient for LSTM as it needs robust georeferencing, which requires additional costly efforts such as the incorporation of sophisticated GPS Inertial Navigation System (INS) or Inertial Measurement Unit (IMU) on the platform and/or Ground Control Point (GCP) data on the ground. To reduce the costs and the weight on the UAV alternative solutions have to be found. This paper outlines a direct georeferencing method of UAV data by providing image orientation parameters derived from simple building structures and presents results of an investigation on the achievable results in a LSTM application. In this case, the image orientation determination has been performed through sequential images without any input from INS/IMU equipment. The simple building structures play a significant role in such a way that geometrical characteristics have been considered. Some instances are the orthogonality of the building's wall/rooftop and the local knowledge of the building orientation in the field. In addition, we want to include the Structure from Motion (SfM) approach in order to reduce the number of required GCPs especially for the absolute orientation purpose. The SfM technique applied to the UAV data and simple building structures additionally presents an effective tool

  6. DIRECT GEOREFERENCING OF UAV DATA BASED ON SIMPLE BUILDING STRUCTURES

    Directory of Open Access Journals (Sweden)

    W. Tampubolon

    2016-06-01

    Full Text Available Unmanned Aerial Vehicle (UAV data acquisition is more flexible compared with the more complex traditional airborne data acquisition. This advantage puts UAV platforms in a position as an alternative acquisition method in many applications including Large Scale Topographical Mapping (LSTM. LSTM, i.e. larger or equal than 1:10.000 map scale, is one of a number of prominent priority tasks to be solved in an accelerated way especially in third world developing countries such as Indonesia. As one component of fundamental geospatial data sets, large scale topographical maps are mandatory in order to enable detailed spatial planning. However, the accuracy of the products derived from the UAV data are normally not sufficient for LSTM as it needs robust georeferencing, which requires additional costly efforts such as the incorporation of sophisticated GPS Inertial Navigation System (INS or Inertial Measurement Unit (IMU on the platform and/or Ground Control Point (GCP data on the ground. To reduce the costs and the weight on the UAV alternative solutions have to be found. This paper outlines a direct georeferencing method of UAV data by providing image orientation parameters derived from simple building structures and presents results of an investigation on the achievable results in a LSTM application. In this case, the image orientation determination has been performed through sequential images without any input from INS/IMU equipment. The simple building structures play a significant role in such a way that geometrical characteristics have been considered. Some instances are the orthogonality of the building’s wall/rooftop and the local knowledge of the building orientation in the field. In addition, we want to include the Structure from Motion (SfM approach in order to reduce the number of required GCPs especially for the absolute orientation purpose. The SfM technique applied to the UAV data and simple building structures additionally presents an

  7. Soft Pneumatic Actuators for Rehabilitation

    Directory of Open Access Journals (Sweden)

    Guido Belforte

    2014-05-01

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

  8. The curvature calculation mechanism based on simple cell model.

    Science.gov (United States)

    Yu, Haiyang; Fan, Xingyu; Song, Aiqi

    2017-07-20

    A conclusion has not yet been reached on how exactly the human visual system detects curvature. This paper demonstrates how orientation-selective simple cells can be used to construct curvature-detecting neural units. Through fixed arrangements, multiple plurality cells were constructed to simulate curvature cells with a proportional output to their curvature. In addition, this paper offers a solution to the problem of narrow detection range under fixed resolution by selecting an output value under multiple resolution. Curvature cells can be treated as concrete models of an end-stopped mechanism, and they can be used to further understand "curvature-selective" characteristics and to explain basic psychophysical findings and perceptual phenomena in current studies.

  9. Fast bender actuators for fish-like aquatic robots

    Science.gov (United States)

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

    2008-03-01

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

  10. Magnetic quantum tunneling: insights from simple molecule-based magnets.

    Science.gov (United States)

    Hill, Stephen; Datta, Saiti; Liu, Junjie; Inglis, Ross; Milios, Constantinos J; Feng, Patrick L; Henderson, John J; del Barco, Enrique; Brechin, Euan K; Hendrickson, David N

    2010-05-28

    This perspectives article takes a broad view of the current understanding of magnetic bistability and magnetic quantum tunneling in single-molecule magnets (SMMs), focusing on three families of relatively simple, low-nuclearity transition metal clusters: spin S = 4 Ni(II)(4), Mn(III)(3) (S = 2 and 6) and Mn(III)(6) (S = 4 and 12). The Mn(III) complexes are related by the fact that they contain triangular Mn(III)(3) units in which the exchange may be switched from antiferromagnetic to ferromagnetic without significantly altering the coordination around the Mn(III) centers, thereby leaving the single-ion physics more-or-less unaltered. This allows for a detailed and systematic study of the way in which the individual-ion anisotropies project onto the molecular spin ground state in otherwise identical low- and high-spin molecules, thus providing unique insights into the key factors that control the quantum dynamics of SMMs, namely: (i) the height of the kinetic barrier to magnetization relaxation; and (ii) the transverse interactions that cause tunneling through this barrier. Numerical calculations are supported by an unprecedented experimental data set (17 different compounds), including very detailed spectroscopic information obtained from high-frequency electron paramagnetic resonance and low-temperature hysteresis measurements. Comparisons are made between the giant spin and multi-spin phenomenologies. The giant spin approach assumes the ground state spin, S, to be exact, enabling implementation of simple anisotropy projection techniques. This methodology provides a basic understanding of the concept of anisotropy dilution whereby the cluster anisotropy decreases as the total spin increases, resulting in a barrier that depends weakly on S. This partly explains why the record barrier for a SMM (86 K for Mn(6)) has barely increased in the 15 years since the first studies of Mn(12)-acetate, and why the tiny Mn(3) molecule can have a barrier approaching 60% of this

  11. New Design of a Soft Robotics Wearable Elbow Exoskeleton Based on Shape Memory Alloy Wire Actuators

    OpenAIRE

    Copaci, Dorin; Cano, Enrique; Moreno, Luis; Blanco, Dolores

    2017-01-01

    The elbow joint is a complex articulation composed of the humeroulnar and humeroradial joints (for flexion-extension movement) and the proximal radioulnar articulation (for pronation-supination movement). During the flexion-extension movement of the elbow joint, the rotation center changes and this articulation cannot be truly represented as a simple hinge joint. The main goal of this project is to design and assemble a medical rehabilitation exoskeleton for the elbow with one degree of freed...

  12. 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.

  13. Anisotropic D-EAP Electrodes and their Application in Spring Roll Actuators

    Science.gov (United States)

    Fang, Xiaomeng

    Electroactive polymers (EAPs) exhibit shape change when subjected to an electric field. They are lightweight, soft, and inexpensive, while they are easy to process, shape, and tune to offer a broad range of mechanical and electrical properties. Dielectric electroactive polymers (DEAP) constitute a class of EAPs with great potential. D-EAPs consist of physically or chemically cross-linked macromolecular networks and are mechanically isotopic. Therefore, in most actuator applications that require directional electromechanical response, it is necessary to use other complex means to direct the stress/strain in the preferred direction. In this work, a simple carbon nanotube (CNT) based electrode for D-EAP actuators is demonstrated that vastly improves directional strain response originating from the mechanical anisotropy of the electrode material. Using this novel approach, the mechanical anisotropy, defined as the ratio of initial modulus in fiber direction and that in cross-fiber direction, of the CNT electroded VHB actuators, ranges from 7.9 to 11.2. Hence, the CNT-VHB flat film actuators show high directed linear actuation strain in cross-fiber direction of greater than 25% meanwhile almost no strain in fiber direction at a relatively low electric field (120 V mum-1). The morphology of the CNT sheets has critical influence on their mechanical properties and resultant actuator performance. The results demonstrate the efficacy of microcombing and selective laser etching processes to improve the CNT fiber alignment to produce pure unidirectional strain of 33% at a relatively moderate electric field. Unidirectional D-EAP composite laminates using polyurethane and polyamide monofilaments are also employed in spring roll actuators to investigate their directional mechanical and electromechanical properties. While CNT electroded D-EAP spring roll actuators were found to have about the same performance as actuators with carbon grease electrodes (6.5% strain in CNT

  14. Smart Sound Processing for Defect Sizing in Pipelines Using EMAT Actuator Based Multi-Frequency Lamb Waves

    Directory of Open Access Journals (Sweden)

    Joaquín García-Gómez

    2018-03-01

    Full Text Available Pipeline inspection is a topic of particular interest to the companies. Especially important is the defect sizing, which allows them to avoid subsequent costly repairs in their equipment. A solution for this issue is using ultrasonic waves sensed through Electro-Magnetic Acoustic Transducer (EMAT actuators. The main advantage of this technology is the absence of the need to have direct contact with the surface of the material under investigation, which must be a conductive one. Specifically interesting is the meander-line-coil based Lamb wave generation, since the directivity of the waves allows a study based in the circumferential wrap-around received signal. However, the variety of defect sizes changes the behavior of the signal when it passes through the pipeline. Because of that, it is necessary to apply advanced techniques based on Smart Sound Processing (SSP. These methods involve extracting useful information from the signals sensed with EMAT at different frequencies to obtain nonlinear estimations of the depth of the defect, and to select the features that better estimate the profile of the pipeline. The proposed technique has been tested using both simulated and real signals in steel pipelines, obtaining good results in terms of Root Mean Square Error (RMSE.

  15. Smart Sound Processing for Defect Sizing in Pipelines Using EMAT Actuator Based Multi-Frequency Lamb Waves.

    Science.gov (United States)

    García-Gómez, Joaquín; Gil-Pita, Roberto; Rosa-Zurera, Manuel; Romero-Camacho, Antonio; Jiménez-Garrido, Jesús Antonio; García-Benavides, Víctor

    2018-03-07

    Pipeline inspection is a topic of particular interest to the companies. Especially important is the defect sizing, which allows them to avoid subsequent costly repairs in their equipment. A solution for this issue is using ultrasonic waves sensed through Electro-Magnetic Acoustic Transducer (EMAT) actuators. The main advantage of this technology is the absence of the need to have direct contact with the surface of the material under investigation, which must be a conductive one. Specifically interesting is the meander-line-coil based Lamb wave generation, since the directivity of the waves allows a study based in the circumferential wrap-around received signal. However, the variety of defect sizes changes the behavior of the signal when it passes through the pipeline. Because of that, it is necessary to apply advanced techniques based on Smart Sound Processing (SSP). These methods involve extracting useful information from the signals sensed with EMAT at different frequencies to obtain nonlinear estimations of the depth of the defect, and to select the features that better estimate the profile of the pipeline. The proposed technique has been tested using both simulated and real signals in steel pipelines, obtaining good results in terms of Root Mean Square Error (RMSE).

  16. Single Crystal Piezoelectric Stack Actuator DM with Integrated Low-Power HVA-Based Driver ASIC, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — This SBIR Phase I project aims to develop an innovative batch fabrication technique to create single crystal PMN-PT stack actuator deformable mirrors (DM) at low...

  17. Simple membrane-based model of the Min oscillator

    International Nuclear Information System (INIS)

    Petrášek, Zdeněk; Schwille, Petra

    2015-01-01

    Min proteins in E. coli bacteria organize into a dynamic pattern oscillating between the two cell poles. This process identifies the middle of the cell and enables symmetric cell division. In an experimental model system consisting of a flat membrane with effectively infinite supply of proteins and energy source, the Min proteins assemble into travelling waves. Here we propose a simple one-dimensional model of the Min dynamics that, unlike the existing models, reproduces the sharp decrease of Min concentration when the majority of protein detaches from the membrane, and even the narrow MinE maximum immediately preceding the detachment. The proposed model thus provides a possible mechanism for the formation of the MinE ring known from cells. The model is restricted to one dimension, with protein interactions described by chemical kinetics allowing at most bimolecular reactions, and explicitly considering only three, membrane-bound, species. The bulk solution above the membrane is approximated as being well-mixed, with constant concentrations of all species. Unlike other models, our proposal does not require autocatalytic binding of MinD to the membrane. Instead, it is assumed that two MinE molecules are necessary to induce the dissociation of the MinD dimer and its subsequent detachment from the membrane. We investigate which reaction schemes lead to unstable homogeneous steady states and limit cycle oscillations, and how diffusion affects their stability. The suggested model qualitatively describes the shape of the Min waves observed on flat membranes, and agrees with the experimental dependence of the wave period on the MinE concentration. These results highlight the importance of MinE presence on the membrane without being bound to MinD, and of the reactions of Min proteins on the membrane. (paper)

  18. Adaptive Tracking Control of an Electro-Pneumatic Clutch Actuator

    Directory of Open Access Journals (Sweden)

    Glenn-Ole Kaasa

    2003-10-01

    Full Text Available This paper deals with the application of a simple adaptive algorithm for robust tracking control of an electro-pneumatic clutch actuator with output feedback. We present a mathematical model of the strongly nonlinear system, and implement an adaptive algorithm, based on a parallel feedforward compensator (PFC to remove the relative-degree-1 restriction. We propose a practical method of constructing the PFC, and introduce a simple modification that removes an inherent restriction on bandwidth of the nonlinear system. We show that the adaptive algorithm deals well with nonlinearities, and we achieve tracking corresponding to a settling-time of 150 ms.

  19. 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

  20. Simple security proof of quantum key distribution based on complementarity

    International Nuclear Information System (INIS)

    Koashi, M

    2009-01-01

    We present an approach to the unconditional security of quantum key distribution protocols based on a complementarity argument. The approach is applicable to, but not limited to, every case that has been treated via the argument by Shor and Preskill based on entanglement distillation, with a benefit of decoupling of the error correction from the privacy amplification. It can also treat cases with uncharacterized apparatuses. We derive a secure key rate for the Bennett-Brassard-1984 protocol with an arbitrary source characterized only by a single parameter representing the basis dependence.

  1. Adaptive fuzzy tracking control for a constrained flexible air-breathing hypersonic vehicle based on actuator compensation

    Directory of Open Access Journals (Sweden)

    Peng Fei Wang

    2016-10-01

    Full Text Available The design of an adaptive fuzzy tracking control for a flexible air-breathing hypersonic vehicle with actuator constraints is discussed. Based on functional decomposition methodology, velocity and altitude controllers are designed. Fuzzy logic systems are applied to approximate the lumped uncertainty of each subsystem of air-breathing hypersonic vehicle model. Every controllers contain only one adaptive parameter that needs to be updated online with a minimal-learning-parameter scheme. The back-stepping design is not demanded by converting the altitude subsystem into the normal output-feedback formulation, which predigests the design of a controller. The special contribution is that novel auxiliary systems are developed to compensate both the tracking errors and desired control laws, based on which the explored controller can still provide effective tracking of velocity and altitude commands when the inputs are saturated. Finally, reference trajectory tracking simulation shows the effectiveness of the proposed method in its application to air-breathing hypersonic vehicle control.

  2. Feasibility of a simple microsieve-based immunoassay platform

    NARCIS (Netherlands)

    Zweitzig, D.R.; Tibbe, Arjan G.J.; Nguyen, A.T.; van Rijn, C.J.M.; Kopnitsky, M.J.; Cichonski, K.; Terstappen, Leonardus Wendelinus Mathias Marie

    2016-01-01

    The intrinsic properties of silicon microsieves, such as an optically flat surface, high overall porosity, and low flow resistance have led to an increasing number of biotechnology applications. In this report, the feasibility of creating a microsieve-based immunoassay platform was explored.

  3. Feasibility of a simple microsieve-based immunoassay platform

    NARCIS (Netherlands)

    Zweitzig, Daniel R.; Tibbe, Arjan G.; Nguyen, Ai T.; Rijn, van Cees J.M.; Kopnitsky, Mark J.; Cichonski, Kathleen; Terstappen, Leon W.M.M.

    2016-01-01

    The intrinsic properties of silicon microsieves, such as an optically flat surface, high overall porosity, and low flow resistance have led to an increasing number of biotechnology applications. In this report, the feasibility of creating a microsieve-based immunoassay platform was explored.

  4. Bio-inspired passive actuator simulating an abalone shell mechanism for structural control

    International Nuclear Information System (INIS)

    Yang, Henry T Y; Lin, Chun-Hung; Bridges, Daniel; Randall, Connor J; Hansma, Paul K

    2010-01-01

    An energy dispersion mechanism called 'sacrificial bonds and hidden length', which is found in some biological systems, such as abalone shells and bones, is the inspiration for new strategies for structural control. Sacrificial bonds and hidden length can substantially increase the stiffness and enhance energy dissipation in the constituent molecules of abalone shells and bone. Having been inspired by the usefulness and effectiveness of such a mechanism, which has evolved over millions of years and countless cycles of evolutions, the authors employ the conceptual underpinnings of this mechanism to develop a bio-inspired passive actuator. This paper presents a fundamental method for optimally designing such bio-inspired passive actuators for structural control. To optimize the bio-inspired passive actuator, a simple method utilizing the force–displacement–velocity (FDV) plots based on LQR control is proposed. A linear regression approach is adopted in this research to find the initial values of the desired parameters for the bio-inspired passive actuator. The illustrative examples, conducted by numerical simulation with experimental validation, suggest that the bio-inspired passive actuator based on sacrificial bonds and hidden length may be comparable in performance to state-of-the-art semi-active actuators

  5. Bio-inspired passive actuator simulating an abalone shell mechanism for structural control

    Science.gov (United States)

    Yang, Henry T. Y.; Lin, Chun-Hung; Bridges, Daniel; Randall, Connor J.; Hansma, Paul K.

    2010-10-01

    An energy dispersion mechanism called 'sacrificial bonds and hidden length', which is found in some biological systems, such as abalone shells and bones, is the inspiration for new strategies for structural control. Sacrificial bonds and hidden length can substantially increase the stiffness and enhance energy dissipation in the constituent molecules of abalone shells and bone. Having been inspired by the usefulness and effectiveness of such a mechanism, which has evolved over millions of years and countless cycles of evolutions, the authors employ the conceptual underpinnings of this mechanism to develop a bio-inspired passive actuator. This paper presents a fundamental method for optimally designing such bio-inspired passive actuators for structural control. To optimize the bio-inspired passive actuator, a simple method utilizing the force-displacement-velocity (FDV) plots based on LQR control is proposed. A linear regression approach is adopted in this research to find the initial values of the desired parameters for the bio-inspired passive actuator. The illustrative examples, conducted by numerical simulation with experimental validation, suggest that the bio-inspired passive actuator based on sacrificial bonds and hidden length may be comparable in performance to state-of-the-art semi-active actuators.

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

    Directory of Open Access Journals (Sweden)

    Minoru Sasaki

    2013-10-01

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

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

    Directory of Open Access Journals (Sweden)

    K. A. Trukhanov

    2014-01-01

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

  8. A simple data base for identification of risk profiles

    Energy Technology Data Exchange (ETDEWEB)

    Munganahalli, D.

