Sample records for submicron linear actuator

  1. T-Slide Linear Actuators (United States)

    Vranish, John


    T-slide linear actuators use gear bearing differential epicyclical transmissions (GBDETs) to directly drive a linear rack, which, in turn, performs the actuation. Conventional systems use a rotary power source in conjunction with a nut and screw to provide linear motion. Non-back-drive properties of GBDETs make the new actuator more direct and simpler. Versions of this approach will serve as a long-stroke, ultra-precision, position actuator for NASA science instruments, and as a rugged, linear actuator for NASA deployment duties. The T slide can operate effectively in the presence of side forces and torques. Versions of the actuator can perform ultra-precision positioning. A basic T-slide actuator is a long-stroke, rack-and-pinion linear actuator that, typically, consists of a T-slide, several idlers, a transmission to drive the slide (powered by an electric motor) and a housing that holds the entire assembly. The actuator is driven by gear action on its top surface, and is guided and constrained by gear-bearing idlers on its other two parallel surfaces. The geometry, implemented with gear-bearing technology, is particularly effective. An electronic motor operating through a GBDET can directly drive the T slide against large loads, as a rack and pinion linear actuator, with no break and no danger of back driving. The actuator drives the slide into position and stops. The slide holes position with power off and no brake, regardless of load. With the T slide configuration, this GBDET has an entire T-gear surface on which to operate. The GB idlers coupling the other two T slide parallel surfaces to their housing counterpart surfaces provide constraints in five degrees-of-freedom and rolling friction in the direction of actuation. Multiple GB idlers provide roller bearing strength sufficient to support efficient, rolling friction movement, even in the presence of large, resisting forces. T-slide actuators can be controlled using the combination of an off

  2. Linear peristaltic pump based on electromagnetic actuators

    Directory of Open Access Journals (Sweden)

    Maddoui Lotfi


    Full Text Available In this paper a study and design of a linear peristaltic pump are presented. A set of electromagnetic (solenoid actuators is used as the active tools to drag the liquid by crushing an elastic tube. The pump consists of six serially-connected electromagnetic actuators controlled via an electronic board. This may be considered as a simulated peristalsis action of intestines. The dynamic performances of the pump are investigated analytically and experimentally.

  3. A dynamic linearization concept for piezoelectric actuators. (United States)

    Biancuzzi, Giovanni; Haller, Daniel; Lemke, Thomas; Wischke, Martin; Goldschmidtboeing, Frank; Woias, Peter


    We present a linearization circuit based on a capacitive Wheatstone bridge that is able to set a desired polarization in a piezoactuator. The system is meant to be used for dynamic actuation in a broad frequency range. A general nonlinear model for piezoactuators is presented in which two nonlinear sub-systems are cascaded: the electric-field-to-polarization (E-P) and the polarization-to-strain (P-x) blocks. The inversion of the latter sub-system in combination with the linearization bridge results in a reduction of up to 19 dB of the harmonic distortion of the actuator's mechanical displacement. © 2011 IEEE

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

    DEFF Research Database (Denmark)

    Liu, Xiao; Wu, Keyuan; ye, yunyue


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

  5. Linear Actuator Has Long Stroke and High Resolution (United States)

    Cook, Brant T.; Moore, Donald M.; Braun, David F.; Koenig, John S.; Hankins, Steve M.


    The term precision linear actuator, direct drive ( PLADD ) refers to a robust linear actuator designed to be capable of repeatedly performing, over a lifetime of the order of 5 to 10 years, positioning maneuvers that include, variously, submicron increments or slews of the order of a centimeter. The PLADD is capable of both long stroke (120 mm) and high resolution (repeatable increments of 20 nm). Unlike precise linear actuators of prior design, the PLADD contains no gears, levers, or hydraulic converters. The PLADD, now at the prototype stage of development, is intended for original use as a coarse-positioning actuator in a spaceborne interferometer. The PLADD could also be adapted to terrestrial applications in which there are requirements for long stroke and high resolution: potential applications include medical imaging and fabrication of semiconductor devices. The PLADD (see figure) includes a commercially available ball-screw actuator driven directly by a commercially available three-phase brushless DC motor. The ball-screw actuator comprises a spring-preloaded ball nut on a ball screw that is restrained against rotation as described below. The motor is coupled directly (that is, without an intervening gear train) to a drive link that, in turn, is coupled to the ball nut. By eliminating the gear train, the direct-drive design eliminates the complexity, backlash, and potential for misalignment associated with a gear train. To prevent inadvertent movement, there is a brake that includes flexured levers compressed against the drive link by preload springs. This is a power-off brake: There are also piezoelectric stacks that can be activated to oppose the springs and push the levers away from the drive link. Hence, power must be applied to the piezoelectric stacks to release the drive link from braking. To help ensure long operational life, all of the mechanical drive components are immersed in an oil bath within hermetically sealed bellows. The outer end of the

  6. Design optimization of a linear actuator

    DEFF Research Database (Denmark)

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


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

  7. Design of Linear Series Elastic Actuators for a Humanoid Robot


    Knabe, Coleman Scott


    Series elastic actuators (SEAs) have numerous benefits for force controlled robotic applications. This thesis presents the design and assembly of a set of compact, lightweight, low-friction linear SEAs for the legs of the Tactical Hazardous Operations Robot (THOR). The THOR SEA pairs a ball screw driven linear actuator with a configurable titanium leaf spring. A removable pivot changes the effective cantilever length, setting the compliance to either 372 or 655 kN/m. Unlike typical SEAs which...

  8. Nanoporous Carbide-Derived Carbon Material-Based Linear Actuators

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    Janno Torop


    Full Text Available Devices using electroactive polymer-supported carbon material can be exploited as alternatives to conventional electromechanical actuators in applications where electromechanical actuators have some serious deficiencies. One of the numerous examples is precise microactuators. In this paper, we show for first time the dilatometric effect in nanocomposite material actuators containing carbide-derived carbon (CDC and polytetrafluoroetylene polymer (PTFE. Transducers based on high surface area carbide-derived carbon electrode materials are suitable for short range displacement applications, because of the proportional actuation response to the charge inserted, and high Coulombic efficiency due to the EDL capacitance. The material is capable of developing stresses in the range of tens of N cm-2. The area of an actuator can be dozens of cm2, which means that forces above 100 N are achievable. The actuation mechanism is based on the interactions between the high-surface carbon and the ions of the electrolyte. Electrochemical evaluations of the four different actuators with linear (longitudinal action response are described. The actuator electrodes were made from two types of nanoporous TiC-derived carbons with surface area (SA of 1150 m2 g-1 and 1470 m2 g-1, respectively. Two kinds of electrolytes were used in actuators: 1.0 M tetraethylammonium tetrafluoroborate (TEABF4 solution in propylene carbonate and pure ionic liquid 1-ethyl-3-methylimidazolium trifluoromethanesulfonate (EMITf. It was found that CDC based actuators exhibit a linear movement of about 1% in the voltage range of 0.8 V to 3.0 V at DC. The actuators with EMITf electrolyte had about 70% larger movement compared to the specimen with TEABF4 electrolyte.

  9. Design and investigation of a linear smart actuator (United States)

    Krishna Chaitanya, S.; Dhanalakshmi, K.


    Motors are nearly the sole constituents for actuation and driving applications, but there exist cases where their use proves to be impractical. Shape memory alloy (SMA), then revolutionized the actuator technology, thereby opening the door for new ideas and designs and with it what seemed unfeasible in the past have now become challenging. Many conventional actuators and sensors could be substituted with SMA, obtaining advantages in terms of reduction of weight, dimensions and its cost. SMAs are a group of metallic materials that revert to a predefined shape via phase transformation induced by a thermal procedure. Unlike metals that exhibit thermal expansion, SMA exhibits contraction when heated, which is larger by a hundredfold and exerts tremendous force for its small size. The focus of this work is to realize SMA wire as actuator which finds suitable applications (space, aerospace, biomechanics, etc.) where minimizing space, weight and cost are prime objectives. The accomplishments reported in this paper represent a significant development in the design of SMA actuator configurations for linear actuation. Report on design, fabrication and characterisation of the proposed system is presented. The design took advantage of converting the small linear displacement of the SMA wire into a large linear elastic motion under the influence of biasing element. From the results with control it is aspired that with further improvements on the design, the actuator can be utilized in enabling practical SMA technologies for potential robotic and commercial applications.