    1996-12-31

    Sedco Forex is a drilling contractor that operates approximately 80 rigs on land and offshore worldwide. The HSE management system developed by Sedco Forex is an effort to prevent accidents and minimize losses. An integral part of the HSE management system is establishing risk profiles and thereby minimizing risk and reducing loss exposures. Risk profiles are established based on accident reports, potential accident reports and other risk identification reports (RIR) like the Du Pont STOP system. A rig could fill in as many as 30 accident reports, 30 potential accident reports and 500 STOP cards each year. Statistics are important for an HSE management system, since they are indicators of success or failure of HSE systems. It is however difficult to establish risk profiles based on statistical information, unless tools are available at the rig site to aid with the analysis. Risk profiles are then used to identify important areas in the operation that may require specific attention to minimize the loss exposure. Programs to address the loss exposure can then be identified and implemented with either a local or corporate approach. In January 1995, Sedco Forex implemented a uniform HSE Database on all the rigs worldwide. In one year companywide, the HSE database would contain information on approximately 500 accident and potential accident reports, and 10,000 STOP cards. This paper demonstrates the salient features of the database and describes how it has helped in establishing key risk profiles. It also shows a recent example of how risk profiles have been established at the corporate level and used to identify the key contributing factors to hands and finger injuries. Based on this information, a campaign was launched to minimize the frequency of occurrence and associated loss attributed to hands and fingers accidents.

  9. Supporting scalable Bayesian networks using configurable discretizer actuators

    CSIR Research Space (South Africa)

    Osunmakinde, I

    2009-04-01

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

  10. 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).

  11. Characterization of a smartphone size haptic rendering system based on thin-film AlN actuators on glass substrates

    Science.gov (United States)

    Bernard, F.; Casset, F.; Danel, J. S.; Chappaz, C.; Basrour, S.

    2016-08-01

    This paper presents for the first time the characterization of a smartphone-size haptic rendering system based on the friction modulation effect. According to previous work and finite element modeling, the homogeneous flexural modes are needed to get the haptic feedback effect. The device studied consists of a thin film AlN transducers deposited on an 110  ×  65 mm2 glass substrate. The transducer’s localization on the glass plate allows a transparent central area of 90  ×  49 mm2. Electrical and mechanical parameters of the system are extracted from measurement. From this extraction, the electrical impedance matching reduced the applied voltage to 17.5 V AC and the power consumption to 1.53 W at the resonance frequency of the vibrating system to reach the haptic rendering specification. Transient characterizations of the actuation highlight a delay under the dynamic tactile detection. The characterization of the AlN transducers used as sensors, including the noise rejection, the delay or the output charge amplitude allows detections with high accuracy of any variation due to external influences. Those specifications are the first step to a low-power-consumption feedback-looped system.

  12. Characterization of a smartphone size haptic rendering system based on thin-film AlN actuators on glass substrates

    International Nuclear Information System (INIS)

    Bernard, F; Basrour, S; Casset, F; Danel, J S; Chappaz, C

    2016-01-01

    This paper presents for the first time the characterization of a smartphone-size haptic rendering system based on the friction modulation effect. According to previous work and finite element modeling, the homogeneous flexural modes are needed to get the haptic feedback effect. The device studied consists of a thin film AlN transducers deposited on an 110  ×  65 mm 2 glass substrate. The transducer’s localization on the glass plate allows a transparent central area of 90  ×  49 mm 2 . Electrical and mechanical parameters of the system are extracted from measurement. From this extraction, the electrical impedance matching reduced the applied voltage to 17.5 V AC and the power consumption to 1.53 W at the resonance frequency of the vibrating system to reach the haptic rendering specification. Transient characterizations of the actuation highlight a delay under the dynamic tactile detection. The characterization of the AlN transducers used as sensors, including the noise rejection, the delay or the output charge amplitude allows detections with high accuracy of any variation due to external influences. Those specifications are the first step to a low-power-consumption feedback-looped system. (paper)

  13. Chaos Suppression of an Electrically Actuated Microresonator Based on Fractional-Order Nonsingular Fast Terminal Sliding Mode Control

    Directory of Open Access Journals (Sweden)

    Jianxin Han

    2017-01-01

    Full Text Available This paper focuses on chaos suppression strategy of a microresonator actuated by two symmetrical electrodes. Dynamic behavior of this system under the case where the origin is the only stable equilibrium is investigated first. Numerical simulations reveal that system may exhibit chaotic motion under certain excitation conditions. Then, bifurcation diagrams versus amplitude or frequency of AC excitation are drawn to grasp system dynamics nearby its natural frequency. Results show that the vibration is complex and may exhibit period-doubling bifurcation, chaotic motion, or dynamic pull-in instability. For the suppression of chaos, a novel control algorithm, based on an integer-order nonsingular fast terminal sliding mode and a fractional-order switching law, is proposed. Fractional Lyapunov Stability Theorem is used to guarantee the asymptotic stability of the system. Finally, numerical results with both fractional-order and integer-order control laws show that our proposed control law is effective in controlling chaos with system uncertainties and external disturbances.

  14. Simple communication using a SSVEP-based BCI

    Science.gov (United States)

    Sanchez, Guillermo; Diez, Pablo F.; Avila, Enrique; Laciar Leber, Eric

    2011-12-01

    Majority of Brain-Computer Interface (BCI) for communication purposes are speller, i.e., the user has to select letter by letter. In this work, is proposed a different approach where the user can select words from a word set designed in order to answer a wide range of questions. The word selection process is commanded by a Steady-state visual evoked potential (SSVEP) based-BCI that allows selecting a word in an average time of 26 s with accuracies of 92% on average. This BCI is focus in the first stages on rehabilitation or even in first moments of some diseases (such as stroke), when the person is eager to communicate with family and doctors.

  15. Simple communication using a SSVEP-based BCI

    International Nuclear Information System (INIS)

    Sanchez, Guillermo; Diez, Pablo F; Avila, Enrique; Laciar Leber, Eric

    2011-01-01

    Majority of Brain-Computer Interface (BCI) for communication purposes are speller, i.e., the user has to select letter by letter. In this work, is proposed a different approach where the user can select words from a word set designed in order to answer a wide range of questions. The word selection process is commanded by a Steady-state visual evoked potential (SSVEP) based-BCI that allows selecting a word in an average time of 26 s with accuracies of 92% on average. This BCI is focus in the first stages on rehabilitation or even in first moments of some diseases (such as stroke), when the person is eager to communicate with family and doctors.

  16. A Reconfigurable Logic Cell Based on a Simple Dynamical System

    Directory of Open Access Journals (Sweden)

    Lixiang Li

    2013-01-01

    Full Text Available This paper introduces a new scheme to achieve a dynamic logic gate which can be adjusted flexibly to obtain different logic functions by adjusting specific parameters of a dynamical system. Based on graphical tools and the threshold mechanism, the distribution of different logic gates is studied, and a transformation method between different logics is given. Analyzing the performance of the dynamical system in the presence of noise, we discover that it is resistant to system noise. Moreover, we find some part of the system can be considered as a leaky integrator which has been already widely applied in engineering. Finally, we provide a proof-of-principle hardware implementation of the proposed scheme to illustrate its effectiveness. With the proposed scheme in hand, it is convenient to build the flexible, robust, and general purpose computing devices such as various network coding routers, communication encoders or decoders, and reconfigurable computer chips.

  17. Plasma actuators for bluff body flow control

    Science.gov (United States)

    Kozlov, Alexey V.

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

  18. 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...

  19. Design and fabrication of PMMA-micromachined fluid lens based on electromagnetic actuation on PMMA–PDMS bonded membrane

    International Nuclear Information System (INIS)

    Lee, June Kyoo; Park, Kyung-Woo; Choi, Ju Chan; Kim, Hak-Rin; Kong, Seong Ho

    2012-01-01

    The fabrication of a poly(methyl methacrylate) (PMMA)-micromachined fluid lens with an optimally designed built-in electromagnetic actuator was demonstrated in this study. Through a finite element method, the number of winding turns and the distance between magnetic moments were estimated to design an effective and miniaturized electromagnetic actuator. The lens body composed of PMMA structures was simply and rapidly micromachined using computer numerical control micro-milling. The poly(dimethylsiloxane) (PDMS) membranes for electromagnetic actuation were bonded to the PMMA structures by using the proposed PMMA–PDMS bonding technique, which uses an SiO 2 intermediate layer. A physical repulsive force produced by the electromagnetic actuator applies a controllable fluidic pressure to a fluidic chamber that is sealed with the PDMS membrane, thus allowing dynamic focusing. The focus tunability of the fabricated lens was 67 diopters with a focus hysteresis of less than 1 mm and a response time of 2 ms. The solenoid of the built-in actuator showed negligible thermal crosstalk to the lens. (paper)

  20. Single-crystal-material-based induced-shear actuation for vibration reduction of helicopters with composite rotor system

    International Nuclear Information System (INIS)

    Pawar, Prashant M; Jung, Sung Nam

    2008-01-01

    In this study, an assessment is made for the helicopter vibration reduction of composite rotor blades using an active twist control concept. Special focus is given to the feasibility of implementing the benefits of the shear actuation mechanism along with elastic couplings of composite blades for achieving maximum vibration reduction. The governing equations of motion for composite rotor blades with surface bonded piezoceramic actuators are obtained using Hamilton's principle. The equations are then solved for dynamic response using finite element discretization in the spatial and time domains. A time domain unsteady aerodynamic theory with free wake model is used to obtain the airloads. A newly developed single-crystal piezoceramic material is introduced as an actuator material to exploit its superior shear actuation authority. Seven rotor blades with different elastic couplings representing stiffness properties similar to stiff-in-plane rotor blades are used to investigate the hub vibration characteristics. The rotor blades are modeled as a box beam with actuator layers bonded on the outer surface of the top and bottom of the box section. Numerical results show that a notable vibration reduction can be achieved for all the combinations of composite rotor blades. This investigation also brings out the effect of different elastic couplings on various vibration-reduction-related parameters which could be useful for the optimal design of composite helicopter blades

  1. Single-crystal-material-based induced-shear actuation for vibration reduction of helicopters with composite rotor system

    Science.gov (United States)

    Pawar, Prashant M.; Jung, Sung Nam

    2008-12-01

    In this study, an assessment is made for the helicopter vibration reduction of composite rotor blades using an active twist control concept. Special focus is given to the feasibility of implementing the benefits of the shear actuation mechanism along with elastic couplings of composite blades for achieving maximum vibration reduction. The governing equations of motion for composite rotor blades with surface bonded piezoceramic actuators are obtained using Hamilton's principle. The equations are then solved for dynamic response using finite element discretization in the spatial and time domains. A time domain unsteady aerodynamic theory with free wake model is used to obtain the airloads. A newly developed single-crystal piezoceramic material is introduced as an actuator material to exploit its superior shear actuation authority. Seven rotor blades with different elastic couplings representing stiffness properties similar to stiff-in-plane rotor blades are used to investigate the hub vibration characteristics. The rotor blades are modeled as a box beam with actuator layers bonded on the outer surface of the top and bottom of the box section. Numerical results show that a notable vibration reduction can be achieved for all the combinations of composite rotor blades. This investigation also brings out the effect of different elastic couplings on various vibration-reduction-related parameters which could be useful for the optimal design of composite helicopter blades.

  2. Simple plant-based design strategies for volatile organic pollutants

    Energy Technology Data Exchange (ETDEWEB)

    Narayanan, M.; Erickson, L.E.; Davis, L.C.

    1999-12-31

    Vegetation which enhances in-situ biodegradation of organic compounds can play a key role in the bioremediation of such contaminants in polluted soils and groundwater. Plants may act directly on some contaminants by degrading them, but their main effect is to enhance microbial populations in the thizosphere. Microbially mediated transformations are thus indirectly facilitated by root exudates which nourish the indigenous microorganisms. Plants may also be viewed as a solar driven pump-and-treat system which can contain a plume and reduce the spread of contaminated water. Laboratory investigations carried out in a growth chamber with alfalfa plants provide evidence for the (microbially mediated) biodegradation of organic compounds such as toluene, phenol and TCE. Alfalfa plants tolerate concentrations of these organics in contaminated water up to 100 mg/L. They facilitate transfer of the contaminants from the saturated to the vadose zone. For volatile organic compounds such as TCE, vegetation provides a controlled release of compounds and hence assures dilution of the TCE evapotranspired into the atmosphere from contaminated soils. Using a range of calculated plausible scenarios, it is shown that intermedia transfer caused by volatilization associated with plants is most unlikely to lead to exceedance of standards for gas phase contamination, for most volatile contaminants. Possible action level exceedances might occur with highly toxic substances including vinyl chloride and carbon tetrachloride, if they re present in ground water at levels above kilogram amounts in a single plume of a few hectares, and released by vigorously growing plants under hot dry conditions. Information needed for the calculation and design of plant-based bioremediation systems for typical sites is discussed in this paper.

  3. Red-light-controllable liquid-crystal soft actuators via low-power excited upconversion based on triplet-triplet annihilation.

    Science.gov (United States)

    Jiang, Zhen; Xu, Ming; Li, Fuyou; Yu, Yanlei

    2013-11-06

    A red-light-controllable soft actuator has been achieved, driven by low-power excited triplet-triplet annihilation-based upconversion luminescence (TTA-UCL). First, a red-to-blue TTA-based upconversion system with a high absolute quantum yield of 9.3 ± 0.5% was prepared by utilizing platinum(II) tetraphenyltetrabenzoporphyrin (PtTPBP) as the sensitizer and 9,10-bis(diphenylphosphoryl)anthracene (BDPPA) as the annihilator. In order to be employed as a highly effective phototrigger of photodeformable cross-linked liquid-crystal polymers (CLCPs), the PtTPBP&BDPPA system was incorporated into a rubbery polyurethane film and then assembled with an azotolane-containing CLCP film. The generating assembly film bent toward the light source when irradiated with a 635 nm laser at low power density of 200 mW cm(-2) because the TTA-UCL was effectively utilized by the azotolane moieties in the CLCP film, inducing their trans-cis photoisomerization and an alignment change of the mesogens via an emission-reabsorption process. It is the first example of a soft actuator in which the TTA-UCL is trapped and utilized to create photomechanical effect. Such advantages of using this novel red-light-controllable soft actuator in potential biological applications have also been demonstrated as negligible thermal effect and its excellent penetration ability into tissues. This work not only provides a novel photomanipulated soft actuation material system based on the TTA-UCL technology but also introduces a new technological application of the TTA-based upconversion system in photonic devices.

  4. Experimental Investigation of the Effect of the Driving Voltage of an Electroadhesion Actuator.

    Science.gov (United States)

    Koh, Keng Huat; Sreekumar, M; Ponnambalam, S G

    2014-06-25

    This paper investigates the effect of driving voltage on the attachment force of an electroadhesion actuator, as the existing literature on the saturation of the adhesive force at a higher electric field is incomplete. A new type of electroadhesion actuator using normally available materials, such as aluminum foil, PVC tape and a silicone rubber sheet used for keyboard protection, has been developed with a simple layered structure that is capable of developing adhesive force consistently. The developed actuator is subjected to the experiment for the evaluation of various test surfaces; aluminum, brick, ceramic, concrete and glass. The driving high voltage is varied in steps to determine the characteristics of the output holding force. Results show a quadratic relation between F (adhesion force) and V (driving voltage) within the 2 kV range. After this range, the F - V responses consistently show a saturation trend at high electric fields. Next, the concept of the leakage current that can occur in the dielectric material and the corona discharge through air has been introduced. Results show that the voltage level, which corresponds to the beginning of the supply current, matches well with the beginning of the force saturation. With the confirmation of this hypothesis, a working model for electroadhesion actuation is proposed. Based on the experimental results, it is proposed that such a kind of actuator can be driven within a range of optimum high voltage to remain electrically efficient. This practice is recommended for the future design, development and characterization of electroadhesion actuators for robotic applications.

  5. Aeroelastic Analysis of Helicopter Rotor Blades Incorporating Anisotropic Piezoelectric Twist Actuation

    Science.gov (United States)

    Wilkie, W. Keats; Belvin, W. Keith; Park, K. C.

    1996-01-01

    A simple aeroelastic analysis of a helicopter rotor blade incorporating embedded piezoelectric fiber composite, interdigitated electrode blade twist actuators is described. The analysis consists of a linear torsion and flapwise bending model coupled with a nonlinear ONERA based unsteady aerodynamics model. A modified Galerkin procedure is performed upon the rotor blade partial differential equations of motion to develop a system of ordinary differential equations suitable for dynamics simulation using numerical integration. The twist actuation responses for three conceptual fullscale blade designs with realistic constraints on blade mass are numerically evaluated using the analysis. Numerical results indicate that useful amplitudes of nonresonant elastic twist, on the order of one to two degrees, are achievable under one-g hovering flight conditions for interdigitated electrode poling configurations. Twist actuation for the interdigitated electrode blades is also compared with the twist actuation of a conventionally poled piezoelectric fiber composite blade. Elastic twist produced using the interdigitated electrode actuators was found to be four to five times larger than that obtained with the conventionally poled actuators.

  6. An aeroelastic analysis of helicopter rotor blades incorporating piezoelectric fiber composite twist actuation

    Science.gov (United States)

    Wilkie, W. Keats; Park, K. C.

    1996-01-01

    A simple aeroelastic analysis of a helicopter rotor blade incorporating embedded piezoelectric fiber composite, interdigitated electrode blade twist actuators is described. The analysis consist of a linear torsion and flapwise bending model coupled with a nonlinear ONERA based unsteady aerodynamics model. A modified Galerkin procedure is performed upon the rotor blade partial differential equations of motion to develop a system of ordinary differential equations suitable for numerical integration. The twist actuation responses for three conceptual full-scale blade designs with realistic constraints on blade mass are numerically evaluated using the analysis. Numerical results indicate that useful amplitudes of nonresonant elastic twist, on the order of one to two degrees, are achievable under one-g hovering flight conditions for interdigitated electrode poling configurations. Twist actuation for the interdigitated electrode blades is also compared with the twist actuation of a conventionally poled piezoelectric fiber composite blade. Elastic twist produced using the interdigitated electrode actuators was found to be four to five times larger than that obtained with the conventionally poled actuators.

  7. 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.

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

    OpenAIRE

    Chang, Benjamin Che-Ming

    2011-01-01

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

  9. Simple adaptive sparse representation based classification schemes for EEG based brain-computer interface applications.

    Science.gov (United States)

    Shin, Younghak; Lee, Seungchan; Ahn, Minkyu; Cho, Hohyun; Jun, Sung Chan; Lee, Heung-No

    2015-11-01

    One of the main problems related to electroencephalogram (EEG) based brain-computer interface (BCI) systems is the non-stationarity of the underlying EEG signals. This results in the deterioration of the classification performance during experimental sessions. Therefore, adaptive classification techniques are required for EEG based BCI applications. In this paper, we propose simple adaptive sparse representation based classification (SRC) schemes. Supervised and unsupervised dictionary update techniques for new test data and a dictionary modification method by using the incoherence measure of the training data are investigated. The proposed methods are very simple and additional computation for the re-training of the classifier is not needed. The proposed adaptive SRC schemes are evaluated using two BCI experimental datasets. The proposed methods are assessed by comparing classification results with the conventional SRC and other adaptive classification methods. On the basis of the results, we find that the proposed adaptive schemes show relatively improved classification accuracy as compared to conventional methods without requiring additional computation. Copyright © 2015 Elsevier Ltd. All rights reserved.

  10. 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.

  11. 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.

  12. Magnetic suspension characteristics of electromagnetic actuators

    Science.gov (United States)

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

    1993-01-01

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

  13. Management system of simple rental flats study based on technical aspect and health in Medan city

    Science.gov (United States)

    Novrial; Indra Cahaya, S.

    2018-03-01

    Medan city is a metropolis city in Sumatera that has slums area. Simple rental flats have been built to overcome the problem. However the preliminary survey result showed that the physical and non-physical environment management of simple rent flats is very bad. This study conducted in 3 simple rent flats. It has observed the simple rent flats environment and has interviewed occupants and related agencies. Results of conducted research showed the occupant’s characteristics based on the largest percentage are Javanese; last education is senior high with self-employed work with average income Rp 1,000,000 – Rp 2,500,000. Waste retribution submitted to their cleanliness except for Amplas simple rent flats, their waste management system does not manage properly and the garbage littered. The number of family members of Wisma Labuhan and Amplas simple rent flats exceeds the regulation number of occupants, so it is crowded and noisy. Physical conditions of Amplas simple rent flats are bad, septic tank is full and are not vacuumed. Clean water sources derived from wells and artesian wll are vulnerable to be contaminated by pollutants such as leachate and bad quality water. It is necessary to improve the physical, basic sanitation, and guidance for the simple rent flats occupants to the management system of Simple Rent Flats.

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

    DEFF Research Database (Denmark)

    Zhang, Muzhi

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

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

    DEFF Research Database (Denmark)

    Hansen, Morten Hartvig; Kallesøe, Bjarne Skovmose

    2007-01-01

    This paper deals with the servo-elastic dynamics of a hydraulic pitch actuator acting on a largely bend wind turbine blade. The compressibility of the oil and flexibility of the hoses introduce a dynamic mode in the pitch bearing degree of freedom. This mode may obtain negative damping...... if the proportional gain on the actuator position error is defined too large relative to the viscous forces in the hydraulic system and the total rotational inertia of the pitch bearing degree of freedom. A simple expression for the stability limit of this proportional gain is derived for tuning the gain based...

  16. Towards quantitative determination of the spring constant of a scanning force microscope cantilever with a microelectromechanical nano-force actuator

    International Nuclear Information System (INIS)

    Gao, Sai; Herrmann, Konrad; Zhang, Zhikai; Wu, Yong

    2010-01-01

    The calibration of the performance of an SFM (scanning force microscope) cantilever has gained more and more interest in the past years, particularly due to increasing applications of SFMs for the determination of the mechanical properties of materials, such as biological structures and organic molecules. In this paper, a MEMS-based nano-force actuator with a force resolution up to nN (10 −9 N) is presented to quantitatively determine the stiffness of an SFM cantilever. The principle, structure design and realization of the nano-force actuator are detailed. Preliminary experiments demonstrate that the long-term self-calibration stability of the actuator is better than 3.7 × 10 −3 N m −1 (1σ) over 1 h. With careful calibration of the stiffness of the actuator, the MEMS actuator has the capability to determine the stiffness of various types of cantilevers (from 100 N m −1 down to 0.1 N m −1 ) with high accuracy. In addition, thanks to the large displacement and force range (up to 8 µm and 1 mN, respectively) of the actuator, the calibration procedure with our MEMS nano-force actuator features simple and active operation, and therefore applicability for different types of quantitative SFMs

  17. Actuator disk model of wind farms based on the rotor average wind speed

    DEFF Research Database (Denmark)

    Han, Xing Xing; Xu, Chang; Liu, De You

    2016-01-01

    Due to difficulty of estimating the reference wind speed for wake modeling in wind farm, this paper proposes a new method to calculate the momentum source based on the rotor average wind speed. The proposed model applies volume correction factor to reduce the influence of the mesh recognition of ...

  18. Analysis of pre-service physics teacher skills designing simple physics experiments based technology

    Science.gov (United States)

    Susilawati; Huda, C.; Kurniawan, W.; Masturi; Khoiri, N.

    2018-03-01

    Pre-service physics teacher skill in designing simple experiment set is very important in adding understanding of student concept and practicing scientific skill in laboratory. This study describes the skills of physics students in designing simple experiments based technologicall. The experimental design stages include simple tool design and sensor modification. The research method used is descriptive method with the number of research samples 25 students and 5 variations of simple physics experimental design. Based on the results of interviews and observations obtained the results of pre-service physics teacher skill analysis in designing simple experimental physics charged technology is good. Based on observation result, pre-service physics teacher skill in designing simple experiment is good while modification and sensor application are still not good. This suggests that pre-service physics teacher still need a lot of practice and do experiments in designing physics experiments using sensor modifications. Based on the interview result, it is found that students have high enough motivation to perform laboratory activities actively and students have high curiosity to be skilled at making simple practicum tool for physics experiment.

  19. Hysteresis modeling and identification of a dielectric electro-active polymer actuator using an APSO-based nonlinear Preisach NARX fuzzy model

    International Nuclear Information System (INIS)

    Truong, Bui Ngoc Minh; Nam, Doan Ngoc Chi; Ahn, Kyoung Kwan

    2013-01-01

    Dielectric electro-active polymer (DEAP) materials are attractive since they are low cost, lightweight and have a large deformation capability. They have no operating noise, very low electric power consumption and higher performance and efficiency than competing technologies. However, DEAP materials generally have strong hysteresis as well as uncertain and nonlinear characteristics. These disadvantages can limit the efficiency in the use of DEAP materials. To address these limitations, this research will present the combination of the Preisach model and the dynamic nonlinear autoregressive exogenous (NARX) fuzzy model-based adaptive particle swarm optimization (APSO) identification algorithm for modeling and identification of the nonlinear behavior of one typical type of DEAP actuator. Firstly, open loop input signals are applied to obtain nonlinear features and to investigate the responses of the DEAP actuator system. Then, a Preisach model can be combined with a dynamic NARX fuzzy structure to estimate the tip displacement of a DEAP actuator. To optimize all unknown parameters of the designed combination, an identification scheme based on a least squares method and an APSO algorithm is carried out. Finally, experimental validation research is carefully completed, and the effectiveness of the proposed model is evaluated by employing various input signals. (paper)

  20. Design and Validation of Exoskeleton Actuated by Soft Modules toward Neurorehabilitation-Vision-Based Control for Precise Reaching Motion of Upper Limb.

    Science.gov (United States)

    Oguntosin, Victoria W; Mori, Yoshiki; Kim, Hyejong; Nasuto, Slawomir J; Kawamura, Sadao; Hayashi, Yoshikatsu

    2017-01-01

    We demonstrated the design, production, and functional properties of the Exoskeleton Actuated by the Soft Modules (EAsoftM). Integrating the 3D printed exoskeleton with passive joints to compensate gravity and with active joints to rotate the shoulder and elbow joints resulted in ultra-light system that could assist planar reaching motion by using the vision-based control law. The EAsoftM can support the reaching motion with compliance realized by the soft materials and pneumatic actuation. In addition, the vision-based control law has been proposed for the precise control over the target reaching motion within the millimeter scale. Aiming at rehabilitation exercise for individuals, typically soft actuators have been developed for relatively small motions, such as grasping motion, and one of the challenges has been to extend their use for a wider range reaching motion. The proposed EAsoftM presented one possible solution for this challenge by transmitting the torque effectively along the anatomically aligned with a human body exoskeleton. The proposed integrated systems will be an ideal solution for neurorehabilitation where affordable, wearable, and portable systems are required to be customized for individuals with specific motor impairments.

  1. Design and Validation of Exoskeleton Actuated by Soft Modules toward Neurorehabilitation—Vision-Based Control for Precise Reaching Motion of Upper Limb

    Science.gov (United States)

    Oguntosin, Victoria W.; Mori, Yoshiki; Kim, Hyejong; Nasuto, Slawomir J.; Kawamura, Sadao; Hayashi, Yoshikatsu

    2017-01-01

    We demonstrated the design, production, and functional properties of the Exoskeleton Actuated by the Soft Modules (EAsoftM). Integrating the 3D printed exoskeleton with passive joints to compensate gravity and with active joints to rotate the shoulder and elbow joints resulted in ultra-light system that could assist planar reaching motion by using the vision-based control law. The EAsoftM can support the reaching motion with compliance realized by the soft materials and pneumatic actuation. In addition, the vision-based control law has been proposed for the precise control over the target reaching motion within the millimeter scale. Aiming at rehabilitation exercise for individuals, typically soft actuators have been developed for relatively small motions, such as grasping motion, and one of the challenges has been to extend their use for a wider range reaching motion. The proposed EAsoftM presented one possible solution for this challenge by transmitting the torque effectively along the anatomically aligned with a human body exoskeleton. The proposed integrated systems will be an ideal solution for neurorehabilitation where affordable, wearable, and portable systems are required to be customized for individuals with specific motor impairments. PMID:28736514

  2. Design and Validation of Exoskeleton Actuated by Soft Modules toward Neurorehabilitation—Vision-Based Control for Precise Reaching Motion of Upper Limb

    Directory of Open Access Journals (Sweden)

    Victoria W. Oguntosin

    2017-07-01

    Full Text Available We demonstrated the design, production, and functional properties of the Exoskeleton Actuated by the Soft Modules (EAsoftM. Integrating the 3D printed exoskeleton with passive joints to compensate gravity and with active joints to rotate the shoulder and elbow joints resulted in ultra-light system that could assist planar reaching motion by using the vision-based control law. The EAsoftM can support the reaching motion with compliance realized by the soft materials and pneumatic actuation. In addition, the vision-based control law has been proposed for the precise control over the target reaching motion within the millimeter scale. Aiming at rehabilitation exercise for individuals, typically soft actuators have been developed for relatively small motions, such as grasping motion, and one of the challenges has been to extend their use for a wider range reaching motion. The proposed EAsoftM presented one possible solution for this challenge by transmitting the torque effectively along the anatomically aligned with a human body exoskeleton. The proposed integrated systems will be an ideal solution for neurorehabilitation where affordable, wearable, and portable systems are required to be customized for individuals with specific motor impairments.

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

    NARCIS (Netherlands)

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

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

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

    Directory of Open Access Journals (Sweden)

    Ioan URSU

    2016-12-01

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

  5. 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)

  6. 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.

  7. Wireless Sensor/Actuator Network Design for Mobile Control Applications

    Directory of Open Access Journals (Sweden)

    Youxian Sung

    2007-10-01

    Full Text Available Wireless sensor/actuator networks (WSANs are emerging as a new generationof sensor networks. Serving as the backbone of control applications, WSANs will enablean unprecedented degree of distributed and mobile control. However, the unreliability ofwireless communications and the real-time requirements of control applications raise greatchallenges for WSAN design. With emphasis on the reliability issue, this paper presents anapplication-level design methodology for WSANs in mobile control applications. Thesolution is generic in that it is independent of the underlying platforms, environment,control system models, and controller design. To capture the link quality characteristics interms of packet loss rate, experiments are conducted on a real WSAN system. From theexperimental observations, a simple yet efficient method is proposed to deal withunpredictable packet loss on actuator nodes. Trace-based simulations give promisingresults, which demonstrate the effectiveness of the proposed approach.

  8. Modelling and Controller Design of Electro-Pneumatic Actuator Based on PWM

    Directory of Open Access Journals (Sweden)

    Behrouz Najjari

    2012-07-01

    Full Text Available In this paper, a nonlinear model associated to the fast switching on-off solenoid valve and pneumatic cylinder was dynamically presented. Furthermore, an investigation into the electrical, magnetic, mechanical and fluid subsystems are made. Two common control policies to track valve position, a Proportional Integrator (PI based on Pulse Width Modulation (PWM and hysteresis controllers, are investigated. To control cylinder position, a Programmable Logic Controller (PLC on a simulated unit and an experimental setup regulated with AVR microcontroller are carried out. Experimental results show effective validation to the simulation results from PLC.

  9. Displacement sensing based on resonant frequency monitoring of electrostatically actuated curved micro beams

    International Nuclear Information System (INIS)

    Krakover, Naftaly; Krylov, Slava; Ilic, B Robert

    2016-01-01

    The ability to control nonlinear interactions of suspended mechanical structures offers a unique opportunity to engineer rich dynamical behavior that extends the dynamic range and ultimate device sensitivity. We demonstrate a displacement sensing technique based on resonant frequency monitoring of curved, doubly clamped, bistable micromechanical beams interacting with a movable electrode. In this configuration, the electrode displacement influences the nonlinear electrostatic interactions, effective stiffness and frequency of the curved beam. Increased sensitivity is made possible by dynamically operating the beam near the snap-through bistability onset. Various in-plane device architectures were fabricated from single crystal silicon and measured under ambient conditions using laser Doppler vibrometry. In agreement with the reduced order Galerkin-based model predictions, our experimental results show a significant resonant frequency reduction near critical snap-through, followed by a frequency increase within the post-buckling configuration. Interactions with a stationary electrode yield a voltage sensitivity up to  ≈560 Hz V −1 and results with a movable electrode allow motion sensitivity up to  ≈1.5 Hz nm −1 . Our theoretical and experimental results collectively reveal the potential of displacement sensing using nonlinear interactions of geometrically curved beams near instabilities, with possible applications ranging from highly sensitive resonant inertial detectors to complex optomechanical platforms providing an interface between the classical and quantum domains. (paper)

  10. A membrane actuator based on an ionic polymer network and carbon nanotubes: the synergy of ionic transport and mechanical properties

    International Nuclear Information System (INIS)

    Dai, Chi-An; Hsiao, Chih-Chun; Weng, Shih-Chun; Kao, An-Cheng; Liu, Chien-Pan; Tsai, Wei-Bor; Chen, Wen-Shiang; Liu, Wei-Ming; Shih, Wen-Pin; Ma, Chien-Ching

    2009-01-01

    There is a growing interest in the development of ionic polymer–metal composites (IPMC) as sensors and actuators for biomedical applications due to their large deformation under low driving voltage. In this study, we employed poly(vinyl alcohol)/poly(2-acrylamido-2-methyl-1-propanesulfonic acid) (PVA/PAMPS) blend membranes as semi-interpenetrating polymer networks for ion exchange in IPMC construction. To improve the mechanical and electrical properties of the IPMC, multi-walled carbon nanotubes (MWNT) were added into PVA/PAMPS membranes. The actuator performance of the membranes was measured as a function of their water uptake, ion exchange capacity, ionic conductivity and the amount of MWNT in the membrane. The dispersion quality of the modified MWNT in the PVA/PAMPS membrane was measured using transmission electron microscopy. The cantilever-type IPMC actuator bends under applied voltage and its bending angle and the generative tip force were measured. Under an applied voltage, IPMC with ∼1 wt% MWNT showed the largest deflection and generated the largest blocking tip force compared with those of IPMC with other various amounts of MWNT. These results show that a small addition of MWNT can optimize the actuation performance of IPMC. The result indicates that IPMC with MWNT shows potential for use as biomimetic artificial muscle

  11. Comparative Experimental Study on Ionic Polymer Mental Composite based on Nafion and Aquivion Membrane as Actuators

    Science.gov (United States)

    Luo, B.; Chen, Z.

    2017-11-01

    Most ionic polymer mental composites employ Nafion as the polymer matrix, Aquivion can also manufactured as ionic polymer mental composite while research was little. This paper researched on two kinds of ionic polymer mental composite based on Aquivion and Nafion matrix with palladium electrode called Aquivion-IPMC and Nafion-IPMC. The samples were fabricated by the same preparation process. The current and deformation responses of the samples were measured at voltage to characterize the mechano-electrical properties. The experimental observations revealed that shorter flexible side chains in Aquivion-IPMC provide a larger force than Nafion-IPMC, while the displacement properties were similar in two different samples. The results also showed that Aquivion membrane can also replace Nafion to reproduce IPMC application in soft robots, MEMS, and so on.

  12. Influence of metal nanoparticle decorated CNTs on polyurethane based electro active shape memory nanocomposite actuators

    International Nuclear Information System (INIS)

    Raja, Mohan; Shanmugharaj, A.M.; Ryu, Sung Hun; Subha, J.

    2011-01-01

    Highlights: → Polyurethane based on pristine and metal (Ag and Cu) nanoparticle decorated CNTs nanocomposites are prepared through melt blending process. → The electrical, mechanical, dynamic mechanical, thermal conductivity and electro active shape memory properties of the PU nanocomposites were investigated. → The influence of metal nanoparticle decorated CNTs showed significant improvement in their all properties to compare to pristine CNTs. → Electro active shape memory studies of the PU/M-CNTs nanocomposites reveal extraordinary recoverability of its shape at lower applied dc voltages. - Abstract: Polymer nanocomposites based on thermoplastic polyurethane (PU) elastomer and metal nanoparticle (Ag and Cu) decorated multiwall carbon nanotubes (M-CNTs) were prepared through melt mixing process and investigated for its mechanical, dynamic mechanical and electro active shape memory properties. Structural characterization and morphological characterization of the PU nanocomposites were done using X-ray diffraction (XRD) and scanning electron microscopy (SEM). Morphological characterization revealed better dispersion of M-CNTs in the polyurethane, which is attributed to the improved interaction between the M-CNTs and polyurethane. Loading of the metal nanoparticle coated carbon nanotubes resulted in the significant improvement on the mechanical properties such as tensile strength of the PU composites in comparison to the pristine carbon nanotubes (P-CNTs). Dynamic mechanical analysis showed that the glass transition temperature (Tg) of the polyurethane increases slightly with increasing loading of both pristine and metal nanoparticle functionalized carbon nanotubes. The metal nanoparticles decorated carbon nanotubes also showed significant improvement in the thermal and electrical conductivity of the PU/M-CNTs nanocomposites. Shape memory studies of the PU/M-CNTs nanocomposites exhibit remarkable recoverability of its shape at lower applied dc voltages.