  10. Robot Arm with Tendon Connector Plate and Linear Actuator (United States)

    Ihrke, Chris A. (Inventor); Diftler, Myron A. (Inventor); Bridgwater, Lyndon (Inventor); Nguyen, Vienny (Inventor); Millerman, Alexander (Inventor)


    A robotic system includes a tendon-driven end effector, a linear actuator, a flexible tendon, and a plate assembly. The linear actuator assembly has a servo motor and a drive mechanism, the latter of which translates linearly with respect to a drive axis of the servo motor in response to output torque from the servo motor. The tendon connects to the end effector and drive mechanism. The plate assembly is disposed between the linear actuator assembly and the tendon-driven end effector and includes first and second plates. The first plate has a first side that defines a boss with a center opening. The second plate defines an accurate through-slot having tendon guide channels. The first plate defines a through passage for the tendon between the center opening and a second side of the first plate. A looped end of the flexible tendon is received within the tendon guide channels.

  11. Compact, Low-Force, Low-Noise Linear Actuator (United States)

    Badescu, Mircea; Sherrit, Stewart; Bar-Cohen, Yoseph


    Actuators are critical to all the robotic and manipulation mechanisms that are used in current and future NASA missions, and are also needed for many other industrial, aeronautical, and space activities. There are many types of actuators that were designed to operate as linear or rotary motors, but there is still a need for low-force, low-noise linear actuators for specialized applications, and the disclosed mechanism addresses this need. A simpler implementation of a rotary actuator was developed where the end effector controls the motion of a brush for cleaning a thermal sensor. The mechanism uses a SMA (shape-memory alloy) wire for low force, and low noise. The linear implementation of the actuator incorporates a set of springs and mechanical hard-stops for resetting and fault tolerance to mechanical resistance. The actuator can be designed to work in a pull or push mode, or both. Depending on the volume envelope criteria, the actuator can be configured for scaling its volume down to 4x2x1 cu cm. The actuator design has an inherent fault tolerance to mechanical resistance. The actuator has the flexibility of being designed for both linear and rotary motion. A specific configuration was designed and analyzed where fault-tolerant features have been implemented. In this configuration, an externally applied force larger than the design force does not damage the active components of the actuator. The actuator housing can be configured and produced using cost-effective methods such as injection molding, or alternatively, its components can be mounted directly on a small circuit board. The actuator is driven by a SMA -NiTi as a primary active element, and it requires energy on the order of 20 Ws(J) per cycle. Electrical connections to points A and B are used to apply electrical power in the resistive NiTi wire, causing a phase change that contracts the wire on the order of 5%. The actuation period is of the order of a second for generating the stroke, and 4 to 10

  12. Mechanical Design of Innovative Electromagnetic Linear Actuators for Marine Applications (United States)

    Muscia, Roberto


    We describe an engineering solution to manufacture electromagnetic linear actuators for moving rudders and fin stabilizers of military ships (Italian Ministry of Defence, General Direction of Naval Equipments (NAVARM), Projects ISO (2012-2014) and EDDA (2015-2017). The solution defines the transition from the conceptual design of the device initially studied from an electromagnetic point of view to mechanical configurations that really work. The structural problems that have been resolved with the proposed configuration are described. In order to validate the design choices discussed we illustrate some results of the numerical simulations performed by the structural finite elements method. These results quantitatively justify the suggested mechanical solution by evaluating stresses and deformations in a virtual prototype of the structure during its functioning. The parts of the device that have been studied are the most critical because in cases of excessive deformation/stress, they can irreparably compromise the actuator operation. These parts are the pole piece-base set and the retention cages of the permanent magnets. The FEM analysis has allowed us to identify the most stressed areas of the previous elements whose shape has been appropriately designed so as to reduce the maximum stresses and deformations. Moreover, the FEM analysis helped to find the most convenient solution to join the pole pieces to the respective bases. The good results obtained by the suggested engineering solution have been experimentally confirmed by tests on a small prototype actuator purposely manufactured. Finally, a qualitative analysis of the engineering problems that have to be considered to design electromagnetic linear actuators bigger than the one already manufactured is illustrated.

  13. Simulation of dynamics of a permanent magnet linear actuator

    DEFF Research Database (Denmark)

    Yatchev, Ivan; Ritchie, Ewen


    Comparison of two approaches for the simulation of the dynamic behaviour of a permanent magnet linear actuator is presented. These are full coupled model, where the electromagnetic field, electric circuit and mechanical motion problems are solved simultaneously, and decoupled model, where first...... a set of static magnetic filed analysis is carried out and then the electric circuit and mechanical motion equations are solved employing bi-cubic spline approximations of the field analysis results. The results show that the proposed decoupled model is of satisfactory accuracy and gives more...

  14. Giant linear voltage-induced deformation of a dielectric elastomer actuator (United States)

    Zhu, Jian; Kollosche, Matthias; Kofod, Guggi; Suo, Zhigang


    For dielectric elastomers, one of the most conspicuous attributes is large deformation of actuation induced by voltage. However, electromechanical instability may limit their deformation. In this seminar, I will illustrate how dielectric elastomers survive or eliminate electromechanical instability, through mechanical designs. For example, I will analyze a dielectric elastomer with a ``pure shear'' boundary condition. The membrane is first prestretched along the transverse direction, and then fixed by a rigid bar. As a result, the stretch in transverse direction is fixed, and the membrane can only be actuated along the vertical direction. The theory shows that the actuator can avert electromechanical instability, and achieve a giant linear deformation of actuation. The experiments confirm the theoretical predictions. For SEBS material, the linear strain of actuation can be 80%. For VHB material, the linear strain of actuation can be 300%. The actuator shows advantages compared to the classic designs (say, tube and circular actuators), and can be used as artificial muscles in soft robots.

  15. Non-Linear Piezoelectric Actuator with a Preloaded Cantilever Beam

    Directory of Open Access Journals (Sweden)

    Yue Wu


    Full Text Available Piezoelectric actuation is widely used for the active vibration control of smart structural systems, and corresponding research has largely focused on linear electromechanical devices. This paper investigates the design and analysis of a novel piezoelectric actuator that uses a piezoelectric cantilever beam with a loading spring to produce displacement outputs. This device has a special nonlinear property relating to converting between kinetic energy and potential energy, and it can be used to increase the output displacement at a lower voltage. The system is analytically modeled with Lagrangian functional and Euler–Lagrange equations, numerically simulated with MATLAB, and experimentally realized to demonstrate its enhanced capabilities. The model is validated using an experimental device with several pretensions of the loading spring, therein representing three interesting cases: a linear system, a low natural frequency system with a pre-buckled beam, and a system with a buckled beam. The motivating hypothesis for the current work is that nonlinear phenomena could be exploited to improve the effectiveness of the piezoelectric actuator’s displacement output. The most practical configuration seems to be the pre-buckled case, in which the proposed system has a low natural frequency, a high tip displacement, and a stable balanced position.

  16. Finite-Element Modelling of Piezoelectric Actuators: Linear and Nonlinear Analyses (United States)

    Steinkopff, T.

    Because of their excellent properties, piezoelectric actuators have became manifest in different applications like diesel injection, textile machines, and for nano-positioning. They are used in different designs: by means of linear actuators and bending actuators, forces up to several kilo Newtons and displacements up to several millimeters can be realised, respectively.

  17. Decentralized stabilization of linear time invariant systems subject to actuator saturation

    NARCIS (Netherlands)

    Stoorvogel, Antonie Arij; Saberi, Ali; Deliu, Ciprian; Deliu, C.; Sannuti, Peddapullaiah; Tarbouriech, S.; Garcia, G.; Glattfelder, A.H.


    We are concerned here with the stabilization of a linear time invariant system subject to actuator saturation via decentralized control while using linear time invariant dynamic controllers. When there exists no actuator saturation, i.e. when we consider just linear time invariant systems, it is

  18. Force Characteristics of the H-module Linear Actuator with Varying Tooth-shift-distance

    DEFF Research Database (Denmark)

    Liu, Xiao; Chen, Zhe; Lu, Kaiyuan


    The large normal force of a single-sided linear actuator may cause vibration, noise and reduce the positioning accuracy. To overcome these disadvantages, a new H-module linear actuator (HMLA) is proposed to reduce effectively the normal force without using expensive air suspension system or assis......The large normal force of a single-sided linear actuator may cause vibration, noise and reduce the positioning accuracy. To overcome these disadvantages, a new H-module linear actuator (HMLA) is proposed to reduce effectively the normal force without using expensive air suspension system...