  13. Robust Tracking Control for a Piezoelectric Actuator

    National Research Council Canada - National Science Library

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

    2006-01-01

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

  14. Pre-stressed piezoelectric bimorph micro-actuators based on machined 40 µm PZT thick films: batch scale fabrication and integration with MEMS

    International Nuclear Information System (INIS)

    Wilson, S A; Jourdain, R P; Owens, S

    2010-01-01

    The projected force–displacement capability of piezoelectric ceramic films in the 20–50 µm thickness range suggests that they are well suited to many micro-fluidic and micro-pneumatic applications. Furthermore when they are configured as bending actuators and operated at ∼ 1 V µm −1 they do not necessarily conform to the high-voltage, very low-displacement piezoelectric stereotype. Even so they are rarely found today in commercial micro-electromechanical devices, such as micro-pumps and micro-valves, and the main barriers to making them much more widely available would appear to be processing incompatibilities rather than commercial desirability. In particular, the issues associated with integration of these devices into MEMS at the production level are highly significant and they have perhaps received less attention in the mainstream than they deserve. This paper describes a fabrication route based on ultra-precision ceramic machining and full-wafer bonding for cost-effective batch scale production of thick film PZT bimorph micro-actuators and their integration with MEMS. The resulting actuators are pre-stressed (ceramic in compression) which gives them added performance, they are true bimorphs with bi-directional capability and they exhibit full bulk piezoelectric ceramic properties. The devices are designed to integrate with ancillary systems components using transfer-bonding techniques. The work forms part of the European Framework 6 Project 'Q2M—Quality to Micro'

  15. Coupled Electro-Magneto-Mechanical-Acoustic Analysis Method Developed by Using 2D Finite Element Method for Flat Panel Speaker Driven by Magnetostrictive-Material-Based Actuator

    Science.gov (United States)

    Yoo, Byungjin; Hirata, Katsuhiro; Oonishi, Atsurou

    In this study, a coupled analysis method for flat panel speakers driven by giant magnetostrictive material (GMM) based actuator was developed. The sound field produced by a flat panel speaker that is driven by a GMM actuator depends on the vibration of the flat panel, this vibration is a result of magnetostriction property of the GMM. In this case, to predict the sound pressure level (SPL) in the audio-frequency range, it is necessary to take into account not only the magnetostriction property of the GMM but also the effect of eddy current and the vibration characteristics of the actuator and the flat panel. In this paper, a coupled electromagnetic-structural-acoustic analysis method is presented; this method was developed by using the finite element method (FEM). This analysis method is used to predict the performance of a flat panel speaker in the audio-frequency range. The validity of the analysis method is verified by comparing with the measurement results of a prototype speaker.

  16. Numerical study on flow fields and aerodynamics of tilt rotor aircraft in conversion mode based on embedded grid and actuator model

    Directory of Open Access Journals (Sweden)

    Ying Zhang

    2015-02-01

    Full Text Available A method combining rotor actuator disk model and embedded grid technique is presented in this paper, aimed at predicting the flow fields and aerodynamic characteristics of tilt rotor aircraft in conversion mode more efficiently and effectively. In this method, rotor’s influence is considered in terms of the momentum it impacts to the fluid around it; transformation matrixes among different coordinate systems are deduced to extend actuator method’s utility to conversion mode flow fields’ calculation. Meanwhile, an embedded grid system is designed, in which grids generated around fuselage and actuator disk are regarded as background grid and minor grid respectively, and a new method is presented for ‘donor searching’ and ‘hole cutting’ during grid assembling. Based on the above methods, flow fields of tilt rotor aircraft in conversion mode are simulated, with three-dimensional Navier–Stokes equations discretized by a second-order upwind finite-volume scheme and an implicit lower–upper symmetric Gauss–Seidel (LU-SGS time-stepping scheme. Numerical results demonstrate that the proposed CFD method is very effective in simulating the conversion mode flow fields of tilt rotor aircraft.

  17. 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.

  18. Three Flow Features behind the Flow Control Authority of DBD Plasma Actuator: Result of High-Fidelity Simulations and the Related Experiments

    Directory of Open Access Journals (Sweden)

    Kozo Fujii

    2018-04-01

    Full Text Available Both computational and experimental studies are conducted for understanding of the flow separation control mechanism of a DBD (dielectric barrier discharge plasma actuator. Low speed flows over an airfoil are considered. A DBD plasma actuator is attached near the leading edge of an airfoil and the mechanism of flow control of this small device is discussed. The DBD plasma actuator, especially in burst mode, is shown to be very effective for controlling flow separation at Reynolds number of 6.3 × 104, when applied to the flows at an angle of attack higher than the stall. The analysis reveals that the flow structure includes three remarkable features that provide good authority for flow separation control with the appropriate actuator parameters. With proper setting of the actuator parameters to enhance the effective flow features for the application, good flow control can be achieved. Based on the analysis, guidelines for the effective use of DBD plasma actuators are proposed. A DBD plasma actuator is also applied to the flows under cruise conditions. With the DBD plasma actuator attached, a simple airfoil turns out to show higher lift-to-drag ratio than a well-designed airfoil.

  19. A new hybrid observer based rotor imbalance vibration control via passive autobalancer and active bearing actuation

    Science.gov (United States)

    Jung, DaeYi; DeSmidt, Hans

    2018-02-01

    Many researchers have explored the use of active bearings, such as non-contact Active Magnetic Bearings (AMB), to control imbalance vibration in rotor systems. Meanwhile, the advantages of a passive Auto-balancer device (ABD) eliminating the imbalance effect of rotor without using other active means have been recently studied. This paper develops a new hybrid imbalance vibration control approach for an ABD-rotor system supported by a normal passive bearing in augmented with an AMB to enhance the balancing and vibration isolation capabilities. Essentially, an ABD consists of several freely moving eccentric balancing masses mounted on the rotor, which, at supercritical operating speeds, act to cancel the rotor's imbalance at steady-state. However, due to the inherent nonlinearity of the ABD, the potential for other, non-synchronous limit-cycle behavior exists resulting in increased rotor vibration. To address this, the algorithm of proposed hybrid control is designed to guarantee globally asymptotic stability of the synchronous balanced condition. This algorithm also incorporates with a "Luenberger-like" observer that continuously estimates the states of a balancer ball circulating around within ABD. In particular, it is shown that the balanced equilibrium can be made globally attractive under the hybrid control strategy, and that the control power levels of AMB are significantly reduced via the addition of the ABD because the control is designed such that it is only switched on for the abnormal operation of ABD and will be disengaged otherwise. Moreover, unlike other imbalance vibration control applications based upon ABD such as rotor speed regulator [21,22], this approach enables the controller to achieve the desirable performance without altering rotor speed once the rotor initially reaches the target speed. These applications are relevant to limited power applications such as in satellite reaction wheels, flywheel energy storage batteries or CD-ROM application.

  20. Piezoelectric Actuator/Sensor Technology at Rockwell

    Science.gov (United States)

    Neurgaonkar, Ratnakar R.

    1996-01-01

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

  1. Smart film actuators using biomass plastic

    International Nuclear Information System (INIS)

    Yoneyama, Satoshi; Tanaka, Nobuo

    2011-01-01

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

  2. Development of thermal actuators with multi-locking positions

    Science.gov (United States)

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

    2006-04-01

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

  3. An earthworm-like actuator using segmented solenoids

    International Nuclear Information System (INIS)

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

    2011-01-01

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

  4. 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.

  5. 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.

  6. A large-strain, fast-response, and easy-to-manufacture electrothermal actuator based on laser-reduced graphene oxide

    Science.gov (United States)

    Zhang, Tian-Yu; Wang, Qian; Deng, Ning-Qin; Zhao, Hai-Ming; Wang, Dan-Yang; Yang, Zhen; Liu, Ying; Yang, Yi; Ren, Tian-Ling

    2017-09-01

    In this paper, we have developed a high-performance graphene electrothermal actuator (ETA). The fabrication method is easy, fast, environmentally friendly, and suitable for preparing both large-size and miniature graphene ETAs. When applied with the driving voltage of 65 V, the graphene ETA achieves a large bending angle of 270° with a fast response of 8 s and the recovery process costs 19 s. The large bending deformation is reversible and can be precisely controlled by the driving voltage. A simple robotic hand prepared by using a single graphene ETA can hold the object, which is more than ten times the weight of itself. By virtue of its large-strain, fast response, and easy-to-manufacture, we believe that the graphene ETA has tremendous potential in extensive applications involving biomimetic robotics, artificial muscles, switches, and microsensors in both macroscopic and microscopic fields.

  7. 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

  8. Torsional Properties of TiNi Shape Memory Alloy Tape for Rotary Actuator

    Science.gov (United States)

    Takeda, K.; Tobushi, H.; Mitsui, K.; Nishimura, Y.; Miyamoto, K.

    2012-12-01

    In order to develop novel shape memory actuators, the torsional deformation of a shape memory alloy (SMA) tape and the actuator models driven by the tape were investigated. The results obtained can be summarized as follows. In the SMA tape subjected to torsion, the martensitic transformation appears along both edges of the tape due to elongation of these elements and grows to the central part. The fatigue life in both the pulsating torsion and alternating torsion is expressed by the unified relationship of the dissipated work in each cycle. Based on an opening and closing door model and a solar-powered active blind model, the two-way rotary driving actuator with a small and simple mechanism can be developed by using torsion of the SMA tape.

  9. 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.

  10. Decentralized Sliding Mode Observer Based Dual Closed-Loop Fault Tolerant Control for Reconfigurable Manipulator against Actuator Failure.

    Directory of Open Access Journals (Sweden)

    Bo Zhao

    Full Text Available This paper considers a decentralized fault tolerant control (DFTC scheme for reconfigurable manipulators. With the appearance of norm-bounded failure, a dual closed-loop trajectory tracking control algorithm is proposed on the basis of the Lyapunov stability theory. Characterized by the modularization property, the actuator failure is estimated by the proposed decentralized sliding mode observer (DSMO. Moreover, the actuator failure can be treated in view of the local joint information, so its control performance degradation is independent of other normal joints. In addition, the presented DFTC scheme is significantly simplified in terms of the structure of the controller due to its dual closed-loop architecture, and its feasibility is highly reflected in the control of reconfigurable manipulators. Finally, the effectiveness of the proposed DFTC scheme is demonstrated using simulations.

  11. Decentralized Sliding Mode Observer Based Dual Closed-Loop Fault Tolerant Control for Reconfigurable Manipulator against Actuator Failure

    Science.gov (United States)

    Zhao, Bo; Li, Yuanchun

    2015-01-01

    This paper considers a decentralized fault tolerant control (DFTC) scheme for reconfigurable manipulators. With the appearance of norm-bounded failure, a dual closed-loop trajectory tracking control algorithm is proposed on the basis of the Lyapunov stability theory. Characterized by the modularization property, the actuator failure is estimated by the proposed decentralized sliding mode observer (DSMO). Moreover, the actuator failure can be treated in view of the local joint information, so its control performance degradation is independent of other normal joints. In addition, the presented DFTC scheme is significantly simplified in terms of the structure of the controller due to its dual closed-loop architecture, and its feasibility is highly reflected in the control of reconfigurable manipulators. Finally, the effectiveness of the proposed DFTC scheme is demonstrated using simulations. PMID:26181826

  12. Analytical dynamic modeling of fast trilayer polypyrrole bending actuators

    International Nuclear Information System (INIS)

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

    2011-01-01

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

  13. Memory-Based Simple Heuristics as Attribute Substitution: Competitive Tests of Binary Choice Inference Models

    Science.gov (United States)

    Honda, Hidehito; Matsuka, Toshihiko; Ueda, Kazuhiro

    2017-01-01

    Some researchers on binary choice inference have argued that people make inferences based on simple heuristics, such as recognition, fluency, or familiarity. Others have argued that people make inferences based on available knowledge. To examine the boundary between heuristic and knowledge usage, we examine binary choice inference processes in…

  14. A Simple K-Map Based Variable Selection Scheme in the Direct ...

    African Journals Online (AJOL)

    A multiplexer with (n-l) data select inputs can realise directly a function of n variables. In this paper, a simple k-map based variable selection scheme is proposed such that an n variable logic function can be synthesised using a multiplexer with (n-q) data input variables and q data select variables. The procedure is based on ...

  15. 3D printed soft parallel actuator

    Science.gov (United States)

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

    2018-04-01

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

  16. 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...

  17. 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.

  18. Exact analysis of two kinds of piezoelectric actuator

    International Nuclear Information System (INIS)

    Han Rong; Shi Zhifei

    2008-01-01

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

  19. ANS&A Equip-13 Dynamic Actuator

    National Research Council Canada - National Science Library

    Steedman, R

    1996-01-01

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

  20. 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.

  1. Conjugated Polymers as Actuators: Modes of Actuation

    DEFF Research Database (Denmark)

    Skaarup, Steen

    2004-01-01

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

  2. Conjugated polymers as actuators: modes of actuation

    DEFF Research Database (Denmark)

    Skaarup, Steen

    2007-01-01

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

  3. Refreshable Braille displays using EAP actuators

    Science.gov (United States)

    Bar-Cohen, Yoseph

    2010-04-01

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

  4. Saturated poroelastic actuators generated by topology optimization

    DEFF Research Database (Denmark)

    Andreasen, Casper Schousboe; Sigmund, Ole

    2011-01-01

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

  5. Refreshable Braille Displays Using EAP Actuators

    Science.gov (United States)

    Bar-Cohen, Yoseph

    2010-01-01

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

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

    International Nuclear Information System (INIS)

    Nam, Doan Ngoc Chi; Ahn, Kyoung Kwan

    2014-01-01

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

  7. Investigation of actuator debonding effects on active control in smart composite laminates

    Directory of Open Access Journals (Sweden)

    Bin Huang

    2015-04-01

    Full Text Available This article presents a numerical study of active vibration control of smart composite laminates in the presence of actuator debonding failures. A comparison between the smart composite laminates with healthy actuator and various partially debonded actuator cases is performed to investigate the debonding effects on the vibration suppression. The improved layerwise theory with Heaviside’s unit step function is adopted to model the displacement field with actuator debonding failure. The higher order electric potential field is adopted to describe the potential variation through the thickness. The finite element method–based formulations are derived using the plate element, taking into consideration the electro-mechanical coupling effect. The reduced-order model is represented by the state-space form and further for the vibration suppression using a simple constant gain velocity feedback control strategy. For the purpose of demonstration, a 16-layer cross-ply substrate laminate ([0/90]4s is employed for the numerical study. The results show that the actuator debonding affects the closed-loop frequencies, active damping ratios, and efficiency of vibration suppression.

  8. Novel electroactive PVA-TOCN actuator that is extremely sensitive to low electrical inputs

    International Nuclear Information System (INIS)

    Wang, Fan; Kim, Si-Seup; Kee, Chang-Doo; Shen, Yun-De; Oh, Il-Kwon

    2014-01-01

    A novel electroactive biopolymer actuator was developed based on a cross-linked ionic networking membrane of TEMPO-oxidized bacterial cellulose nanofibers (TOCNs) and polyvinyl alcohol (PVA). Ionic liquids were added to develop an air-working artificial muscle and to enhance the performance of the PVA-TOCN actuator. Poly(3,4-ethylenedioxythiophene)-poly(styrenesulfonate) (PEDOT:PSS) conducting layers were deposited on the top and bottom surfaces of the PVA-TOCN membrane via a simple dipping and drying method. The electroactive PVA-TOCN actuator under both step and harmonic electrical inputs shows much larger tip displacements and faster bending deformation than the pure TOCN actuator. The cross-linking reaction between PVA and TOCN was observed in the Fourier transform–near-infrared (FT-IR) spectrum of the PVA-TOCN networking membrane. Scanning electron microscopy (SEM), x-ray diffusion (XRD), thermogravimetric analysis (TGA) and tensile and ion conductivity testing results for the PVA-TOCN membrane were compared with those of pristine TOCN. Most important, the PVA-TOCN actuator shows much larger bending deformation under even extremely low input voltages, and this could be attributed to the cross-linking mechanism and the greater flexibility resulting from the synergistic effects between PVA and TOCN. (papers)

  9. 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)

  10. A one-stage, high-load capacity separation actuator using anti-friction rollers and redundant shape memory alloy wires.

    Science.gov (United States)

    Xiaojun, Yan; Dawei, Huang; Xiaoyong, Zhang; Ying, Liu; Qiaolong, Yang

    2015-12-01

    This paper proposes a SMA (shape memory alloy) wire-based separation actuator with high-load capacity and simple structure. The novel actuator is based on a one-stage locking mechanism, which means that the separation is directly driven by the SMA wire. To release a large preload, a group of anti-friction rollers are adopted to reduce the force for triggering. In addition, two SMA wires are used redundantly to ensure a high reliability. After separation, the actuator can be reset automatically without any auxiliary tool or manual operation. Three prototypes of the separation actuator are fabricated and tested. According to the performance test results, the actuator can release a maximum preload of 40 kN. The separation time tends to decrease as the operation current increases and it can be as short as 0.5 s under a 7.5 A (the voltage is 5.8 V) current. Lifetime test indicates that the actuator has a lifetime of more than 50 cycles. The environmental tests demonstrate that the actuator can endure the typical thermal and vibration environment tests without unexpected separation or structure damage, and separate normally after these environment tests.

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

    Science.gov (United States)

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

    2010-03-01

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

  12. Actuator management for ECRH at ASDEX Upgrade

    Energy Technology Data Exchange (ETDEWEB)

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

    2015-10-15

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

  13. Actuator management for ECRH at ASDEX Upgrade

    International Nuclear Information System (INIS)

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

    2015-01-01

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

  14. A Simple System for Observing Dynamic Phase Equilibrium via an Inquiry-Based Laboratory or Demonstration

    Science.gov (United States)

    Cloonan, Carrie A.; Andrew, Julie A.; Nichol, Carolyn A.; Hutchinson, John S.

    2011-01-01

    This article describes an activity that can be used as an inquiry-based laboratory or demonstration for either high school or undergraduate chemistry students to provide a basis for understanding both vapor pressure and the concept of dynamic phase equilibrium. The activity includes a simple setup to create a closed system of only water liquid and…

  15. A simple pendulum borehole tiltmeter based on a triaxial optical-fibre displacement sensor

    OpenAIRE

    Chawah , P; Chéry , J; Boudin , F; Cattoen , Michel; Seat , Han Cheng; Plantier , Guy; Lizion , Françoise; Sourice , A; Bernard , Patrick; Brunet , C; Boyer , D; Gaffet , S

    2015-01-01

    International audience; Sensitive instruments like strainmeters and tiltmeters are necessary for measuring slowly varying low amplitude Earth deformations. Nonetheless, laser and fibre interferometers are particularly suitable for interrogating such instruments due to their extreme precision and accuracy. In this paper, a practical design of a simple pendulum borehole tiltmeter based on laser fibre interferometric displacement sensors is presented. A prototype instrument has been constructed ...