  19. Stability and stabilization of linear systems with saturating actuators

    CERN Document Server

    Tarbouriech, Sophie; Gomes da Silva Jr, João Manoel; Queinnec, Isabelle


    Gives the reader an in-depth understanding of the phenomena caused by the more-or-less ubiquitous problem of actuator saturation. Proposes methods and algorithms designed to avoid, manage or overcome the effects of actuator saturation. Uses a state-space approach to ensure local and global stability of the systems considered. Compilation of fifteen years' worth of research results.

  20. Numerical modeling of shape memory alloy linear actuator (United States)

    Jani, Jaronie Mohd; Huang, Sunan; Leary, Martin; Subic, Aleksandar


    The demand for shape memory alloy (SMA) actuators in high-technology applications is increasing; however, there exist technical challenges to the commercial application of SMA actuator technologies, especially associated with actuation duration. Excessive activation duration results in actuator damage due to overheating while excessive deactivation duration is not practical for high-frequency applications. Analytical and finite difference equation models were developed in this work to predict the activation and deactivation durations and associated SMA thermomechanical behavior under variable environmental and design conditions. Relevant factors, including latent heat effect, induced stress and material property variability are accommodated. An existing constitutive model was integrated into the proposed models to generate custom SMA stress-strain curves. Strong agreement was achieved between the proposed numerical models and experimental results; confirming their applicability for predicting the behavior of SMA actuators with variable thermomechanical conditions.

  1. Adaptive Non-linear Control of Hydraulic Actuator Systems

    DEFF Research Database (Denmark)

    Hansen, Poul Erik; Conrad, Finn


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

  2. High Bandwidth Rotary Fast Tool Servos and a Hybrid Rotary/Linear Electromagnetic Actuator

    Energy Technology Data Exchange (ETDEWEB)

    Montesanti, Richard Clement [Massachusetts Inst. of Technology (MIT), Cambridge, MA (United States)


    This thesis describes the development of two high bandwidth short-stroke rotary fast tool servos and the hybrid rotary/linear electromagnetic actuator developed for one of them. Design insights, trade-o® methodologies, and analytical tools are developed for precision mechanical systems, power and signal electronic systems, control systems, normal-stress electromagnetic actuators, and the dynamics of the combined systems.

  3. Carbide-derived carbon (CDC) linear actuator properties in combination with conducting polymers (United States)

    Kiefer, Rudolf; Aydemir, Nihan; Torop, Janno; Kilmartin, Paul A.; Tamm, Tarmo; Kaasik, Friedrich; Kesküla, Arko; Travas-Sejdic, Jadranka; Aabloo, Alvo


    Carbide-derived Carbon (CDC) material is applied for super capacitors due to their nanoporous structure and their high charging/discharging capability. In this work we report for the first time CDC linear actuators and CDC combined with polypyrrole (CDC-PPy) in ECMD (Electrochemomechanical deformation) under isotonic (constant force) and isometric (constant length) measurements in aqueous electrolyte. CDC-PPy actuators showing nearly double strain under cyclic voltammetric and square wave potential measurements in comparison to CDC linear actuators. The new material is investigated by SEM (scanning electron microscopy) and EDX (energy dispersive X-ray analysis) to reveal how the conducting polymer layer and the CDC layer interfere together.

  4. A novel plate type linear piezoelectric actuator using dual-frequency drive (United States)

    Liu, Zhen; Yao, Zhiyuan; Jian, Yue; Li, Xiang


    In this paper, a novel rectangular structure linear piezoelectric actuator that utilizes two lower order decoupled vibration modes is developed and investigated. A noticeable trait of the linear piezoelectric actuator is that it can realize bi-directional motion by changing the vibration mode of the stator with different exciting frequencies. Modal and harmonic analysis of the stator are performed by the finite element method to determine the actuator structure and dimensions and stablished that the driving tip trajectories are diagonal lines. The direction of the actuator is controlled by the orientation of the diagonal motion generated at the driving tip. When the diagonal motion is inclined right as the driving tip approaches the linear guide, it will move the linear guide right. Correspondingly, the linear guide will move to the left, if the diagonal motion inclines left. In addition, a prototype linear piezoelectric actuator is fabricated and experimented. The results of the experiments indicate that the actuator has good mechanical output characteristics. Typical output of the prototype is no-load speed of 504 mm s-1 and maximum mechanical load of 6.5 kg.

  5. Modeling and comparison of superconducting linear actuators for highly dynamic motion

    Directory of Open Access Journals (Sweden)

    Bruyn B.J.H. de


    Full Text Available This paper presents a numerical modeling method for AC losses in highly dynamic linear actuators with high temperature superconducting (HTS tapes. The AC losses and generated force of two actuators, with different placement of the cryostats, are compared. In these actuators, the main loss component in the superconducting tapes are hysteresis losses, which result from both the non-sinusoidal phase currents and movement of the permanent magnets. The modeling method, based on the H-formulation of the magnetic fields, takes into account permanent magnetization and movement of permanent magnets. Calculated losses as function of the peak phase current of both superconducting actuators are compared to those of an equivalent non-cryogenic actuator.

  6. Linearization of the response of a 91-actuator magnetic liquid deformable mirror. (United States)

    Brousseau, Denis; Borra, Ermanno F; Rochette, Maxime; Landry, Daniel Bouffard


    We present the experimental performance of a 91-actuator deformable mirror made of a magnetic liquid (ferrofluid) using a new technique that linearizes the response of the mirror by superposing a uniform magnetic field to the one produced by the actuators. We demonstrate linear driving of the mirror using influence functions, measured with a Fizeau interferometer, by producing the first 36 Zernikes polynomials. Based on our measurements, we predict achievable mean PV wavefront amplitudes of up to 30 microm having RMS residuals of lambda/10 at 632.8 nm. Linear combination of Zernikes and over-time repeatability are also demonstrated.

  7. Design Methodology of a Dual-Halbach Array Linear Actuator with Thermal-Electromagnetic Coupling. (United States)

    Eckert, Paulo Roberto; Flores Filho, Aly Ferreira; Perondi, Eduardo; Ferri, Jeferson; Goltz, Evandro


    This paper proposes a design methodology for linear actuators, considering thermal and electromagnetic coupling with geometrical and temperature constraints, that maximizes force density and minimizes force ripple. The method allows defining an actuator for given specifications in a step-by-step way so that requirements are met and the temperature within the device is maintained under or equal to its maximum allowed for continuous operation. According to the proposed method, the electromagnetic and thermal models are built with quasi-static parametric finite element models. The methodology was successfully applied to the design of a linear cylindrical actuator with a dual quasi-Halbach array of permanent magnets and a moving-coil. The actuator can produce an axial force of 120 N and a stroke of 80 mm. The paper also presents a comparative analysis between results obtained considering only an electromagnetic model and the thermal-electromagnetic coupled model. This comparison shows that the final designs for both cases differ significantly, especially regarding its active volume and its electrical and magnetic loading. Although in this paper the methodology was employed to design a specific actuator, its structure can be used to design a wide range of linear devices if the parametric models are adjusted for each particular actuator.

  8. Design Methodology of a Dual-Halbach Array Linear Actuator with Thermal-Electromagnetic Coupling

    Directory of Open Access Journals (Sweden)

    Paulo Roberto Eckert


    Full Text Available This paper proposes a design methodology for linear actuators, considering thermal and electromagnetic coupling with geometrical and temperature constraints, that maximizes force density and minimizes force ripple. The method allows defining an actuator for given specifications in a step-by-step way so that requirements are met and the temperature within the device is maintained under or equal to its maximum allowed for continuous operation. According to the proposed method, the electromagnetic and thermal models are built with quasi-static parametric finite element models. The methodology was successfully applied to the design of a linear cylindrical actuator with a dual quasi-Halbach array of permanent magnets and a moving-coil. The actuator can produce an axial force of 120 N and a stroke of 80 mm. The paper also presents a comparative analysis between results obtained considering only an electromagnetic model and the thermal-electromagnetic coupled model. This comparison shows that the final designs for both cases differ significantly, especially regarding its active volume and its electrical and magnetic loading. Although in this paper the methodology was employed to design a specific actuator, its structure can be used to design a wide range of linear devices if the parametric models are adjusted for each particular actuator.

  9. Linear finite-difference bond graph model of an ionic polymer actuator (United States)

    Bentefrit, M.; Grondel, S.; Soyer, C.; Fannir, A.; Cattan, E.; Madden, J. D.; Nguyen, T. M. G.; Plesse, C.; Vidal, F.