  16. 10–25 GHz frequency reconfigurable MEMS 5-bit phase shifter using push–pull actuator based toggle mechanism

    International Nuclear Information System (INIS)

    Dey, Sukomal; Koul, Shiban K

    2015-01-01

    This paper presents a frequency tunable 5-bit true-time-delay digital phase shifter using radio frequency microelectromechanical system (RF MEMS) technology. The phase shifter is based on the distributed MEMS transmission line (DMTL) concept utilizing a MEMS varactor. The main source of frequency tuning in this work is a bridge actuation mechanism followed by capacitance variation. Two stages of actuation mechanisms (push and pull) are used to achieve a 2:1 tuning ratio. Accurate control of the actuation voltage between the pull to push stages contributes differential phase shift over the band of interest. The functional behavior of the push–pull actuation over the phase shifter application is theoretically established, experimentally investigated and validated with simulation. The phase shifter is fabricated monolithically using a gold based surface micromachining process on an alumina substrate. The individual primary phase-bits (11.25°/22.5°/45°/90°/180°) that are the fundamental building blocks of the complete 5-bit phase shifter are designed, fabricated and experimentally characterized from 10–25 GHz for specific applications. Finally, the complete 5-bit phase shifter demonstrates an average phase error of 4.32°, 2.8°, 1° and 1.58°, an average insertion loss of 3.76, 4.1, 4.2 and 4.84 dB and an average return loss of 11.7, 12, 14 and 11.8 dB at 10, 12, 17.2 and 25 GHz, respectively. To the best of the authors’ knowledge, this is the first reported band tunable stand alone 5-bit phase shifter in the literature which can work over the large spectrum for different applications. The total area of the 5-bit phase shifter is 15.6 mm 2 . Furthermore, the cold-switched reliability of the unit cell and the complete 5-bit MEMS phase shifter are extensively investigated and presented. (paper)

  17. Ant-based extraction of rules in simple decision systems over ontological graphs

    Directory of Open Access Journals (Sweden)

    Pancerz Krzysztof

    2015-06-01

    Full Text Available In the paper, the problem of extraction of complex decision rules in simple decision systems over ontological graphs is considered. The extracted rules are consistent with the dominance principle similar to that applied in the dominancebased rough set approach (DRSA. In our study, we propose to use a heuristic algorithm, utilizing the ant-based clustering approach, searching the semantic spaces of concepts presented by means of ontological graphs. Concepts included in the semantic spaces are values of attributes describing objects in simple decision systems

  18. High precision simple interpolation asynchronous FIFO based on ACEX1K30 for HIRFL-CSRe

    International Nuclear Information System (INIS)

    Li Guihua; Qiao Weimin; Jing Lan

    2008-01-01

    High precision simple interpolation asynchronous FIFO of HIRFL-CSRe was developed based on the ACEX1K30 FPGA in VHDL Hardware Description language. The FIFO runs in FPGA of DSP module of HIRFL-CSRe. The input data of FIFO is from DSP data bus and the output data is to DAC data bus. It's kernel adopts double buffer ping-pong mode and it can implement simple interpolation inside FPGA. The module can control out- put data time delay in 40 ns. The experimental results indicate that this module is practical and accurate to HIRFL-CSRe. (authors)

  19. Chained Iron Microparticles for Directionally Controlled Actuation of Soft Robots.

    Science.gov (United States)

    Schmauch, Marissa M; Mishra, Sumeet R; Evans, Benjamin A; Velev, Orlin D; Tracy, Joseph B

    2017-04-05

    Magnetic field-directed self-assembly of magnetic particles in chains is useful for developing directionally responsive materials for applications in soft robotics. Using materials with greater complexity allows advanced functions, while still using simple device architectures. Elastomer films containing chained magnetic microparticles were prepared through solvent casting and formed into magnetically actuated lifters, accordions, valves, and pumps. Chaining both enhances actuation and imparts a directional response. Cantilevers used as lifters were able to lift up to 50 times the mass of the polymer film. We introduce the "specific torque", the torque per field per mass of magnetic particles, as a figure of merit for assessing and comparing the performance of lifters and related devices. Devices in this work generated specific torques of 68 Nm/kgT, which is significantly higher than in previously reported actuators. Applying magnetic fields to folded accordion structures caused extension and compression, depending on the accordion's orientation. In peristaltic pumps comprised of composite tubes containing embedded chains, magnetic fields caused a section of the tube to pinch closed where the field was applied. These results will facilitate both the further development of soft robots based on chained magnetic particles and efforts to engineer materials with higher specific torque.

  20. A Novel Hybrid Error Criterion-Based Active Control Method for on-Line Milling Vibration Suppression with Piezoelectric Actuators and Sensors

    Directory of Open Access Journals (Sweden)

    Xingwu Zhang

    2016-01-01

    Full Text Available Milling vibration is one of the most serious factors affecting machining quality and precision. In this paper a novel hybrid error criterion-based frequency-domain LMS active control method is constructed and used for vibration suppression of milling processes by piezoelectric actuators and sensors, in which only one Fast Fourier Transform (FFT is used and no Inverse Fast Fourier Transform (IFFT is involved. The correction formulas are derived by a steepest descent procedure and the control parameters are analyzed and optimized. Then, a novel hybrid error criterion is constructed to improve the adaptability, reliability and anti-interference ability of the constructed control algorithm. Finally, based on piezoelectric actuators and acceleration sensors, a simulation of a spindle and a milling process experiment are presented to verify the proposed method. Besides, a protection program is added in the control flow to enhance the reliability of the control method in applications. The simulation and experiment results indicate that the proposed method is an effective and reliable way for on-line vibration suppression, and the machining quality can be obviously improved.

  1. Verification of simple illuminance based measures for indication of discomfort glare from windows

    DEFF Research Database (Denmark)

    Karlsen, Line Røseth; Heiselberg, Per Kvols; Bryn, Ida

    2015-01-01

    predictions of discomfort glare from windows already in the early design stage when decisions regarding the façade are taken. This study focus on verifying if simple illuminance based measures like vertical illuminance at eye level or horizontal illuminance at the desk are correlated with the perceived glare...... reported by 44 test subjects in a repeated measure design occupant survey and if the reported glare corresponds with the predictions from the simple Daylight Glare Probability (DGPs) model. Large individual variations were seen in the occupants’ assessment of glare in the present study. Yet, the results...... confirm that there is a statistically significant correlation between both vertical eye illuminance and horizontal illuminance at the desk and the occupants’ perception of glare in a perimeter zone office environment, which is promising evidence towards utilizing such simple measures for indication...

  2. Development of a Simple Structured Artificial Muscle Using SMA Wire

    International Nuclear Information System (INIS)

    Ibuki, Ryuta; Maruyama, Shigenao; Komiya, Atsuki

    2006-01-01

    Artificial heart muscle using SMA wire is developed to assist weaken heartbeat. Simple structure design was adopted for large output force, large displacement and rapid cyclic motion of the actuator. The actuator was designed and fabricated from the viewpoint of heat transfer. Moving performance of the actuator was experimentally measured under 10N of loading condition. Under the maximum efficiency condition, the actuator shows cyclic motion with 1mm of displacement and time period of about 2 seconds in one cycle

  3. 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.

  4. Air Muscle Actuated Low Cost Humanoid Hand

    Directory of Open Access Journals (Sweden)

    Peter Scarfe

    2008-11-01

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

  5. Air Muscle Actuated Low Cost Humanoid Hand

    Directory of Open Access Journals (Sweden)

    Peter Scarfe

    2006-06-01

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

  6. Robust model reference adaptive output feedback tracking for uncertain linear systems with actuator fault based on reinforced dead-zone modification.

    Science.gov (United States)

    Bagherpoor, H M; Salmasi, Farzad R

    2015-07-01

    In this paper, robust model reference adaptive tracking controllers are considered for Single-Input Single-Output (SISO) and Multi-Input Multi-Output (MIMO) linear systems containing modeling uncertainties, unknown additive disturbances and actuator fault. Two new lemmas are proposed for both SISO and MIMO, under which dead-zone modification rule is improved such that the tracking error for any reference signal tends to zero in such systems. In the conventional approach, adaption of the controller parameters is ceased inside the dead-zone region which results tracking error, while preserving the system stability. In the proposed scheme, control signal is reinforced with an additive term based on tracking error inside the dead-zone which results in full reference tracking. In addition, no Fault Detection and Diagnosis (FDD) unit is needed in the proposed approach. Closed loop system stability and zero tracking error are proved by considering a suitable Lyapunov functions candidate. It is shown that the proposed control approach can assure that all the signals of the close loop system are bounded in faulty conditions. Finally, validity and performance of the new schemes have been illustrated through numerical simulations of SISO and MIMO systems in the presence of actuator faults, modeling uncertainty and output disturbance. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

  7. Measurement of the Length of Installed Rock Bolt Based on Stress Wave Reflection by Using a Giant Magnetostrictive (GMS) Actuator and a PZT Sensor.

    Science.gov (United States)

    Luo, Mingzhang; Li, Weijie; Wang, Bo; Fu, Qingqing; Song, Gangbing

    2017-02-23

    Rock bolts, as a type of reinforcing element, are widely adopted in underground excavations and civil engineering structures. Given the importance of rock bolts, the research outlined in this paper attempts to develop a portable non-destructive evaluation method for assessing the length of installed rock bolts for inspection purposes. Traditionally, piezoelectric elements or hammer impacts were used to perform non-destructive evaluation of rock bolts. However, such methods suffered from many major issues, such as the weak energy generated and the requirement for permanent installation for piezoelectric elements, and the inconsistency of wave generation for hammer impact. In this paper, we proposed a portable device for the non-destructive evaluation of rock bolt conditions based on a giant magnetostrictive (GMS) actuator. The GMS actuator generates enough energy to ensure multiple reflections of the stress waves along the rock bolt and a lead zirconate titantate (PZT) sensor is used to detect the reflected waves. A new integrated procedure that involves correlation analysis, wavelet denoising, and Hilbert transform was proposed to process the multiple reflection signals to determine the length of an installed rock bolt. The experimental results from a lab test and field tests showed that, by analyzing the instant phase of the periodic reflections of the stress wave generated by the GMS transducer, the length of an embedded rock bolt can be accurately determined.

  8. Considerations for Contractile Electroactive Materials and Actuators

    Energy Technology Data Exchange (ETDEWEB)

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

    2011-05-23

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

  9. 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.

  10. Pneumatic Muscle Actuator Control

    National Research Council Canada - National Science Library

    Lilly, John

    2000-01-01

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

  11. 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)

  12. Casting traceability with direct part marking using reconfigurable pin-type tooling based on paraffin–graphite actuators

    DEFF Research Database (Denmark)

    Vedel-Smith, Nikolaj Kjelgaard; Lenau, Torben Anker

    2012-01-01

    Green sand moulding machines for cast iron foundries are presently unable to uniquely identify individual castings. An insert tool concept is developed and tested via incremental mock-up development. The tool is part of the pattern plate and changes shape between each moulding, thus giving each...... mould a unique ID by embossing a Data Matrix symbol into the sand. In the process of producing the mould, each casting can be given a unique (DPM), enabling part tracking throughout the casting's life cycle. Sand embossing is achieved with paraffin-actuated reconfigurable pin-type tooling under...... simulated processing conditions. The marker geometry limitations have been tested using static symbol patterns, both for sand embossing and actual casting marking. The marked castings have successfully been identified with decoding software. The study shows that the function of each element...

  13. Force-Deformation Response of a SMA-Based Actuator Considering the Electric Current Intensity as Step-Input

    Directory of Open Access Journals (Sweden)

    Ion-Cornel Mituletu

    2015-06-01

    Full Text Available The goal of the paper is to accomplish the response regarding the force-displacement characteristic evolution, of a Shape Memory Alloy (SMA actuator element. This reveals the first research stage in controlling the SMA behavior, providing important information about the heating-cooling time intervals. Step excitation of the SMA is performed by few values of electric current intensity, which produces the heating of SMA element up to 90-95 oC. To meet the testing requirements, an adequate test stand has been set up, consisting of sensors for force, displacement and temperature. The analog values provided by sensors were acquired and afterwards analyzed. The values of temperature, displacement and force were achieved, and their characteristic evolution has been performed. Thus, the time intervals are resulted and some other important aspects have been observed, regarding the delay between parameters and the temperature overshoot

  14. Tetherless thermobiochemically actuated microgrippers.

    Science.gov (United States)

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

    2009-01-20

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

  15. Dielectric barrier discharge-based plasma actuator operation in artificial atmospheres for validation of modeling and simulation

    Energy Technology Data Exchange (ETDEWEB)

    Mangina, R. S.; Enloe, C. L.; Font, G. I. [Department of Physics, United States Air Force Academy, Colorado 80840 (United States)

    2015-11-15

    We present an experimental case study of time-resolved force production by an aerodynamic plasma actuator immersed in various mixtures of electropositive (N{sub 2}) and electronegative gases (O{sub 2} and SF{sub 6}) at atmospheric pressure using a fixed AC high-voltage input of 16 kV peak amplitude at 200 Hz frequency. We have observed distinct changes in the discharge structures during both negative- and positive-going voltage half-cycles, with corresponding variations in the actuator's force production: a ratio of 4:1 in the impulse produced by the negative-going half-cycle of the discharge among the various gas mixtures we explored, 2:1 in the impulse produced by the positive-going half-cycle, and cases in which the negative-going half-cycle dominates force production (by a ratio of 1.5:1), where the half-cycles produce identical force levels, and where the positive-going half cycle dominates (by a ratio of 1:5). We also present time-resolved experimental evidence for the first time that shows electrons do play a significant role in the momentum coupling to surrounding neutrals during the negative going voltage half-cycle of the N{sub 2} discharge. We show that there is sufficient macroscopic variation in the plasma that the predictions of numerical models at the microscopic level can be validated even though the plasma itself cannot be measured directly on those spatial and temporal scales.

  16. Soft actuators and soft actuating devices

    Energy Technology Data Exchange (ETDEWEB)

    Yang, Dian; Whitesides, George M.

    2017-10-17

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

  17. Correlation of Serum Zinc Level with Simple Febrile Seizures: A Hospital based Prospective Case Control Study

    Directory of Open Access Journals (Sweden)

    Imran Gattoo

    2015-04-01

    Full Text Available Background: Febrile seizures are one of the most common neurological conditions of childhood. It seems that zinc deficiency is associated with increased risk of febrile seizures.Aim: To estimate the serum Zinc level in children with simple Febrile seizures and to find the correlation between serum zinc level and simple Febrile seizures.Materials and Methods: The proposed study was a hospital based prospective case control study which included infants and children aged between 6 months to 5 years, at Post Graduate Department of Pediatrics, (SMGS Hospital, GMC Jammu, northern India. A total of 200 infants and children fulfilling the inclusion criteria were included. Patients were divided into 100(cases in Group A with simple febrile seizure and 100(controls in Group B of children with acute febrile illness without seizure. All patients were subjected to detailed history and thorough clinical examination followed by relevant investigations.Results: Our study had slight male prepondance of 62% in cases and 58% in controls . Mean serum zinc level in cases was 61.53±15.87 ugm/dl and in controls it was 71.90+18.50 ugm/dl .Serum zinc level was found significantly low in cases of simple febrile seizures as compaired to controls ,with p value of

  18. A simple dynamic rising nuclear cloud based model of ground radioactive fallout for atmospheric nuclear explosion

    International Nuclear Information System (INIS)

    Zheng Yi

    2008-01-01

    A simple dynamic rising nuclear cloud based model for atmospheric nuclear explosion radioactive prediction was presented. The deposition of particles and initial cloud radius changing with time before the cloud stabilization was considered. Large-scale relative diffusion theory was used after cloud stabilization. The model was considered reasonable and dependable in comparison with four U.S. nuclear test cases and DELFIC model results. (authors)

  19. A Simple Model for Complex Fabrication of MEMS based Pressure Sensor: A Challenging Approach

    Directory of Open Access Journals (Sweden)

    Himani SHARMA

    2010-08-01

    Full Text Available In this paper we have presented the simple model for complex fabrication of MEMS based absolute micro pressure sensor. This kind of modeling is extremely useful for determining its complexity in fabrication steps and provides complete information about process sequence to be followed during manufacturing. Therefore, the need for test iteration decreases and cost, time can be reduced significantly. By using DevEdit tool (part of SILVACO tool, a behavioral model of pressure sensor have been presented and implemented.

  20. Simple nuclear norm based algorithms for imputing missing data and forecasting in time series

    OpenAIRE

    Butcher, Holly Louise; Gillard, Jonathan William

    2017-01-01

    There has been much recent progress on the use of the nuclear norm for the so-called matrix completion problem (the problem of imputing missing values of a matrix). In this paper we investigate the use of the nuclear norm for modelling time series, with particular attention to imputing missing data and forecasting. We introduce a simple alternating projections type algorithm based on the nuclear norm for these tasks, and consider a number of practical examples.

  1. Simple structured hybrid WOLEDs based on incomplete energy transfer mechanism: from blue exciplex to orange dopant

    OpenAIRE

    Tianyou Zhang; Bo Zhao; Bei Chu; Wenlian Li; Zisheng Su; Xingwu Yan; Chengyuan Liu; Hairuo Wu; Yuan Gao; Fangming Jin; Fuhua Hou

    2015-01-01

    Exciplex is well known as a charge transfer state formed between electron-donating and electron-accepting molecules. However, exciplex based organic light emitting diodes (OLED) often performed low efficiencies relative to pure phosphorescent OLED and could hardly be used to construct white OLED (WOLED). In this work, a new mechanism is developed to realize efficient WOLED with extremely simple structure by redistributing the energy of triplet exciplex to both singlet exciplex and the orange ...

  2. Development of a nasal adenovirus-based vaccine: Effect of concentration and formulation on adenovirus stability and infectious titer during actuation from two delivery devices.

    Science.gov (United States)

    Renteria, Sandra S; Clemens, Courtney C; Croyle, Maria A

    2010-02-25

    A nasal adenovirus-based vaccine is under development. To determine if aggregation occurs during vaccination, infectious titer (limiting dilution) and capsid integrity (dynamic light scattering) were assessed after extrusion of a model vector from two intranasal delivery devices. Preparations of 2.5x10(12) and 1.25x10(11) virus particles (vp)/ml were studied. Virus aggregated ( approximately 10%) in the multi-dose vessel. Virus titer dropped by one log. Virus in the unit-dose device aggregated ( approximately 1%). Titer remained unchanged. Aggregation was concentration dependent. Formulations prevented aggregation during actuation, freeze-thaw and long-term storage. The device, formulation and dose may significantly influence aggregation and potency of any nasal adenovirus 5-based vaccine. Copyright 2009 Elsevier Ltd. All rights reserved.

  3. 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

  4. Control of non-linear actuator of artificial muscles for the use in low-cost robotics prosthetics limbs

    Science.gov (United States)

    Anis Atikah, Nurul; Yeng Weng, Leong; Anuar, Adzly; Chien Fat, Chau; Sahari, Khairul Salleh Mohamed; Zainal Abidin, Izham

    2017-10-01

    Currently, the methods of actuating robotic-based prosthetic limbs are moving away from bulky actuators to more fluid materials such as artificial muscles. The main disadvantages of these artificial muscles are their high cost of manufacturing, low-force generation, cumbersome and complex controls. A recent discovery into using super coiled polymer (SCP) proved to have low manufacturing costs, high force generation, compact and simple controls. Nevertheless, the non-linear controls still exists due to the nature of heat-based actuation, which is hysteresis. This makes position control difficult. Using electrically conductive devices allows for very quick heating, but not quick cooling. This research tries to solve the problem by using peltier devices, which can effectively heat and cool the SCP, hence giving way to a more precise control. The peltier device does not actively introduce more energy to a volume of space, which the coiled heating does; instead, it acts as a heat pump. Experiments were conducted to test the feasibility of using peltier as an actuating method on different diameters of nylon fishing strings. Based on these experiments, the performance characteristics of the strings were plotted, which could be used to control the actuation of the string efficiently in the future.