    With the recent growing interest for soft actuation, many new types of ionic polymers working in air have been developed. Due to the interrelated mechanical, electrical, and chemical properties which greatly influence the characteristics of such actuators, their behavior is complex and difficult to understand, predict and optimize. In light of this challenge, an original linear multiphysics finite difference bond graph model was derived to characterize this ionic actuation. This finite difference scheme was divided into two coupled subparts, each related to a specific physical, electrochemical or mechanical domain, and then converted into a bond graph model as this language is particularly suited for systems from multiple energy domains. Simulations were then conducted and a good agreement with the experimental results was obtained. Furthermore, an analysis of the power efficiency of such actuators as a function of space and time was proposed and allowed to evaluate their performance.

  10. Performance Comparison of Permanent Magnet Linear Actuators of Different Mover Types

    DEFF Research Database (Denmark)

    Ritchie, Ewen; Hinov, K.; Yatchev, I.


    A comparative study of permanent magnet linear actuators with different location of the permanent magnet is reported. Three mover types are considered - soft magnetic mover, permanent magnet mover and hybrid mover. Force-stroke characteristics are obtained with the help of finite element models...

  11. Numerical Modal Analysis of Vibrations in a Three-Phase Linear Switched Reluctance Actuator

    Directory of Open Access Journals (Sweden)

    José Salvado


    Full Text Available This paper addresses the problem of vibrations produced by switched reluctance actuators, focusing on the linear configuration of this type of machines, aiming at its characterization regarding the structural vibrations. The complexity of the mechanical system and the number of parts used put serious restrictions on the effectiveness of analytical approaches. We build the 3D model of the actuator and use finite element method (FEM to find its natural frequencies. The focus is on frequencies within the range up to nearly 1.2 kHz which is considered relevant, based on preliminary simulations and experiments. Spectral analysis results of audio signals from experimental modal excitation are also shown and discussed. The obtained data support the characterization of the linear actuator regarding the excited modes, its vibration frequencies, and mode shapes, with high potential of excitation due to the regular operation regimes of the machine. The results reveal abundant modes and harmonics and the symmetry characteristics of the actuator, showing that the vibration modes can be excited for different configurations of the actuator. The identification of the most critical modes is of great significance for the actuator’s control strategies. This analysis also provides significant information to adopt solutions to reduce the vibrations at the design.

  12. Integrated nozzle - flapper valve with piezoelectric actuator and isothermal chamber: a feedback linearization multi control device

    Energy Technology Data Exchange (ETDEWEB)

    Kamali, Mohammadreza; Jazayeri, Seyed Ali [K. N.Toosi University of Technology, Tehran (Iran, Islamic Republic of); Najafi, Farid [University of Guilan, Rasht (Iran, Islamic Republic of); Kawashima, Kenji [Tokyo Medical and Dental University, Tokyo (Japan); Kagawa, Toshiharu [Tokyo Institute of Technology, Tokyo (Japan)


    This paper introduces a new nozzle-flapper valve with isothermal chamber using piezoelectric actuator. It controls the pressure and flow rate simply, effectively and separately. The proposed valve uses isothermal chamber presenting practical isothermal condition due to its large heat transfer interfaces filled by metal wool. The valve uses stacked type piezoelectric actuator with unique advantages. By using this valve, a simple method has been fulfilled to control flow rate or pressure of ideal gases in a pneumatic actuators. Experimental results demonstrated applications of the proposed valve to control either pressure or flow rate in pneumatic circuits. This valve can be also used in the pilot stage valve to actuate the main stage of a much bigger pneumatic valve. Designated structure contains only one pressure sensor installed on the isothermal control chamber, capable of controlling both pressure and flow rate. The desired output mass flow rate of the valve is controlled by the pressure changes during positioning of piezoelectric actuator at proper position. The proposed valve can control steady and unsteady oscillatory flow rate and pressure effectively, using nonlinear control method such as feedback linearization approach. Its effectiveness is demonstrated and validated through simulation and experiments.

  13. Static Simulation of a Linear Switched Reluctance Actuator with the Flux Tube Method

    Directory of Open Access Journals (Sweden)



    Full Text Available The linear counterpart of the rotational switched reluctance drive is receiving increasing attention from academic and industrial societies. The special characteristics of this driving technology, that normally works in a highly magnetic saturation regimen, make the development of efficient design methodologies more difficult. This paper proposes a new numerical model of a Linear Switched Reluctance Actuator based on the flux tube method. For validation purposes, simulation results obtained from the application of presented model are compared with the ones obtained from the application of a commercial finite element tool. The modulation technique proposed here makes possible, with minimal computational effort, the evaluation of the impact in actuator behaviour caused by the changes on the magnetic circuit geometries.

  14. Investigation on electromechanical properties of a muscle-like linear actuator fabricated by bi-film ionic polymer metal composites (United States)

    Sun, Zhuangzhi; Zhao, Gang; Qiao, Dongpan; Song, Wenlong


    Artificial muscles have attracted great attention for their potentials in intelligent robots, biomimetic devices, and micro-electromechanical system. However, there are many performance bottlenecks restricting the development of artificial muscles in engineering applications, e.g., the little blocking force and short working life. Focused on the larger requirements of the output force and the lack characteristics of the linear motion, an innovative muscle-like linear actuator based on two segmented IPMC strips was developed to imitate linear motion of artificial muscles. The structures of the segmented IPMC strip of muscle-like linear actuator were developed and the established mathematical model was to determine the appropriate segmented proportion as 1:2:1. The muscle-like linear actuator with two segmented IPMC strips assemble by two supporting link blocks was manufactured for the study of electromechanical properties. Electromechanical properties of muscle-like linear actuator under the different technological factors were obtained to experiment, and the corresponding changing rules of muscle-like linear actuators were presented to research. Results showed that factors of redistributed resistance and surface strain on both end-sides were two main reasons affecting the emergence of different electromechanical properties of muscle-like linear actuators.

  15. Control and actuator design for a precision magnetic suspension linear bearing (United States)

    Trumper, David L.; Queen, Michael A.


    In optical systems, where the positions of such components as mirrors must be controlled in six degrees of freedom (DOFs), magnetic bearings can impart forces and torques to the suspended component without rigidly constraining its DOFs, and obviate the complex flexures typical of conventional designs. Attention is here given to a magnetically suspended linear bearing employing variable-reluctance actuators to control three rotational and two translational DOFs, as well as to a linear motor charged with control of the sixth DOF. Applicability to vibration isolation and optical line-of-sight stabilization are noted.

  16. A linear matrix inequality-based approach for the computation of actuator bandwidth limits in adaptive control (United States)

    Wagner, Daniel Robert

    Linear matrix inequalities and convex optimization techniques have become popular tools to solve nontrivial problems in the field of adaptive control. Specifically, the stability of adaptive control laws in the presence of actuator dynamics remains as an important open control problem. In this thesis, we present a linear matrix inequalities-based hedging approach and evaluate it for model reference adaptive control of an uncertain dynamical system in the presence of actuator dynamics. The ideal reference dynamics are modified such that the hedging approach allows the correct adaptation without being hindered by the presence of actuator dynamics. The hedging approach is first generalized such that two cases are considered where the actuator output and control effectiveness are known and unknown. We then show the stability of the closed-loop dynamical system using Lyapunov based stability analysis tools and propose a linear matrix inequality-based framework for the computation of the minimum allowable actuator bandwidth limits such that the closed-loop dynamical system remains stable. The results of the linear matrix inequality-based heading approach are then generalized to multiactuator systems with a new linear matrix inequality condition. The minimum actuator bandwidth solutions for closed-loop system stability are theoretically guaranteed to exist in a convex set with a partially convex constraint and then solved numerically using an algorithm in the case where there are multiple actuators. Finally, the efficacy of the results contained in this thesis are demonstrated using several illustrative numerical examples.

  17. Design and characteristics analysis of linear oscillatory actuator with ferrite permanent magnet for refrigerator compressor (United States)

    Kim, Kwan-Ho; Jang, Seok-Myeong; Ahn, Ji-Hun; Choi, Jang-Young; Jeong, Sang-Sub


    Actuators using NdFeB permanent magnets (PMs) are widely used, but they are costly and are affected by unstable material supply. In this study, a linear oscillatory actuator (LOA) using a ferrite PM is designed for use in the compressor for refrigerators, instead of the NdFeB PM. In spite of benefits of ferrite PM, it has not been widely used because the residual magnetic flux density of the ferrite PM is normally 35% less than that of a NdFeB PM. To overcome this shortcoming, we analyze the mover features of the LOA using two types of the ferrite PMs: interior PM type and Halbach PM type. The LOA designed has the same outer stator outer radius and number of coil turns as a conventional LOA with the NdFeB PM. The validity of the designed model is verified by comparing the analysis results using the nonlinear finite element method.

  18. Dynamic characteristics of a bitable linear actuator with moving permanent magnet

    Directory of Open Access Journals (Sweden)

    Yatchev Ivan


    Full Text Available The dynamic characteristics of an ax symmetrical linear actuator with axially magnetized moving permanent magnet are obtained using combined field and circuit approach. The magnetic field of the actuator has been analyzed using the finite element method over a current-displacement sampling grid. Two field analyses are carried out for each point of the grid - one for the real system and one for the system where the permanent magnet is considered as a soft magnetic body. For each point of the grid, data for the total flux linkage, electromagnetic force and the coil inductance are extracted from the magnetic field analysis. These data are approximated by bicubic spline functions, which are employed in the solution of the system of ordinary differential equations of the electrical circuit and the mechanical motion. Results are obtained for the time variations of the coil current, mover displacement, mover velocity and electromagnetic force. The results for the current and displacement are verified experimentally.

  19. Linear Time Varying Approach to Satellite Attitude Control Using only Electromagnetic Actuation

    DEFF Research Database (Denmark)

    Wisniewski, Rafal


    , lightweight, and power efficient actuators is therefore crucial and viable. This paper discusses linear attitude control strategies for a low earth orbit satellite actuated by a set of mutually perpendicular electromagnetic coils. The principle is to use the interaction between the Earth's magnetic field...... systems is limited, nevertheless, a solution of the Riccati equation gives an excellent frame for investigations provided in this paper. An observation that geomagnetic field changes approximately periodically when a satellite is on a near polar orbit is used throughout this paper. Three types of attitude......Recently small satellite missions have gained considerable interest due to low-cost launch opportunities and technological improvement of micro-electronics. Required pointing accuracy of small, inexpensive satellites is often relatively loose, within a couple of degrees. Application of cheap...

  20. Linear Time Varying Approach to Satellite Attitude Control Using only Electromagnetic Actuation

    DEFF Research Database (Denmark)

    Wisniewski, Rafal


    , lightweight, and power efficient actuators is therefore crucial and viable. This paper discusser linear attitude control strategies for a low earth orbit satellite actuated by a set of mutually perpendicular electromagnetic coils. The principle is to use the interaction between the Earth's magnetic field......, nevertheless, a solution of the riccati equation gives an excellent frame for investigations provided in this paper. An observation that geomagnetic field changes approximately periodically when satellite is on a near polar orbit is used throughout this paper. Three types of attitude controllers are proposed......Recently small satellite missions have gained considerable interest due to low-cost launch opportunities and technological improvemant of micro-electronics. Required pointing accuracy of small, inexpensive satellites is often relatively loose, within a couple of degrees. Application of cheap...

  1. Integrating optopiezoelectric actuators and a two-mode excited linear ultrasonic motor for microfluidics (United States)

    Chen, Tsun-Hsu; Wang, Hsin-Hu; Hsu, Yu-Hsiang; Lee, Chih-Kung


    In comparison to more developed optical method for microparticle manipulation like optical tweezers, an optopiezoelectric actuating system could provide force output that is several orders higher. Taking advantages of photoconductive materials, the concept of integrating a virtual electrode in a distributed opto-piezoelectric actuators was developed for real-time in-situ spatial tailoring for vast varieties of applications in biochips, smart structures, etc. In this study, photoconductive material titanium oxide phthalocyanine (TiOPc) was used as the active ingredient to enable the virtual electrode in an opto-piezoelectric material based distributed actuator. By illuminating light of proper wavelength and enough intensity onto TiOPc photoconductive material, the effective impedance of the illuminated portion of TiOPc could drop significantly. The contributions of using additives in the TiOPc photoconductive electrode to adjust the electrical properties was investigated for optimization. Further, the two-mode excited linear ultrasonic motor was also studied and the feasibility to integrate the TiOPc photoconductive electrode was discussed. The flexibility provided by this newly developed system could potential deliver versatile performance in biochip applications.

  2. Acceptance test for the linear motion actuator for the scanning slit of the HIE-ISOLDE short diagnostic boxes

    CERN Document Server

    Cantero, E D; Bravin, E; Sosa, A


    We performed experimental tests to characterize the mechanical accuracy of a linear actuator designed by the company AVS for the movement of the scanning slit of the HIE-ISOLDE short diagnostic boxes. The mechanism consists of a linear actuator composed of two guiding rods and a lead screw, with a full stroke of 135 mm. A specially designed blade was mounted on the actuator and the transverse positioning of the blade was monitored with a camera-based optical system while moving the actuator at speeds of up to 10 mm/s. The repeatability of the positioning of the blade after several cycles around predefined positions was also measured. The results of the measurements and a general inspection of the device show that the proposed solution fulfils the specifications. A full prototype of short diagnostic box for the HIE-ISOLDE project can now be built for testing.

  3. Active Vibration Control in a Rotor System by an Active Suspension with Linear Actuators

    Directory of Open Access Journals (Sweden)

    M. Arias-Montiel


    Full Text Available In this paper the problem of modeling, analysis and unbalance response control of a rotor system with two disks in an asymmetrical configuration is treated. The Finite Element Method (FEM is used to get the system model including the gyroscopic effects and then, the obtained model is experimentally validated. Rotordynamic analysis is carried out using the finite element model obtaining the Campbell diagram, the natural frequencies and the critical speeds of the rotor system. An asymptotic observer is designed to estimate the full state vector which is used to synthesize a Linear Quadratic Regulator (LQR to reduce the vibration amplitudes when the system passes through the first critical speed. Some numerical simulations are carried out to verify the closed-loop system behavior. The active vibration control scheme is experimentally validated using an active suspension with electromechanical linear actuators, obtaining significant reductions in the resonant peak.

  4. Neural network-based robust actuator fault diagnosis for a non-linear multi-tank system. (United States)

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


    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.

  5. Control of non-linear actuator of artificial muscles for the use in low-cost robotics prosthetics limbs (United States)

    Anis Atikah, Nurul; Yeng Weng, Leong; Anuar, Adzly; Chien Fat, Chau; Sahari, Khairul Salleh Mohamed; Zainal Abidin, Izham


    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.

  6. Preliminary experiments of a tubular linear actuator in the vertical direction using YBCO bulk

    Energy Technology Data Exchange (ETDEWEB)

    Sugawara, A; Ueda, H; Ishiyama, A [Department of Electrical Engineering and Bioscience, Waseda University, 3-4-1 Ohkubo, Shinjuku-ku, Tokyo 169-8555 (Japan)


    We have been developing a new type of active-maglev system composed of field-cooled disc-shaped YBCO bulk and multiple ring-shaped electromagnets, which are vertically piled up. One of the useful features of the active-maglev system is that the levitation height is adjustable by varying the operating current through an electromagnet. Maximum levitation height in stable levitation, however, is restricted by the magnetic field distribution produced by the electromagnet. To enhance the levitation height, we have fabricated and tested an active-maglev system with multiple ring-shaped electromagnets instead of using a larger single electromagnet. Up to now, we have reported the experimental results in a model active-maglev system composed of five electromagnets and showed that the levitation height, as well as stability, can be remarkably improved by adjusting the operating current of each electromagnet individually. In this study, we constructed a model system operated as a tubular linear synchronous actuator in the vertical direction in expectation of it being applied in factory automation upgrading. The primary consists of six ring-shaped copper-winding coils without iron core and is supplied with three-phase sinusoidal excitation. A disc-shaped YBCO bulk, which was magnetized by a field-cooling process, was adopted as a secondary (mover). We carried out preliminary experiments to confirm the feasibility of synchronous operation and also numerically investigated the electromagnetic phenomenon within the bulk superconductor by a developed computer program based on the finite element method.

  7. Application of Advanced Electromagnetic Arrays to High Efficiency, High Bandwidth, Redundant Linear Actuators Project (United States)

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

  8. Improvement of Flexible Linear Stepping Actuator Driven by Pneumatic Balloons and Brakes

    Directory of Open Access Journals (Sweden)

    Eguchi Yuya


    Full Text Available The development of soft actuator for the rehabilitation device and power assisting devices has been required based on aging society. However, a flexible actuator that can generate both larger force and longer displacement has not been developed. It is also difficult to realize a flexible displacement sensor with long stroke while deforming its form according to the actuator’s shape. In the previous study, the flexible actuator with larger force and longer stroke that can adjust its stroke by giving stepping motion using pneumatic balloons and brakes was proposed and tested. However, the slipping of the pneumatic brake prevents the larger generated force. In this paper, the improved pneumatic brake using a pneumatic balloon and a mechanical chuck is described. The fundamental performance of the actuator using the improved brake is also described.