  5. Pull-in and wrinkling instabilities of electroactive dielectric actuators

    International Nuclear Information System (INIS)

    De Tommasi, D; Puglisi, G; Zurlo, G; Saccomandi, G

    2010-01-01

    We propose a model to analyse the insurgence of pull-in and wrinkling failures in electroactive thin films. We take into consideration both cases of voltage and charge control, the role of pre-stretch and the size of activated regions, which are all crucial factors in technological applications of electroactive polymers (EAPs). Based on simple geometrical and material assumptions we deduce an explicit analytical description of these phenomena, allowing a clear physical interpretation of different failure mechanisms such as the occurrence of pull-in and wrinkling. Despite our simple assumptions, the comparison with experiments shows a good qualitative and, interestingly, quantitative agreement. In particular our model shows, in accordance with experiments, the existence of different optimal pre-stretch values, depending on the choice of the actuating parameter of the EAP.

  6. Pull-in and wrinkling instabilities of electroactive dielectric actuators

    Energy Technology Data Exchange (ETDEWEB)

    De Tommasi, D; Puglisi, G; Zurlo, G [Dipartimento di Ingegneria Civile e Ambientale, Politecnico di Bari, 70125 Bari (Italy); Saccomandi, G [Dipartimento di Ingegneria Industriale, Universita degli Studi di Perugia, 06125 Perugia (Italy)

    2010-08-18

    We propose a model to analyse the insurgence of pull-in and wrinkling failures in electroactive thin films. We take into consideration both cases of voltage and charge control, the role of pre-stretch and the size of activated regions, which are all crucial factors in technological applications of electroactive polymers (EAPs). Based on simple geometrical and material assumptions we deduce an explicit analytical description of these phenomena, allowing a clear physical interpretation of different failure mechanisms such as the occurrence of pull-in and wrinkling. Despite our simple assumptions, the comparison with experiments shows a good qualitative and, interestingly, quantitative agreement. In particular our model shows, in accordance with experiments, the existence of different optimal pre-stretch values, depending on the choice of the actuating parameter of the EAP.

  7. Simple Harmonics Motion experiment based on LabVIEW interface for Arduino

    Science.gov (United States)

    Tong-on, Anusorn; Saphet, Parinya; Thepnurat, Meechai

    2017-09-01

    In this work, we developed an affordable modern innovative physics lab apparatus. The ultrasonic sensor is used to measure the position of a mass attached on a spring as a function of time. The data acquisition system and control device were developed based on LabVIEW interface for Arduino UNO R3. The experiment was designed to explain wave propagation which is modeled by simple harmonic motion. The simple harmonic system (mass and spring) was observed and the motion can be realized using curve fitting to the wave equation in Mathematica. We found that the spring constants provided by Hooke’s law and the wave equation fit are 9.9402 and 9.1706 N/m, respectively.

  8. A Simple BODIPY-Based Viscosity Probe for Imaging of Cellular Viscosity in Live Cells

    Directory of Open Access Journals (Sweden)

    Dongdong Su

    2016-08-01

    Full Text Available Intracellular viscosity is a fundamental physical parameter that indicates the functioning of cells. In this work, we developed a simple boron-dipyrromethene (BODIPY-based probe, BTV, for cellular mitochondria viscosity imaging by coupling a simple BODIPY rotor with a mitochondria-targeting unit. The BTV exhibited a significant fluorescence intensity enhancement of more than 100-fold as the solvent viscosity increased. Also, the probe showed a direct linear relationship between the fluorescence lifetime and the media viscosity, which makes it possible to trace the change of the medium viscosity. Furthermore, it was demonstrated that BTV could achieve practical applicability in the monitoring of mitochondrial viscosity changes in live cells through fluorescence lifetime imaging microscopy (FLIM.

  9. Shape memory alloys and their application to actuators for deployable structures

    International Nuclear Information System (INIS)

    Weimin Huang

    1998-03-01

    have carried out on Nitinol wires. This model has no difficulty in dealing with incomplete loading or thermal cycling. This model has been used to simulate thermal cycling behaviour with fixed length, strain rate effects, and phase transformation front behaviour. Three Nitinol wire-based rotatory actuators, a one-way actuator, a biased actuator, and a two-way actuator, have been designed and tested. The behaviour of these actuators has been simulated by using the phenomenological model that we have developed. The power consumption to operate all actuators was measured. Two simple approaches were proposed to estimate the average power requirements. A preliminary study of a torsional actuator has been made. The general design procedure for Nitinol-based actuators is summarised. The broad aim of this dissertation is also to provide a user's guide to the design of SMA-based actuators. (author)

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

    International Nuclear Information System (INIS)

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

    2009-01-01

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

  11. 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.

  12. Converting Water Adsorption and Capillary Condensation in Usable Forces with Simple Porous Inorganic Thin Films.

    Science.gov (United States)

    Boudot, Mickael; Elettro, Hervé; Grosso, David

    2016-11-22

    This work reports an innovative humidity-driven actuation concept based on conversion of chemical energy of adsorption/desorption using simple nanoporous sol-gel silica thin films as humidity-responsive materials. Bilayer-shaped actuators, consisting of a humidity-sensitive active nanostructured silica film deposited on a polymeric substrate (Kapton), were demonstrated as an original mean to convert water molecule adsorption and capillary condensation in usable mechanical work. Reversible solvation stress changes in silica micropores by water adsorption and energy produced by the rigid silica film contraction, induced by water capillary condensation in mesopores, were finely controlled and used as energy sources. The influence of the film nanostructure (microporosity, mesoporosity) and thickness and the polymeric substrate thickness on actuation force, on movement speed and on displacement amplitude are clearly evidenced and discussed. We show that the global mechanical response of such silica-based actuators can easily be adjusted to fabricate tailor-made actuation systems triggered by humidity variation. This study provides insight into hard ceramic stimulus-responsive materials that seem to be a promising alternative to traditional soft organic materials for surface-chemistry-driven actuation systems.

  13. Experimental Investigation of the Effect of the Driving Voltage of an Electroadhesion Actuator

    Directory of Open Access Journals (Sweden)

    Keng Huat Koh

    2014-06-01

    Full Text Available This paper investigates the effect of driving voltage on the attachment force of an electroadhesion actuator, as the existing literature on the saturation of the adhesive force at a higher electric field is incomplete. A new type of electroadhesion actuator using normally available materials, such as aluminum foil, PVC tape and a silicone rubber sheet used for keyboard protection, has been developed with a simple layered structure that is capable of developing adhesive force consistently. The developed actuator is subjected to the experiment for the evaluation of various test surfaces; aluminum, brick, ceramic, concrete and glass. The driving high voltage is varied in steps to determine the characteristics of the output holding force. Results show a quadratic relation between F (adhesion force and V (driving voltage within the 2 kV range. After this range, the F-V responses consistently show a saturation trend at high electric fields. Next, the concept of the leakage current that can occur in the dielectric material and the corona discharge through air has been introduced. Results show that the voltage level, which corresponds to the beginning of the supply current, matches well with the beginning of the force saturation. With the confirmation of this hypothesis, a working model for electroadhesion actuation is proposed. Based on the experimental results, it is proposed that such a kind of actuator can be driven within a range of optimum high voltage to remain electrically efficient. This practice is recommended for the future design, development and characterization of electroadhesion actuators for robotic applications.

  14. Force measurements of a magnetic micro actuator proposed for a microvalve array

    International Nuclear Information System (INIS)

    Chang, Pauline J; Chang, Frank W; Yuen, Michelle C; Horsley, David A; Otillar, Robert

    2014-01-01

    Low-cost, easily-fabricated and power-efficient microvalves are necessary for many microfluidic lab-on-a-chip applications. In this study, we present a simple, low-power, scalable, CMOS-compatible magnetic actuator for microvalve applications composed of a paramagnetic bead as the ball valve over a picoliter reaction well etched into a silicon substrate. The paramagnetic bead, composed of either pure FeSi or magnetite in a SiO 2  matrix, is actuated by the local magnetic field gradient generated by a microcoil in an aqueous environment, and the reaction well is situated at the microcoil center. A permanent magnet beneath the microvalve device provides an external magnetic biasing field that magnetizes the bead, enabling bidirectional actuation and reducing the current required to actuate the bead to a level below 10 mA. The vertical and radial magnetic forces exerted on the bead by the microcoil were measured for both pure FeSi and composite beads and agree well with the predictions of 2D axisymmetric finite element method models. Vertical forces were within a range of 13–80 nN, and radial forces were 11–60 nN depending on the bead type. The threshold current required to initiate bead actuation was measured as a function of bead diameter and is found to scale inversely with volume for small beads, as expected based on the magnetic force model. To provide an estimate of the stiction force acting between the bead and the passivation layer on the substrate, repeated actuation trials were used to study the bead throw distance for substrates coated with silicon dioxide, Parylene-C, and photoresist. The stiction observed was lowest for a photoresist-coated substrate, while silicon dioxide and Parylene-C coated substrates exhibited similar levels of stiction. (paper)

  15. 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).

  16. Experimental verification of displacement control on integrated ionic polymer-metal composite actuators with stochastic on/off controller

    Science.gov (United States)

    Kimura, Keishiro; Kamamichi, Norihiro

    2017-04-01

    An ionic polymer-metal composite (IPMC) actuator is one of polymer-based soft actuators. It is produced by chemically plating gold or platinum on both surface of a perfluorosulfonic acid membrane which is known as an ion-exchange membrane. It is able to be activated by a simple driving circuit and generate a large deformation under a low applied voltage (0.5-3 V). However, individual difference and characteristics changes from environmental conditions should be considered for realizing a stable or precise control. To solve these problems, we applied a stochastic ON/OFF controller to an integrated IPMC actuator with parallel connections. The controller consists of a central controller and distributed controllers. The central controller broadcasts a control signal such as an error signal to distributed controllers uniformly. The distributed controllers switch the ON/OFF states based on the broadcasted signal stochastically. The central controller dose not measure the states of each IPMC actuator, and the control signals is calculated by using the output signal of the integrated actuator and reference signal. The validity of the applied method was investigated through numerical simulations and experiments.

  17. 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...

  18. 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

  19. Simple unification

    International Nuclear Information System (INIS)

    Ponce, W.A.; Zepeda, A.

    1987-08-01

    We present the results obtained from our systematic search of a simple Lie group that unifies weak and electromagnetic interactions in a single truly unified theory. We work with fractionally charged quarks, and allow for particles and antiparticles to belong to the same irreducible representation. We found that models based on SU(6), SU(7), SU(8) and SU(10) are viable candidates for simple unification. (author). 23 refs

  20. Development of a flexible and bendable vibrotactile actuator based on wave-shaped poly(vinyl chloride)/acetyl tributyl citrate gels for wearable electronic devices

    Science.gov (United States)

    Park, Won-Hyeong; Bae, Jin Woo; Shin, Eun-Jae; Kim, Sang-Youn

    2016-11-01

    The paradigm of consumer electronic devices is being shifted from rigid hand-held devices to flexible/wearable devices in search of benefits such as enhanced usability and portability, excellent wear characteristics, and more functions in less space. However, the fundamental incompatibility of flexible/wearable devices and a rigid actuator brought forth a new issue obstructing commercialization of flexible/wearable devices. In this paper, we propose a new wave-shaped eco-friendly PVC gel, and a new flexible and bendable vibrotactile actuator that could easily be applied to wearable electronic devices. We explain the vibration mechanism of the proposed vibrotactile actuator and investigate its influence on the content of plasticizer for the performance of the proposed actuator. An experiment for measuring vibrational amplitude was conducted over a wide frequency range. The experiment clearly showed that the proposed vibrotactile actuator could create a variety of haptic sensations in wearable devices.

  1. A Simple Metallothionein-Based Biosensor for Enhanced Detection of Arsenic and Mercury

    Directory of Open Access Journals (Sweden)

    Gordon W. Irvine

    2017-03-01

    Full Text Available Metallothioneins (MTs are a family of cysteine-rich proteins whose biological roles include the regulation of essential metal ions and protection against the harmful effects of toxic metals. Due to its high affinity for many toxic, soft metals, recombinant human MT isoform 1a was incorporated into an electrochemical-based biosensor for the detection of As3+ and Hg2+. A simple design was chosen to maximize its potential in environmental monitoring and MT was physically adsorbed onto paper discs placed on screen-printed carbon electrodes (SPCEs. This system was tested with concentrations of arsenic and mercury typical of contaminated water sources ranging from 5 to 1000 ppb. The analytical performance of the MT-adsorbed paper discs on SPCEs demonstrated a greater than three-fold signal enhancement and a lower detection limit compared to blank SPCEs, 13 ppb for As3+ and 45 ppb for Hg2+. While not being as low as some of the recommended drinking water limits, the sensitivity of the simple MT-biosensor would be potentially useful in monitoring of areas of concern with a known contamination problem. This paper describes the ability of the metal binding protein metallothionein to enhance the effectiveness of a simple, low-cost electrochemical sensor.

  2. Investigation of Equivalent Unsprung Mass and Nonlinear Features of Electromagnetic Actuated Active Suspension

    Directory of Open Access Journals (Sweden)

    Jun Yin

    2015-01-01

    Full Text Available Electromagnetic actuated active suspension benefits active control and energy harvesting from vibration at the same time. However, the rotary type electromagnetic actuated active suspension introduces a significant extra mass on the unsprung mass due to the inertia of the rotating components of the actuator. The magnitude of the introduced unsprung mass is studied based on a gearbox type actuator and a ball screw type actuator. The geometry of the suspension and the actuator also influence the equivalent unsprung mass significantly. The suspension performance simulation or control logic derived should take this equivalent unsprung mass into account. Besides, an extra force should be compensated due to the nonlinear features of the suspension structure and it is studied. The active force of the actuator should compensate this extra force. The discovery of this paper provides a fundamental for evaluating the rotary type electromagnetic actuated active suspension performance and control strategy derived as well as controlling the electromagnetic actuated active suspension more precisely.

  3. 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.

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

    Science.gov (United States)

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

    2017-11-01

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

  5. Healthy habits: efficacy of simple advice on weight control based on a habit-formation model.

    Science.gov (United States)

    Lally, P; Chipperfield, A; Wardle, J

    2008-04-01

    To evaluate the efficacy of a simple weight loss intervention, based on principles of habit formation. An exploratory trial in which overweight and obese adults were randomized either to a habit-based intervention condition (with two subgroups given weekly vs monthly weighing; n=33, n=36) or to a waiting-list control condition (n=35) over 8 weeks. Intervention participants were followed up for 8 months. A total of 104 adults (35 men, 69 women) with an average BMI of 30.9 kg m(-2). Intervention participants were given a leaflet containing advice on habit formation and simple recommendations for eating and activity behaviours promoting negative energy balance, together with a self-monitoring checklist. Weight change over 8 weeks in the intervention condition compared with the control condition and weight loss maintenance over 32 weeks in the intervention condition. At 8 weeks, people in the intervention condition had lost significantly more weight (mean=2.0 kg) than those in the control condition (0.4 kg), with no difference between weekly and monthly weighing subgroups. At 32 weeks, those who remained in the study had lost an average of 3.8 kg, with 54% losing 5% or more of their body weight. An intention-to-treat analysis (based on last-observation-carried-forward) reduced this to 2.6 kg, with 26% achieving a 5% weight loss. This easily disseminable, low-cost, simple intervention produced clinically significant weight loss. In limited resource settings it has potential as a tool for obesity management.

  6. 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.

  7. Simple analytical approximation for rotationally inelastic rate constants based on the energy corrected sudden scaling law

    International Nuclear Information System (INIS)

    Smith, N.; Pritchard, D.E.

    1981-01-01

    We have recently demonstrated that the energy corrected sudden (ECS) scaling law of De Pristo et al. when conbined with the power law assumption for the basis rates k/sub l/→0proportional[l(l+1)]/sup -g/ can accurately fit a wide body of rotational energy transfer data. We develop a simple and accurate approximation to this fitting law, and in addition mathematically show the connection between it and our earlier proposed energy based law which also has been successful in describing both theoretical and experimental data on rotationally inelastic collisions

  8. Medically Relevant Assays with a Simple Smartphone and Tablet Based Fluorescence Detection System

    OpenAIRE

    Wargocki, Piotr; Deng, Wei; Anwer, Ayad G.; Goldys, Ewa M.

    2015-01-01

    Cell phones and smart phones can be reconfigured as biomedical sensor devices but this requires specialized add-ons. In this paper we present a simple cell phone-based portable bioassay platform, which can be used with fluorescent assays in solution. The system consists of a tablet, a polarizer, a smart phone (camera) and a box that provides dark readout conditions. The assay in a well plate is placed on the tablet screen acting as an excitation source. A polarizer on top of the well plate s...

  9. Simple engineering design for complex thermoelectric generators based on reduced current approach

    DEFF Research Database (Denmark)

    Wijesooriyage, Waruna Dissanayaka; Rezaniakolaei, Alireza; Rosendahl, Lasse

    2015-01-01

    Thermoelectric generators (TEGs) are niche candidate for the field of energy management as electrical generator devices. Generally, comprehensive and accurate design techniques for TEGs (thermoelectric generators), such as reduced current approach (RCA), are complex and time consuming processes....... This study develops a simple, comprehensive and accurate TEG designing technique based on RCA. The proposed method can predict the most efficient TEG architecture with more than 97% accuracy comparing to the RCA over wide range of possible temperature and zT for present TEG applications. Moreover...

  10. Tight Bounds for Beacon-Based Coverage in Simple Rectilinear Polygons

    KAUST Repository

    Bae, Sang Won; Shin, Chan-Su; Vigneron, Antoine E.

    2016-01-01

    We establish tight bounds for beacon-based coverage problems. In particular, we show that $$\\lfloor \\frac{n}{6} \\rfloor $$⌊n6⌋ beacons are always sufficient and sometimes necessary to cover a simple rectilinear polygon P with n vertices. When P is monotone and rectilinear, we prove that this bound becomes $$\\lfloor \\frac{n+4}{8} \\rfloor $$⌊n+48⌋. We also present an optimal linear-time algorithm for computing the beacon kernel of P.