  9. Linear Extended State Observer-Based Motion Synchronization Control for Hybrid Actuation System of More Electric Aircraft. (United States)

    Wang, Xingjian; Liao, Rui; Shi, Cun; Wang, Shaoping


    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. Non-Contact Linear Actuator Position Sensor Having a PID-Compensating Controller (United States)

    Alhorn, Dean C. (Inventor); Howard, David E. (Inventor)


    A position sensor or controller generates a response signal in existing armature windings of an actuator and detects the response signal to determine the position of the armature. To generate the response signal, the actuator includes a sensor excitation winding near the armature. Two sensor excitation windings can be provided, above and below the armature, to cancel out z components and thus allow for a variable gap. The sensor excitation winding or windings are supplied with an excitation signal to induce the response signal in the armature windings. The response signal is derived by differentially amplifying and frequency filtering a raw output of the armature windings. The response signal is demodulated to determine position. If a position controller rather than a mere sensor is desired, the position signal can be buffered, PID compensated, amplified, and fed back to the armature windings.

  11. Extended DNA Tile Actuators

    DEFF Research Database (Denmark)

    Kristiansen, Martin; Kryger, Mille; Zhang, Zhao


    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...

  12. Co-simulation for the Power Generation Characteristics of an Electromagnetic Linear Actuator used in Active Suspensions

    Directory of Open Access Journals (Sweden)

    Peng Anqi


    Full Text Available Compared to passive suspensions, active suspensions with electromagnetic linear actuator (EMLA not only has higher performance in active force control, but also can regenerate energy form road disturbances. In this study, the characteristics of a new designed EMLA were investigated under generator mode by precisely co-simulating the quarter active suspension with single degree of freedom. This model, which consists of sprung mass, EMLA imported from Maxwell and a spring in parallel with the EMLA, is built in Simplorer. Simulation results show that the mechanical power and electric power of the EMLA are both proportional to the frequency and amplitude of excitation. The efficiency, defined as the ratio of electric energy to mechanical energy, decreases with the increase of frequency while nonlinearly changes with the increase of stroke. The yielded maximal efficiency of 94% occur sat the frequency of 2 Hzand the stroke ranges of6mm to 9mm.

  13. Electrohydraulic linear actuator with two stepping motors controlled by overshoot-free algorithm (United States)

    Milecki, Andrzej; Ortmann, Jarosław


    The paper describes electrohydraulic spool valves with stepping motors used as electromechanical transducers. A new concept of a proportional valve in which two stepping motors are working differentially is introduced. Such valve changes the fluid flow proportionally to the sum or difference of the motors' steps numbers. The valve design and principle of its operation is described. Theoretical equations and simulation models are proposed for all elements of the drive, i.e., the stepping motor units, hydraulic valve and cylinder. The main features of the valve and drive operation are described; some specific problem areas covering the nature of stepping motors and their differential work in the valve are also considered. The whole servo drive non-linear model is proposed and used further for simulation investigations. The initial simulation investigations of the drive with a new valve have shown that there is a significant overshoot in the drive step response, which is not allowed in positioning process. Therefore additional effort is spent to reduce the overshoot and in consequence reduce the settling time. A special predictive algorithm is proposed to this end. Then the proposed control method is tested and further improved in simulations. Further on, the model is implemented in reality and the whole servo drive system is tested. The investigation results presented in this paper, are showing an overshoot-free positioning process which enables high positioning accuracy.

  14. An Intelligent Sensor Array Distributed System for Vibration Analysis and Acoustic Noise Characterization of a Linear Switched Reluctance Actuator

    Directory of Open Access Journals (Sweden)

    Maria Calado


    Full Text Available This paper proposes a distributed system for analysis and monitoring (DSAM of vibrations and acoustic noise, which consists of an array of intelligent modules, sensor modules, communication bus and a host PC acting as data center. The main advantages of the DSAM are its modularity, scalability, and flexibility for use of different type of sensors/transducers, with analog or digital outputs, and for signals of different nature. Its final cost is also significantly lower than other available commercial solutions. The system is reconfigurable, can operate either with synchronous or asynchronous modes, with programmable sampling frequencies, 8-bit or 12-bit resolution and a memory buffer of 15 kbyte. It allows real-time data-acquisition for signals of different nature, in applications that require a large number of sensors, thus it is suited for monitoring of vibrations in Linear Switched Reluctance Actuators (LSRAs. The acquired data allows the full characterization of the LSRA in terms of its response to vibrations of structural origins, and the vibrations and acoustic noise emitted under normal operation. The DSAM can also be used for electrical machine condition monitoring, machine fault diagnosis, structural characterization and monitoring, among other applications.

  15. An intelligent sensor array distributed system for vibration analysis and acoustic noise characterization of a linear switched reluctance actuator. (United States)

    Salvado, José; Espírito-Santo, António; Calado, Maria


    This paper proposes a distributed system for analysis and monitoring (DSAM) of vibrations and acoustic noise, which consists of an array of intelligent modules, sensor modules, communication bus and a host PC acting as data center. The main advantages of the DSAM are its modularity, scalability, and flexibility for use of different type of sensors/transducers, with analog or digital outputs, and for signals of different nature. Its final cost is also significantly lower than other available commercial solutions. The system is reconfigurable, can operate either with synchronous or asynchronous modes, with programmable sampling frequencies, 8-bit or 12-bit resolution and a memory buffer of 15 kbyte. It allows real-time data-acquisition for signals of different nature, in applications that require a large number of sensors, thus it is suited for monitoring of vibrations in Linear Switched Reluctance Actuators (LSRAs). The acquired data allows the full characterization of the LSRA in terms of its response to vibrations of structural origins, and the vibrations and acoustic noise emitted under normal operation. The DSAM can also be used for electrical machine condition monitoring, machine fault diagnosis, structural characterization and monitoring, among other applications.

  16. Distributed fault-tolerant time-varying formation control for high-order linear multi-agent systems with actuator failures. (United States)

    Hua, Yongzhao; Dong, Xiwang; Li, Qingdong; Ren, Zhang


    This paper investigates the fault-tolerant time-varying formation control problems for high-order linear multi-agent systems in the presence of actuator failures. Firstly, a fully distributed formation control protocol is presented to compensate for the influences of both bias fault and loss of effectiveness fault. Using the adaptive online updating strategies, no global knowledge about the communication topology is required and the bounds of actuator failures can be unknown. Then an algorithm is proposed to determine the control parameters of the fault-tolerant formation protocol, where the time-varying formation feasible conditions and an approach to expand the feasible formation set are given. Furthermore, the stability of the proposed algorithm is proven based on the Lyapunov-like theory. Finally, two simulation examples are given to demonstrate the effectiveness of the theoretical results. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  17. A Reduced Order Model of the Linearized Incompressible Navier-Strokes Equations for the Sensor/Actuator Placement Problem (United States)

    Allan, Brian G.


    A reduced order modeling approach of the Navier-Stokes equations is presented for the design of a distributed optimal feedback kernel. This approach is based oil a Krylov subspace method where significant modes of the flow are captured in the model This model is then used in all optimal feedback control design where sensing and actuation is performed oil tile entire flow field. This control design approach yields all optimal feedback kernel which provides insight into the placement of sensors and actuators in the flow field. As all evaluation of this approach, a two-dimensional shear layer and driven cavity flow are investigated.

  18. Submicron Surface Vibration Profiling Using Doppler Self-Mixing Techniques

    Directory of Open Access Journals (Sweden)

    Tânia Pereira


    Full Text Available Doppler self-mixing laser probing techniques are often used for vibration measurement with very high accuracy. A novel optoelectronic probe solution is proposed, based on off-the-shelf components, with a direct reflection optical scheme for contactless characterization of the target’s movement. This probe was tested with two test bench apparatus that enhance its precision performance, with a linear actuator at low frequency (35 µm, 5–60 Hz, and its dynamics, with disc shaped transducers for small amplitude and high frequency (0.6 µm, 100–2500 Hz. The results, obtained from well-established signal processing methods for self-mixing Doppler signals, allowed the evaluation of vibration velocity and amplitudes with an average error of less than 10%. The impedance spectrum of piezoelectric (PZ disc target revealed a maximum of impedance (around 1 kHz for minimal Doppler shift. A bidimensional scan over the PZ disc surface allowed the categorization of the vibration mode (0, 1 and explained its deflection directions. The feasibility of a laser vibrometer based on self-mixing principles and supported by tailored electronics able to accurately measure submicron displacements was, thus, successfully demonstrated.

  19. Robust model reference adaptive output feedback tracking for uncertain linear systems with actuator fault based on reinforced dead-zone modification. (United States)

    Bagherpoor, H M; Salmasi, Farzad R


    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.

  20. Optimal Design of One-Folded Leaf Spring with High Fatigue Life Applied to Horizontally Vibrating Linear Actuator in Smart Phone

    Directory of Open Access Journals (Sweden)

    Ki Bum Lee


    Full Text Available Horizontally vibrating linear actuator (HVLA instead of VVLA has been under study in a few past years and recently HVLA with thickness of 2.5 mm was developed. The one-folded leaf spring to guide the moving part is newly designed and applied in HVLA, but unfortunately it makes HVLA be wider. Accordingly, this paper presents the optimal design of one-folded leaf spring, which results in reduction of HLVA width. The commercial design optimization tool “PIAnO” was utilized based on design of experiments (DOE, approximation techniques, and optimization algorithm. In addition, for the vibration modal analysis and harmonic response analysis to generate metamodeling, the software “ANSYS” is utilized. The optimal width of leaf spring was reduced by 46% compared to the initial one, while all the design constraints were satisfied, which clearly showed the validity of the proposed design approach.

  1. Design of a piezoelectric rotation actuator

    NARCIS (Netherlands)

    Holterman, J.; de Vries, Theodorus J.A.; Babakhani, B.; Brouwer, Dannis Michel


    In order to facilitate active damping within a linear motion system, a self-sensing piezoelectric rotation actuator has been designed. The rotation actuator consists of two piezoelectric stacks that function as linear actuators, embedded in a mechanical interface with several elastic elements, thus

  2. Conjugated Polymers as Actuators: Modes of Actuation

    DEFF Research Database (Denmark)

    Skaarup, Steen

    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....... This work discusses their relative merits and possible areas of application....

  3. Conjugated polymers as actuators: modes of actuation

    DEFF Research Database (Denmark)

    Skaarup, Steen


    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....... This work discusses their relative merits and possible areas of application....

  4. Design, modeling and optimization of poly-air gap actuators with global coils: application to multi-rod linear structures; Conception, modelisation et optimisation des actionneurs polyentrefers a bobinages globaux: application aux structures lineaires multi-tiges

    Energy Technology Data Exchange (ETDEWEB)

    Cavarec, P.E.


    The aim of this thesis is the study and the conception of splitted structures of global coil synchronous machines for the maximization of specific torque or thrust. This concept of machine, called multi-air gap, is more precisely applied to the elaboration of a new linear multi-rods actuator. It is clearly connected to the context of direct drive solutions. First, a classification of different electromagnetic actuator families gives the particular place of multi-air gaps actuators. Then, a study, based on geometrical parameters optimizations, underlines the interest of that kind of topology for reaching very high specific forces and mechanical dynamics. A similitude law, governing those actuators, is then extracted. A study of mechanical behaviour, taking into account mechanic (tolerance) and normal forces (guidance), is carried out. Hence, methods for filtering the ripple force, and decreasing the parasitic forces without affecting the useful force are presented. This approach drives to the multi-rods structures. A prototype is then tested and validates the feasibility of that kind of devices, and the accuracy of the magnetic models. This motor, having only eight rods for an active volume of one litre, reaches an electromagnetic force of 1000 N in static conditions. A method for estimate optimal performances of multi-rods actuators under several mechanical stresses is presented. (author)

  5. Scanning slit for HIE-ISOLDE: vibrations test (linear motion actuator from UHV design, MAXON brushless motor, speed = 10 mm/s)

    CERN Document Server

    Bravin, E; Sosa, A


    This report summarizes the results of a series of tests performed on the prototype HIE-ISOLDE diagnostic box (HIE-DB) regarding the vibrations and drifts in the transverse position of the scanning blade while moving in and out of beam path in the HIE-ISOLDE short box prototype. To monitor the transverse position of the blade, a series of 0.1 mm diameter holes were drilled on it and their positions were tracked with an optical system. The linear motion actuator was acquired from UHV design (model LSM38-150-SS), and it was adapted to be driven by a brushless EC motor from MAXON. The speed of the scanning blade during the tests was 10 mm/s. The transverse movement of the slit in the direction perpendicular to the movement was lower than 40 m, and is dominated by the displacement of the contact point of the applied force on the lead-screw. An offset on the slit position was observed while changing the direction of movement of the blade, its amplitude being of the order of 30 m. The amplitudes of the displacements...

  6. Scanning slit for HIE-ISOLDE: vibrational test (linear motion actuator from UHV design, speed = 2.5 mm/s)

    CERN Document Server

    Bravin, E; Sosa, A


    This report summarizes the results of a series of tests performed on the prototype HIE-ISOLDE diagnostic box (HIE-DB) regarding the vibrations and drifts in the transverse position of the scanning blade while moving inside or outside the box. To monitor the transverse position of the blade, a series of 0.1 mm diameter holes were drilled on it and their positions were tracked with an optical system. The linear motion actuator was acquired from UHV design (model LSM38-150-SS), is driven by a stepper motor and has all the guiding mechanisms outside vacuum. The maximum speed of the scanning blade during the tests was 2.5 mm/s. The transverse movement of the slit in the direction perpendicular to the movement was lower than 50 m, and is dominated by the displacement of the contact point of the applied force on the lead-screw. An offset on the slit position was observed while changing the direction of movement of the blade, its amplitude being of the order of 30 m. The amplitudes of the displacements of the transve...

  7. Experimental identification of piezo actuator characteristic

    Directory of Open Access Journals (Sweden)

    Ľ. Miková


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

  8. Soft actuators and soft actuating devices

    Energy Technology Data Exchange (ETDEWEB)

    Yang, Dian; Whitesides, George M.


    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.

  9. Integrated sensing and actuation of dielectric elastomer actuator (United States)

    Ye, Zhihang; Chen, Zheng


    Dielectric elastomer (DE) is a type of soft actuating material, the shape of which can be changed under electrical voltage stimuli. DE materials have great potential in applications involving energy harvesters, micro-manipulators, and adaptive optics. In this paper, a stripe DE actuator with integrated sensing and actuation is designed and fabricated, and characterized through several experiments. Considering the actuator's capacitor-like structure and its deform mechanism, detecting the actuator's displacement through the actuator's circuit feature is a potential approach. A self-sensing scheme that adds a high frequency probing signal into actuation signal is developed. A fast Fourier transform (FFT) algorithm is used to extract the magnitude change of the probing signal, and a non-linear fitting method and artificial neural network (ANN) approach are utilized to reflect the relationship between the probing signal and the actuator's displacement. Experimental results showed this structure has capability of performing self-sensing and actuation, simultaneously. With an enhanced ANN, the self-sensing scheme can achieve 2.5% accuracy.

  10. Piezoelectric actuated gimbal (United States)

    Tschaggeny, Charles W [Woods Cross, UT; Jones, Warren F [Idaho Falls, ID; Bamberg, Eberhard [Salt Lake City, UT


    A gimbal is described and which includes a fixed base member defining an axis of rotation; a second member concentrically oriented relative to the axis of rotation; a linear actuator oriented in immediate, adjoining force transmitting relation relative to the base member or to the second member, and which applies force along a linear axis which is tangential to the axis of rotation so as to cause the second member to rotate coaxially relative to the fixed base member; and an object of interest mounted to the second member such that the object of interest is selectively moved relative to the base member about the axis of rotation.

  11. Improved electromechanical behavior in castable dielectric elastomer actuators (United States)

    Akbari, Samin; Rosset, Samuel; Shea, Herbert R.


    Non-viscoelastic castable elastomers are replacing the polyacrylate VHB films in the new generations of dielectric elastomer actuators (DEAs) to achieve fast and reliable actuation. We introduce the optimum prestretch conditions to enhance the electromechanical behavior of the castable DEAs resulting in large actuation strain. For castable actuator in which the thickness is selected independent of the prestretch, uniaxial prestretch mode offers the highest actuation strain in the transverse direction compared to biaxial and pure shear. We experimentally demonstrate that miniaturization hinders the loss of tension and up to 85% linear actuation strain is generated with a 300 × 300 μm2 polydimethylsiloxanes-based DEA.

  12. Microelectromechanical (MEM) thermal actuator (United States)

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


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

  13. Actuator development for the Instrument Pointing System (IPS) (United States)

    Suttner, K.