  11. Tight Bounds for Beacon-Based Coverage in Simple Rectilinear Polygons

    KAUST Repository

    Bae, Sang Won

    2016-03-21

    We establish tight bounds for beacon-based coverage problems. In particular, we show that $$\\\\lfloor \\\\frac{n}{6} \\ floor $$⌊n6⌋ beacons are always sufficient and sometimes necessary to cover a simple rectilinear polygon P with n vertices. When P is monotone and rectilinear, we prove that this bound becomes $$\\\\lfloor \\\\frac{n+4}{8} \\ floor $$⌊n+48⌋. We also present an optimal linear-time algorithm for computing the beacon kernel of P.

  12. 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.

  13. Experimental Data Collection and Modeling for Nominal and Fault Conditions on Electro-Mechanical Actuators

    Data.gov (United States)

    National Aeronautics and Space Administration — Being relatively new to the field, electromechanical actuators in aerospace applications lack the knowledge base compared to ones accumulated for the other actuator...

  14. The Actuated Guitar

    DEFF Research Database (Denmark)

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

    2013-01-01

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

  15. Fault tolerant linear actuator

    Science.gov (United States)

    Tesar, Delbert

    2004-09-14

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

  16. Actuator concepts and mechatronics

    Science.gov (United States)

    Gilbert, Michael G.; Horner, Garnett C.

    1998-06-01

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

  17. Robust Force Control of Series Elastic Actuators

    Directory of Open Access Journals (Sweden)

    Andrea Calanca

    2014-07-01

    Full Text Available Force-controlled series elastic actuators (SEA are widely used in novel human-robot interaction (HRI applications, such as assistive and rehabilitation robotics. These systems are characterized by the presence of the “human in the loop”, so that control response and stability depend on uncertain human dynamics, including reflexes and voluntary forces. This paper proposes a force control approach that guarantees the stability and robustness of the coupled human-robot system, based on sliding-mode control (SMC, considering the human dynamics as a disturbance to reject. We propose a chattering free solution that employs simple task models to obtain high performance, comparable with second order solutions. Theoretical stability is proven within the sliding mode framework, and predictability is reached by avoiding the reaching phase by design. Furthermore, safety is introduced by a proper design of the sliding surface. The practical feasibility of the approach is shown using an SEA prototype coupled with a human impedance in severe stress tests. To show the quality of the approach, we report a comparison with state-of-the-art second order SMC, passivity-based control and adaptive control solutions.

  18. High-order tracking differentiator based adaptive neural control of a flexible air-breathing hypersonic vehicle subject to actuators constraints.

    Science.gov (United States)

    Bu, Xiangwei; Wu, Xiaoyan; Tian, Mingyan; Huang, Jiaqi; Zhang, Rui; Ma, Zhen

    2015-09-01

    In this paper, an adaptive neural controller is exploited for a constrained flexible air-breathing hypersonic vehicle (FAHV) based on high-order tracking differentiator (HTD). By utilizing functional decomposition methodology, the dynamic model is reasonably decomposed into the respective velocity subsystem and altitude subsystem. For the velocity subsystem, a dynamic inversion based neural controller is constructed. By introducing the HTD to adaptively estimate the newly defined states generated in the process of model transformation, a novel neural based altitude controller that is quite simpler than the ones derived from back-stepping is addressed based on the normal output-feedback form instead of the strict-feedback formulation. Based on minimal-learning parameter scheme, only two neural networks with two adaptive parameters are needed for neural approximation. Especially, a novel auxiliary system is explored to deal with the problem of control inputs constraints. Finally, simulation results are presented to test the effectiveness of the proposed control strategy in the presence of system uncertainties and actuators constraints. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

  19. A simple rhodamine hydrazide-based turn-on fluorescent probe for HOCl detection.

    Science.gov (United States)

    Zhang, Zhen; Zou, Yuan; Deng, Chengquan; Meng, Liesu

    2016-06-01

    Hypochlorous acid (HOCl) plays a crucial role in daily life and mediates a variety of physiological processes, however, abnormal levels of HOCl have been associated with numerous human diseases. It is therefore of significant interest to establish a simple, selective, rapid and sensitive fluorogenic method for the detection of HOCl in environmental and biological samples. A hydrazide-containing fluorescent probe based on a rhodamine scaffold was facilely developed that could selectively detect HOCl over other biologically relevant reactive oxygen species, reactive nitrogen species and most common metal ions in vitro. Via an irreversible oxidation-hydrolysis mechanism, and upon HOCl-triggered opening of the intramolecular spirocyclic ring during detection, the rhodamine hydrazide-based probe exhibited large fluorescence enhancement in the emission spectra with a fast response, low detection limit and comparatively wide pH detection range in aqueous media. The probe was further successfully applied to monitoring trace HOCl in tap water and imaging both exogenous and endogenous HOCl within living cells. It is anticipated that this simple and useful probe might be an efficient tool with which to facilitate more HOCl-related chemical and biological research. Copyright © 2015 John Wiley & Sons, Ltd. Copyright © 2015 John Wiley & Sons, Ltd.

  20. Maintenance of algal endosymbionts in Paramecium bursaria: a simple model based on population dynamics.

    Science.gov (United States)

    Iwai, Sosuke; Fujiwara, Kenji; Tamura, Takuro

    2016-09-01

    Algal endosymbiosis is widely distributed in eukaryotes including many protists and metazoans, and plays important roles in aquatic ecosystems, combining phagotrophy and phototrophy. To maintain a stable symbiotic relationship, endosymbiont population size in the host must be properly regulated and maintained at a constant level; however, the mechanisms underlying the maintenance of algal endosymbionts are still largely unknown. Here we investigate the population dynamics of the unicellular ciliate Paramecium bursaria and its Chlorella-like algal endosymbiont under various experimental conditions in a simple culture system. Our results suggest that endosymbiont population size in P. bursaria was not regulated by active processes such as cell division coupling between the two organisms, or partitioning of the endosymbionts at host cell division. Regardless, endosymbiont population size was eventually adjusted to a nearly constant level once cells were grown with light and nutrients. To explain this apparent regulation of population size, we propose a simple mechanism based on the different growth properties (specifically the nutrient requirements) of the two organisms, and based from this develop a mathematical model to describe the population dynamics of host and endosymbiont. The proposed mechanism and model may provide a basis for understanding the maintenance of algal endosymbionts. © 2015 Society for Applied Microbiology and John Wiley & Sons Ltd.

  1. Simple, fast, and low-cost camera-based water content measurement with colorimetric fluorescent indicator

    Science.gov (United States)

    Song, Seok-Jeong; Kim, Tae-Il; Kim, Youngmi; Nam, Hyoungsik

    2018-05-01

    Recently, a simple, sensitive, and low-cost fluorescent indicator has been proposed to determine water contents in organic solvents, drugs, and foodstuffs. The change of water content leads to the change of the indicator's fluorescence color under the ultra-violet (UV) light. Whereas the water content values could be estimated from the spectrum obtained by a bulky and expensive spectrometer in the previous research, this paper demonstrates a simple and low-cost camera-based water content measurement scheme with the same fluorescent water indicator. Water content is calculated over the range of 0-30% by quadratic polynomial regression models with color information extracted from the captured images of samples. Especially, several color spaces such as RGB, xyY, L∗a∗b∗, u‧v‧, HSV, and YCBCR have been investigated to establish the optimal color information features over both linear and nonlinear RGB data given by a camera before and after gamma correction. In the end, a 2nd order polynomial regression model along with HSV in a linear domain achieves the minimum mean square error of 1.06% for a 3-fold cross validation method. Additionally, the resultant water content estimation model is implemented and evaluated in an off-the-shelf Android-based smartphone.

  2. Simple Wide Frequency Range Impedance Meter Based on AD5933 Integrated Circuit

    Directory of Open Access Journals (Sweden)

    Chabowski Konrad

    2015-03-01

    Full Text Available As it contains elements of complete digital impedance meter, the AD5933 integrated circuit is an interesting solution for impedance measurements. However, its use for measurements in a wide range of impedances and frequencies requires an additional digital and analogue circuitry. This paper presents the design and performance of a simple impedance meter based on the AD5933 IC. Apart from the AD5933 IC it consists of a clock generator with a programmable prescaler, a novel DC offset canceller for the excitation signal based on peak detectors and a current to voltage converter with switchable conversion ratios. The authors proposed a simple method for choosing the measurement frequency to minimalize errors resulting from the spectral leakage and distortion caused by a lack of an anti-aliasing filter in the DDS generator. Additionally, a novel method for the AD5933 IC calibration was proposed. It consists in a mathematical compensation of the systematic error occurring in the argument of the value returned from the AD5933 IC as a result. The performance of the whole system is demonstrated in an exemplary measurement.

  3. Text Based Analogy in Overcoming Student Misconception on Simple Electricity Circuit Material

    Science.gov (United States)

    Hesti, R.; Maknun, J.; Feranie, S.

    2017-09-01

    Some researcher have found that the use of analogy in learning and teaching physics was effective enough in giving comprehension in a complicated physics concept such as electrical circuits. Meanwhile, misconception become main cause that makes students failed when learning physics. To provide teaching physics effectively, the misconception should be resolved. Using Text Based Analogy is one of the way to identifying misconceptions and it is enough to assist teachers in conveying scientific truths in order to overcome misconceptions. The purpose of the study to investigate the use of text based analogy in overcoming students misconception on simple electrical circuit material. The samples of this research were 28 of junior high school students taken purposively from one high school in South Jakarta. The method use in this research is pre-experimental and design in one shot case study. Students who are the participants of sample have been identified misconception on the electrical circuit material by using the Diagnostic Test of Simple Electricity Circuit. The results of this study found that TBA can replace the misconceptions of the concept possessed by students with scientific truths conveyed in the text in a way that is easily understood so that TBA is strongly recommended to use in other physics materials.

  4. 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

  5. Actuating movement in refined wearables

    NARCIS (Netherlands)

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

    2014-01-01

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

  6. 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.

  7. Micro-mechanics of ionic electroactive polymer actuators

    Science.gov (United States)

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

    2015-04-01

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

  8. Simple structured hybrid WOLEDs based on incomplete energy transfer mechanism: from blue exciplex to orange dopant

    Science.gov (United States)

    Zhang, Tianyou; Zhao, Bo; Chu, Bei; Li, Wenlian; Su, Zisheng; Yan, Xingwu; Liu, Chengyuan; Wu, Hairuo; Gao, Yuan; Jin, Fangming; Hou, Fuhua

    2015-05-01

    Exciplex is well known as a charge transfer state formed between electron-donating and electron-accepting molecules. However, exciplex based organic light emitting diodes (OLED) often performed low efficiencies relative to pure phosphorescent OLED and could hardly be used to construct white OLED (WOLED). In this work, a new mechanism is developed to realize efficient WOLED with extremely simple structure by redistributing the energy of triplet exciplex to both singlet exciplex and the orange dopant. The micro process of energy transfer could be directly examined by detailed photoluminescence decay measurement and time resolved photoluminescence analysis. This strategy overcomes the low reverse intersystem crossing efficiency of blue exciplex and complicated device structure of traditional WOLED, enables us to achieve efficient hybrid WOLEDs. Based on this mechanism, we have successfully constructed both exciplex-fluorescence and exciplex-phosphorescence hybrid WOLEDs with remarkable efficiencies.

  9. Tunable electromechanical actuation in silicone dielectric film

    International Nuclear Information System (INIS)

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

    2014-01-01

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

  10. Biomimetic actuator and sensor for robot hand

    International Nuclear Information System (INIS)

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

    2012-01-01

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

  11. Biomimetic actuator and sensor for robot hand

    Energy Technology Data Exchange (ETDEWEB)

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

    2012-12-15

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

  12. Bistable microelectromechanical actuator

    Science.gov (United States)

    Fleming, James G.

    1999-01-01

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

  13. 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

  14. 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...

  15. Covering All the Bases in Genetics: Simple Shorthands and Diagrams for Teaching Base Pairing to Biology Undergraduates

    Directory of Open Access Journals (Sweden)

    Sergei Kuchin

    2011-03-01

    Full Text Available Explaining base pairing is an important element in teaching undergraduate genetics. I propose a teaching approach that aims to close the gap between the mantra “A pairs with T, and G pairs with C” and the “intimidating” chemical diagrams. The approach offers a set of simple “shorthands” for the key bases that can be used to quickly deduce all canonical and wobble pairs that the students need to know. The approach can be further developed to analyze mutagenic mismatch pairing.

  16. What Can We Learn from a Simple Physics-Based Earthquake Simulator?

    Science.gov (United States)

    Artale Harris, Pietro; Marzocchi, Warner; Melini, Daniele

    2018-03-01

    Physics-based earthquake simulators are becoming a popular tool to investigate on the earthquake occurrence process. So far, the development of earthquake simulators is commonly led by the approach "the more physics, the better". However, this approach may hamper the comprehension of the outcomes of the simulator; in fact, within complex models, it may be difficult to understand which physical parameters are the most relevant to the features of the seismic catalog at which we are interested. For this reason, here, we take an opposite approach and analyze the behavior of a purposely simple earthquake simulator applied to a set of California faults. The idea is that a simple simulator may be more informative than a complex one for some specific scientific objectives, because it is more understandable. Our earthquake simulator has three main components: the first one is a realistic tectonic setting, i.e., a fault data set of California; the second is the application of quantitative laws for earthquake generation on each single fault, and the last is the fault interaction modeling through the Coulomb Failure Function. The analysis of this simple simulator shows that: (1) the short-term clustering can be reproduced by a set of faults with an almost periodic behavior, which interact according to a Coulomb failure function model; (2) a long-term behavior showing supercycles of the seismic activity exists only in a markedly deterministic framework, and quickly disappears introducing a small degree of stochasticity on the recurrence of earthquakes on a fault; (3) faults that are strongly coupled in terms of Coulomb failure function model are synchronized in time only in a marked deterministic framework, and as before, such a synchronization disappears introducing a small degree of stochasticity on the recurrence of earthquakes on a fault. Overall, the results show that even in a simple and perfectly known earthquake occurrence world, introducing a small degree of

  17. The lucky image-motion prediction for simple scene observation based soft-sensor technology

    Science.gov (United States)

    Li, Yan; Su, Yun; Hu, Bin

    2015-08-01

    High resolution is important to earth remote sensors, while the vibration of the platforms of the remote sensors is a major factor restricting high resolution imaging. The image-motion prediction and real-time compensation are key technologies to solve this problem. For the reason that the traditional autocorrelation image algorithm cannot meet the demand for the simple scene image stabilization, this paper proposes to utilize soft-sensor technology in image-motion prediction, and focus on the research of algorithm optimization in imaging image-motion prediction. Simulations results indicate that the improving lucky image-motion stabilization algorithm combining the Back Propagation Network (BP NN) and support vector machine (SVM) is the most suitable for the simple scene image stabilization. The relative error of the image-motion prediction based the soft-sensor technology is below 5%, the training computing speed of the mathematical predication model is as fast as the real-time image stabilization in aerial photography.

  18. PCR-based approach to SINE isolation: simple and complex SINEs.

    Science.gov (United States)

    Borodulina, Olga R; Kramerov, Dmitri A

    2005-04-11

    Highly repeated copies of short interspersed elements (SINEs) occur in eukaryotic genomes. The distribution of each SINE family is usually restricted to some genera, families, or orders. SINEs have an RNA polymerase III internal promoter, which is composed of boxes A and B. Here we propose a method for isolation of novel SINE families based on genomic DNA PCR with oligonucleotide identical to box A as a primer. Cloning of the size-heterogeneous PCR-products and sequencing of their terminal regions allow determination of SINE structure. Using this approach, two novel SINE families, Rhin-1 and Das-1, from the genomes of great horseshoe bat (Rhinolophus ferrumequinum) and nine-banded armadillo (Dasypus novemcinctus), respectively, were isolated and studied. The distribution of Rhin-1 is restricted to two of six bat families tested. Copies of this SINE are characterized by frequent internal insertions and significant length (200-270 bp). Das-1 being only 90 bp in length is one of the shortest SINEs known. Most of Das-1 nucleotide sequences demonstrate significant similarity to alanine tRNA which appears to be an evolutionary progenitor of this SINE. Together with three other known SINEs (ID, Vic-1, and CYN), Das-1 constitutes a group of simple SINEs. Interestingly, three SINE families of this group are alanine tRNA-derived. Most probably, this tRNA gave rise to short and simple but successful SINEs several times during mammalian evolution.

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

    Directory of Open Access Journals (Sweden)

    Qiang Gao

    2015-12-01

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

  20. A wireless actuating drug delivery system

    International Nuclear Information System (INIS)

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

    2015-01-01

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

  1. 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.

  2. Elastic Cube Actuator with Six Degrees of Freedom Output

    Directory of Open Access Journals (Sweden)

    Pengchuan Wang

    2015-09-01

    Full Text Available Unlike conventional rigid actuators, soft robotic technologies possess inherent compliance, so they can stretch and twist along every axis without the need for articulated joints. This compliance is exploited here using dielectric elastomer membranes to develop a novel six degrees of freedom (6-DOF polymer actuator that unifies ordinarily separate components into a simple cubic structure. This cube actuator design incorporates elastic dielectric elastomer membranes on four faces which are coupled by a cross-shaped end effector. The inherent elasticity of each membrane greatly reduces kinematic constraint and enables a 6-DOF actuation output to be produced via the end effector. An electro-mechanical model of the cube actuator is presented that captures the non-linear hyperelastic behaviour of the active membranes. It is demonstrated that the model accurately predicts actuator displacement and blocking moment for a range of input voltages. Experimental testing of a prototype 60 mm device demonstrates 6-DOF operation. The prototype produces maximum linear and rotational displacements of ±2.6 mm (±4.3% and ±4.8° respectively and a maximum blocking moment of ±76 mNm. The capacity for full 6-DOF actuation from a compact, readily scalable and easily fabricated polymeric package enables implementation in a range of mechatronics and robotics applications.

  3. Development of a soft untethered robot using artificial muscle actuators

    Science.gov (United States)

    Cao, Jiawei; Qin, Lei; Lee, Heow Pueh; Zhu, Jian

    2017-04-01

    Soft robots have attracted much interest recently, due to their potential capability to work effectively in unstructured environment. Soft actuators are key components in soft robots. Dielectric elastomer actuators are one class of soft actuators, which can deform in response to voltage. Dielectric elastomer actuators exhibit interesting attributes including large voltage-induced deformation and high energy density. These attributes make dielectric elastomer actuators capable of functioning as artificial muscles for soft robots. It is significant to develop untethered robots, since connecting the cables to external power sources greatly limits the robots' functionalities, especially autonomous movements. In this paper we develop a soft untethered robot based on dielectric elastomer actuators. This robot mainly consists of a deformable robotic body and two paper-based feet. The robotic body is essentially a dielectric elastomer actuator, which can expand or shrink at voltage on or off. In addition, the two feet can achieve adhesion or detachment based on the mechanism of electroadhesion. In general, the entire robotic system can be controlled by electricity or voltage. By optimizing the mechanical design of the robot (the size and weight of electric circuits), we put all these components (such as batteries, voltage amplifiers, control circuits, etc.) onto the robotic feet, and the robot is capable of realizing autonomous movements. Experiments are conducted to study the robot's locomotion. Finite element method is employed to interpret the deformation of dielectric elastomer actuators, and the simulations are qualitatively consistent with the experimental observations.

  4. Natural fibres actuators for smart bio-inspired hygromorph biocomposites

    Science.gov (United States)

    Le Duigou, Antoine; Requile, Samuel; Beaugrand, Johnny; Scarpa, Fabrizio; Castro, Mickael

    2017-12-01

    Hygromorph biocomposite (HBC) actuators make use of the transport properties of plant fibres to generate an out-of-plane displacement when a moisture gradient is present. HBC actuators possess a design based on the bilayer configuration of natural hygromorph actuators (like pine cone, wheat awn, Selaginella lepidophyll). In this work we present a series of design guidelines for HBCs with improved performance, low environmental footprints and high durability in severe environments. We develop a theoretical actuating response (curvature) formulation of maleic anhydride polypropylene (MAPP)/plant fibres based on bimetallic actuators theory. The actuation response is evaluated as a function of the fibre type (flax, jute, kenaf and coir). We demonstrate that the actuation is directly related to the fibre microstructure and its biochemical composition. The jute and flax fibres appear to be the best candidates for use in HBCs. Flax/MAPP and jute/MAPP HBCs exhibit similar actuating behaviours during the sorption phase (amplitude and speed), but different desorption characteristics due to the combined effect of the lumen size, fibre division and biochemical composition on the desorption mechanism. During hygromechanical fatigue tests the jute/MAPP HBCs exhibit a drastic improvement in durability compared to their flax counterparts. We also provide a demonstration on how HBCs can be used to trigger deployment of more complex structures based on Origami and Kirigami designs.

  5. Fabricating Simple Wax Screen-Printing Paper-Based Analytical Devices to Demonstrate the Concept of Limiting Reagent in Acid- Base Reactions

    Science.gov (United States)

    Namwong, Pithakpong; Jarujamrus, Purim; Amatatongchai, Maliwan; Chairam, Sanoe

    2018-01-01

    In this article, a low-cost, simple, and rapid fabrication of paper-based analytical devices (PADs) using a wax screen-printing method is reported here. The acid-base reaction is implemented in the simple PADs to demonstrate to students the chemistry concept of a limiting reagent. When a fixed concentration of base reacts with a gradually…

  6. Pressure distribution-based texture sensing by using a simple artificial mastication system.

    Science.gov (United States)

    Yamamoto, Takeshi; Higashimori, Mitsuru; Nakauma, Makoto; Nakao, Satomi; Ikegami, Akira; Ishihara, Sayaka

    2014-01-01

    This paper proposes a novel texture sensing method for nursing-care gel by using an artificial mastication system, in which not only mechanical characteristics but also geometrical ones are objectively and quantitatively evaluated. When human masticates gel food, she or he perceives the changes of the shape and contact force simultaneously. Based on the impressions, they evaluate the texture. For reproducing such a procedure, the pressure distribution of gel is measured in the simple artificial mastication, and the information associated to both the geometrical and mechanical characteristics is simultaneously acquired. The relationship between the value of sensory evaluation (i.e. impression human perceives), and the pressure distribution data is numerically modeled by applying the image texture analysis. Experimental results show that the proposed method succeeds in estimating the values of sensory evaluation of nine kinds of gel with the coefficient of determination greater than 0.93.

  7. Simple estimating method of damages of concrete gravity dam based on linear dynamic analysis

    Energy Technology Data Exchange (ETDEWEB)

    Sasaki, T.; Kanenawa, K.; Yamaguchi, Y. [Public Works Research Institute, Tsukuba, Ibaraki (Japan). Hydraulic Engineering Research Group

    2004-07-01

    Due to the occurrence of large earthquakes like the Kobe Earthquake in 1995, there is a strong need to verify seismic resistance of dams against much larger earthquake motions than those considered in the present design standard in Japan. Problems exist in using nonlinear analysis to evaluate the safety of dams including: that the influence which the set material properties have on the results of nonlinear analysis is large, and that the results of nonlinear analysis differ greatly according to the damage estimation models or analysis programs. This paper reports the evaluation indices based on a linear dynamic analysis method and the characteristics of the progress of cracks in concrete gravity dams with different shapes using a nonlinear dynamic analysis method. The study concludes that if simple linear dynamic analysis is appropriately conducted to estimate tensile stress at potential locations of initiating cracks, the damage due to cracks would be predicted roughly. 4 refs., 1 tab., 13 figs.

  8. Calcium phosphate composite cements based on simple mixture of brushite and apatite phases

    Science.gov (United States)

    Egorov, A. A.; Fedotov, A. Yu; Pereloma, I. S.; Teterina, A. Yu; Sergeeva, N. S.; Sviridova, I. K.; Kirsanova, V. A.; Akhmedova, S. A.; Nesterova, A. V.; Reshetov, I. V.; Barinov, S. M.; Komlev, V. S.

    2018-04-01

    The composite cements based on simple mixtures brishite and apatite with ratio 70/30, 50/50, 30/70 were developed. The processes of phase formation, microstructure and mechanical properties were studied. The kinetics of degradation in simulated body fluid depending on the microstructure and the materials phase composition was carried out. The biological test in vitro were performed using the MTT-test on the human fibroblast immortalized (hFB) cell line and the human osteosarcoma cell line MG-63. The materials didn’t have acute cytoxicity and possessed surface matrix properties. It was determined that the both line of cells actively proliferated, with viable cells values higher 20-60 % then control at all observation periods.

  9. Improved Flexible Transparent Conductive Electrodes based on Silver Nanowire Networks by a Simple Sunlight Illumination Approach

    Science.gov (United States)

    Kou, Pengfei; Yang, Liu; Chang, Cheng; He, Sailing

    2017-01-01

    Silver nanowire (Ag NW) networks have attracted wide attention as transparent electrodes for emerging flexible optoelectronics. However, the sheet resistance is greatly limited by large wire-to-wire contact resistances. Here, we propose a simple sunlight illumination approach to remarkably improve their electrical conductivity without any significant degradation of the light transmittance. Because the power density is extremely low (0.1 W/cm2, 1-Sun), only slight welding between Ag NWs has been observed. Despite this, a sheet resistance of solar concentrations. Due to the reduced resistance, high-performance transparent film heaters as well as efficient defrosters have been demonstrated, which are superior to the previously-reported Ag NW based film heaters. Since the sunlight is environmentally friendly and easily available, sophisticated or expensive facilities are not necessary. Our findings are particularly meaningful and show enormous potential for outdoor applications. PMID:28169343

  10. Assessment of soil-structure interaction effects based on simple modes

    International Nuclear Information System (INIS)

    Philippacopoulos, A.J.; Miller, C.A.

    1983-01-01

    Soil-structure interaction effects are investigated using a simple mathematical model which employs three degrees-of-freedom. The foundation is approximated by a homogeneous, isotropic, elastic half-space. Harmonic functions and a recorded earthquake are used to represent the free-field input motion. Variations of the response characteristics due to structural and interaction parameters are demonstrated. Response spectra are presented that display the magnitude of the maximum structural response for a range of fixed-base structural frequencies, interaction frequencies and damping. Conclusions are obtained regarding the behavior of the response of the soil-structure system. The findings reported herein can be used for the interpretation of the results of soil-structure interaction analyses of nuclear plant structures that are performed with available computer codes

  11. Intrinsic Ge nanowire nonvolatile memory based on a simple core–shell structure

    International Nuclear Information System (INIS)

    Chen, Wen-Hua; Liu, Chang-Hai; Li, Qin-Liang; Sun, Qi-Jun; Liu, Jie; Gao, Xu; Sun, Xuhui; Wang, Sui-Dong

    2014-01-01

    Intrinsic Ge nanowires (NWs) with a Ge core covered by a thick Ge oxide shell are utilized to achieve nanoscale field-effect transistor nonvolatile memories, which show a large memory window and a high ON/OFF ratio with good retention. The retainable surface charge trapping is considered to be responsible for the memory effect, and the Ge oxide shell plays a key role as the insulating tunneling dielectric which must be thick enough to prevent stored surface charges from leaking out. Annealing the device in air is demonstrated to be a simple and effective way to attain thick Ge oxide on the Ge NW surface, and the Ge-NW-based memory corresponding to thick Ge oxide exhibits a much better retention capability compared with the case of thin Ge oxide. (paper)

  12. Simple method based on intensity measurements for characterization of aberrations from micro-optical components.

    Science.gov (United States)

    Perrin, Stephane; Baranski, Maciej; Froehly, Luc; Albero, Jorge; Passilly, Nicolas; Gorecki, Christophe

    2015-11-01

    We report a simple method, based on intensity measurements, for the characterization of the wavefront and aberrations produced by micro-optical focusing elements. This method employs the setup presented earlier in [Opt. Express 22, 13202 (2014)] for measurements of the 3D point spread function, on which a basic phase-retrieval algorithm is applied. This combination allows for retrieval of the wavefront generated by the micro-optical element and, in addition, quantification of the optical aberrations through the wavefront decomposition with Zernike polynomials. The optical setup requires only an in-motion imaging system. The technique, adapted for the optimization of micro-optical component fabrication, is demonstrated by characterizing a planoconvex microlens.

  13. A Simple Accounting-based Valuation Model for the Debt Tax Shield

    Directory of Open Access Journals (Sweden)

    Andreas Scholze

    2010-05-01

    Full Text Available This paper describes a simple way to integrate the debt tax shield into an accounting-based valuation model. The market value of equity is determined by forecasting residual operating income, which is calculated by charging operating income for the operating assets at a required return that accounts for the tax benefit that comes from borrowing to raise cash for the operations. The model assumes that the firm maintains a deterministic financial leverage ratio, which tends to converge quickly to typical steady-state levels over time. From a practical point of view, this characteristic is of particular help, because it allows a continuing value calculation at the end of a short forecast period.

  14. Simultaneous pre-concentration and separation on simple paper-based analytical device for protein analysis.

    Science.gov (United States)

    Niu, Ji-Cheng; Zhou, Ting; Niu, Li-Li; Xie, Zhen-Sheng; Fang, Fang; Yang, Fu-Quan; Wu, Zhi-Yong

    2018-02-01

    In this work, fast isoelectric focusing (IEF) was successfully implemented on an open paper fluidic channel for simultaneous concentration and separation of proteins from complex matrix. With this simple device, IEF can be finished in 10 min with a resolution of 0.03 pH units and concentration factor of 10, as estimated by color model proteins by smartphone-based colorimetric detection. Fast detection of albumin from human serum and glycated hemoglobin (HBA1c) from blood cell was demonstrated. In addition, off-line identification of the model proteins from the IEF fractions with matrix-assisted laser desorption ionization time-of-flight mass spectrometry (MALDI-TOF-MS) was also shown. This PAD IEF is potentially useful either for point of care test (POCT) or biomarker analysis as a cost-effective sample pretreatment method.

  15. A simple self-restored fiber Bragg grating (FBG)-based passive sensing ring network

    International Nuclear Information System (INIS)

    Yeh, Chien-Hung; Chow, Chi-Wai; Wang, Chia-Husan; Shih, Fu-Yuan; Wu, Yu-Fu; Chi, Sien

    2009-01-01

    In this investigation, we propose and experimentally investigate a simple self-restored fiber Bragg grating (FBG)-based sensor ring system. This proposed multi-ring passive sensing architecture does not require active components in the network. In this experiment, the network survivability and capacity for the multi-point sensor systems are also enhanced. Besides, the tunable laser source (TLS) is adopted in a central office (CO) for FBG sensing. The survivability of an eight-point FBG sensor is examined and analyzed. It is cost effective since the sensing system is entirely centralized in the CO. Experimental results show that the proposed system can enhance the reliability of the FBG sensing network for large-scale and multi-point architecture. (rapid communication)

  16. Simple measurement-based admission control for DiffServ access networks

    Science.gov (United States)

    Lakkakorpi, Jani

    2002-07-01

    In order to provide good Quality of Service (QoS) in a Differentiated Services (DiffServ) network, a dynamic admission control scheme is definitely needed as an alternative to overprovisioning. In this paper, we present a simple measurement-based admission control (MBAC) mechanism for DiffServ-based access networks. Instead of using active measurements only or doing purely static bookkeeping with parameter-based admission control (PBAC), the admission control decisions are based on bandwidth reservations and periodically measured & exponentially averaged link loads. If any link load on the path between two endpoints is over the applicable threshold, access is denied. Link loads are periodically sent to Bandwidth Broker (BB) of the routing domain, which makes the admission control decisions. The information needed in calculating the link loads is retrieved from the router statistics. The proposed admission control mechanism is verified through simulations. Our results prove that it is possible to achieve very high bottleneck link utilization levels and still maintain good QoS.

  17. Introduction of a simple-model-based land surface dataset for Europe

    Science.gov (United States)

    Orth, Rene; Seneviratne, Sonia I.

    2015-04-01

    Land surface hydrology can play a crucial role during extreme events such as droughts, floods and even heat waves. We introduce in this study a new hydrological dataset for Europe that consists of soil moisture, runoff and evapotranspiration (ET). It is derived with a simple water balance model (SWBM) forced with precipitation, temperature and net radiation. The SWBM dataset extends over the period 1984-2013 with a daily time step and 0.5° × 0.5° resolution. We employ a novel calibration approach, in which we consider 300 random parameter sets chosen from an observation-based range. Using several independent validation datasets representing soil moisture (or terrestrial water content), ET and streamflow, we identify the best performing parameter set and hence the new dataset. To illustrate its usefulness, the SWBM dataset is compared against several state-of-the-art datasets (ERA-Interim/Land, MERRA-Land, GLDAS-2-Noah, simulations of the Community Land Model Version 4), using all validation datasets as reference. For soil moisture dynamics it outperforms the benchmarks. Therefore the SWBM soil moisture dataset constitutes a reasonable alternative to sparse measurements, little validated model results, or proxy data such as precipitation indices. Also in terms of runoff the SWBM dataset performs well, whereas the evaluation of the SWBM ET dataset is overall satisfactory, but the dynamics are less well captured for this variable. This highlights the limitations of the dataset, as it is based on a simple model that uses uniform parameter values. Hence some processes impacting ET dynamics may not be captured, and quality issues may occur in regions with complex terrain. Even though the SWBM is well calibrated, it cannot replace more sophisticated models; but as their calibration is a complex task the present dataset may serve as a benchmark in future. In addition we investigate the sources of skill of the SWBM dataset and find that the parameter set has a similar

  18. Fault Diagnosis for Actuators in a Class of Nonlinear Systems Based on an Adaptive Fault Detection Observer

    Directory of Open Access Journals (Sweden)

    Runxia Guo

    2016-01-01

    Full Text Available The problem of actuators’ fault diagnosis is pursued for a class of nonlinear control systems that are affected by bounded measurement noise and external disturbances. A novel fault diagnosis algorithm has been proposed by combining the idea of adaptive control theory and the approach of fault detection observer. The asymptotical stability of the fault detection observer is guaranteed by setting the adaptive adjusting law of the unknown fault vector. A theoretically rigorous proof of asymptotical stability has been given. Under the condition that random measurement noise generated by the sensors of control systems and external disturbances exist simultaneously, the designed fault diagnosis algorithm is able to successfully give specific estimated values of state variables and failures rather than just giving a simple fault warning. Moreover, the proposed algorithm is very simple and concise and is easy to be applied to practical engineering. Numerical experiments are carried out to evaluate the performance of the fault diagnosis algorithm. Experimental results show that the proposed diagnostic strategy has a satisfactory estimation effect.

  19. A simple and efficient method for assembling TALE protein based on plasmid library.

    Science.gov (United States)

    Zhang, Zhiqiang; Li, Duo; Xu, Huarong; Xin, Ying; Zhang, Tingting; Ma, Lixia; Wang, Xin; Chen, Zhilong; Zhang, Zhiying

    2013-01-01

    DNA binding domain of the transcription activator-like effectors (TALEs) from Xanthomonas sp. consists of tandem repeats that can be rearranged according to a simple cipher to target new DNA sequences with high DNA-binding specificity. This technology has been successfully applied in varieties of species for genome engineering. However, assembling long TALE tandem repeats remains a big challenge precluding wide use of this technology. Although several new methodologies for efficiently assembling TALE repeats have been recently reported, all of them require either sophisticated facilities or skilled technicians to carry them out. Here, we described a simple and efficient method for generating customized TALE nucleases (TALENs) and TALE transcription factors (TALE-TFs) based on TALE repeat tetramer library. A tetramer library consisting of 256 tetramers covers all possible combinations of 4 base pairs. A set of unique primers was designed for amplification of these tetramers. PCR products were assembled by one step of digestion/ligation reaction. 12 TALE constructs including 4 TALEN pairs targeted to mouse Gt(ROSA)26Sor gene and mouse Mstn gene sequences as well as 4 TALE-TF constructs targeted to mouse Oct4, c-Myc, Klf4 and Sox2 gene promoter sequences were generated by using our method. The construction routines took 3 days and parallel constructions were available. The rate of positive clones during colony PCR verification was 64% on average. Sequencing results suggested that all TALE constructs were performed with high successful rate. This is a rapid and cost-efficient method using the most common enzymes and facilities with a high success rate.

  20. A simple fluorescence based assay for quantification of human immunodeficiency virus particle release

    Directory of Open Access Journals (Sweden)

    Heuser Anke-Mareil

    2010-04-01

    Full Text Available Abstract Background The assembly and release of human immunodeficiency virus (HIV particles from infected cells represent attractive, but not yet exploited targets for antiretroviral therapy. The availability of simple methods to measure the efficiency of these replication steps in tissue culture would facilitate the identification of host factors essential for these processes as well as the screening for lead compounds acting as specific inhibitors of particle formation. We describe here the development of a rapid cell based assay for quantification of human immunodeficiency virus type 1 (HIV-1 particle assembly and/or release. Results Using a fluorescently labelled HIV-derivative, which carries an eYFP domain within the main viral structural protein Gag in the complete viral protein context, the release of virus like particles could be monitored by directly measuring the fluorescence intensity of the tissue culture supernatant. Intracellular Gag was quantitated in parallel by direct fluorescence analysis of cell lysates, allowing us to normalize for Gag expression efficiency. The assay was validated by comparison with p24 capsid ELISA measurements, a standard method for quantifying HIV-1 particles. Optimization of conditions allowed the robust detection of particle amounts corresponding to 50 ng p24/ml in medium by fluorescence spectroscopy. Further adaptation to a multi-well format rendered the assay suitable for medium or high throughput screening of siRNA libraries to identify host cell factors involved in late stages of HIV replication, as well as for random screening approaches to search for potential inhibitors of HIV-1 assembly or release. Conclusions The fast and simple fluorescence based quantification of HIV particle release yielded reproducible results which were comparable to the well established ELISA measurements, while in addition allowing the parallel determination of intracellular Gag expression. The protocols described here