    The mechanisms of the instrument pointing system (IPS) are described. Particular emphasis is placed on the actuators which are necessary for operating the IPS. The actuators are described as follows: (1) two linear actuators that clamp the gimbals down during ascent and descent; (2) two linear actuators that attach the payload to the IPS during the mission, and release it into the payload clamps; (3) one rotational actuator that opens and closes the payload clamps; and (4) three identical drive units that represent the three orthogonal gimbal axes and are the prime movers for pointing. Design features, manufacturing problems, test performance, and results are presented.

  14. Electrothermal modeling, fabrication and analysis of low-power consumption thermal actuator with buckling arm

    KAUST Repository

    So, Hongyun


    © 2013, Springer-Verlag Berlin Heidelberg. This paper reports on a novel thermal actuator with sub-micron metallic structures and a buckling arm to operate with low voltages and to generate very large deflections, respectively. A lumped electrothermal model and analysis were also developed to validate the mechanical design and easily predict the temperature distribution along arms of the sub-micron actuator. The actuator was fabricated via the combination of electron beam lithography to form actuator arms with a minimum feature size of 200 nm and lift-off process to deposit a high aspect ratio nickel structure. Reproducible displacements of up to 1.9 μm at the tip were observed up to 250 mV under confocal microscope. The experimentally measured deflection values and theoretically calculated temperature distribution by the developed model were compared with finite element analysis results and they were in good agreement. This study shows a promising approach to develop more sophisticated nano actuators required larger deflections for manipulation of sub-micron scale objects with low-power consumption.

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

    DEFF Research Database (Denmark)

    Thummala, Prasanth; Schneider, Henrik; Zhang, Zhe


    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...

  16. Microelectromechanical Systems Actuator Based Reconfigurable Printed Antenna (United States)

    Simons, Rainee N. (Inventor)


    A polarization reconfigurable patch antenna is disclosed. The antenna includes a feed element, a patch antenna element electrically connected to the feed element, and at least one microelectromechanical systems (MEMS) actuator, with a partial connection to the patch antenna element along an edge of the patch antenna element. The polarization of the antenna can be switched between circular polarization and linear polarization through action of the at least one MEMS actuator.

  17. An Innovative Shape Memory Actuator

    Directory of Open Access Journals (Sweden)

    Cappellini Valter


    Full Text Available The work describes a NiTi linear actuator. This material is able to realize a contraction with heating produced through Joule effect. Then a cooling of the active device is realized with forced air. Finally the lengthening is realized with another active element. The particular structure of the geometry allows for an increment of reliability, because the electrical connections are mechanically stabilized and the active elements are compelled to avoid undesired electrical contacts through an insulated cylindrical core.

  18. Surfactants and submicron sea spray generation

    NARCIS (Netherlands)

    Sellegri, K.; O'Dowd, C.D.; Yoon, Y.J.; Jennings, S.G.; Leeuw, G. de


    Laboratory experiments have been carried out to elucidate the role of surfactants on the primary marine aerosol production of submicron marine aerosols. A synthetic surfactant SDS was used in conjunction with artificially generated seawater, and the resultant bubble-mediated aerosol produced was

  19. Electromagnetic rotational actuation.

    Energy Technology Data Exchange (ETDEWEB)

    Hogan, Alexander Lee


    There are many applications that need a meso-scale rotational actuator. These applications have been left by the wayside because of the lack of actuation at this scale. Sandia National Laboratories has many unique fabrication technologies that could be used to create an electromagnetic actuator at this scale. There are also many designs to be explored. In this internship exploration of the designs and fabrications technologies to find an inexpensive design that can be used for prototyping the electromagnetic rotational actuator.

  20. Position and torque tracking: series elastic actuation versus model-based-controlled hydraulic actuation. (United States)

    Otten, Alexander; van Vuuren, Wieke; Stienen, Arno; van Asseldonk, Edwin; Schouten, Alfred; van der Kooij, Herman


    Robotics used for diagnostic measurements on, e.g. stroke survivors, require actuators that are both stiff and compliant. Stiffness is required for identification purposes, and compliance to compensate for the robots dynamics, so that the subject can move freely while using the robot. A hydraulic actuator can act as a position (stiff) or a torque (compliant) actuator. The drawback of a hydraulic actuator is that it behaves nonlinear. This article examines two methods for controlling a nonlinear hydraulic actuator. The first method that is often applied uses an elastic element (i.e. spring) connected in series with the hydraulic actuator so that the torque can be measured as the deflection of the spring. This torque measurement is used for proportional integral control. The second method of control uses the inverse of the model of the actuator as a linearizing controller. Both methods are compared using simulation results. The controller designed for the series elastic hydraulic actuator is faster to implement, but only shows good performance for the working range for which the controller is designed due to the systems nonlinear behavior. The elastic element is a limiting factor when designing a position controller due to its low torsional stiffness. The model-based controller linearizes the nonlinear system and shows good performance when used for torque and position control. Implementing the model-based controller does require building and validating of the detailed model. © 2011 IEEE

  1. AMSD Cryo Actuator Testing (United States)

    Mullette, Mark; Matthews, Gary; Russell, Kevin (Technical Monitor)


    The actuator technology required for AMSD and subsequently NGST are critical in the successful development for future cryogenic systems. Kodak has undertaken an extensive test plan to determine the performance of the force actuators developed under the AMSD program. These actuators are currently in testing at MSFC and are expected to finish this test cycle in early June 2002.

  2. Actuators Using Piezoelectric Stacks and Displacement Enhancers (United States)

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


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

  3. Minimally Actuated Serial Robot


    Mann, Moshe P.; Damti, Lior; Zarrouk, David


    In this paper, we propose a novel type of serial robot with minimal actuation. The robot is a serial rigid structure consisting of multiple links connected by passive joints and of movable actuators. The novelty of this robot is that the actuators travel over the links to a given joint and adjust the relative angle between the two adjacent links. The joints passively preserve their angles until one of the actuators moves them again. This actuation can be applied to any serial robot with two o...

  4. Multiscale modeling and topology optimization of poroelastic actuators

    DEFF Research Database (Denmark)

    Andreasen, Casper Schousboe; Sigmund, Ole


    This paper presents a method for design of optimized poroelastic materials which under internal pressurization turn into actuators for application in, for example, linear motors. The actuators are modeled in a two-scale fluid–structure interaction approach. The fluid saturated material microstruc...... microstructure is optimized using topology optimization in order to achieve a better macroscopic performance quantified by vertical or torsional deflections. Constraints are introduced to ensure a certain deflection/extension ratio of the actuator....

  5. Micromagnetic Simulations of Submicron Cobalt Dots

    Energy Technology Data Exchange (ETDEWEB)

    Parker, G.J.; Cerjan, C.


    Numerical simulations of submicron Co extruded elliptical dots were performed to illustrate the relative importance of different physical parameters on the switching behavior in the easy direction. Shape, size, magnetic moment magnitude and crystalline anisotropy, both magnitude and distribution, were varied. The simulation includes calculation of the magnetostatic, exchange and crystalline anisotropy fields on a structured mesh using finite difference techniques. The smooth boundary of the dots are accurately represented by use of the Embedded Curve Boundary method.

  6. Submicron Surface-Patterned Fibers and Textiles (United States)


    The patterned fiber surface behaves as an optical diffraction grating when the feature size is comparable with visible light wavelengths. A red laser...the optical fiber gratings For the first diffraction order of the micron and submicron patterned fiber , we utilize the formula α tanh (where s...e) SEM images of patterned PMMA fiber are depicted. The inset shows the cross- section of this fiber . Submitted to 20 Figure S3

  7. High Performance Piezoelectric Actuated Gimbal (HIERAX)

    Energy Technology Data Exchange (ETDEWEB)

    Charles Tschaggeny; Warren Jones; Eberhard Bamberg


    This paper presents a 3-axis gimbal whose three rotational axes are actuated by a novel drive system: linear piezoelectric motors whose linear output is converted to rotation by using drive disks. Advantages of this technology are: fast response, high accelerations, dither-free actuation and backlash-free positioning. The gimbal was developed to house a laser range finder for the purpose of tracking and guiding unmanned aerial vehicles during landing maneuvers. The tilt axis was built and the test results indicate excellent performance that meets design specifications.

  8. Soft buckling actuators

    Energy Technology Data Exchange (ETDEWEB)

    Yang, Dian; Whitesides, George M.


    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.

  9. Magnetic actuators and sensors

    CERN Document Server

    Brauer, John R


    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

  10. Remote switch actuator (United States)

    Haas, Edwin Gerard; Beauman, Ronald; Palo, Jr., Stefan


    The invention provides a device and method for actuating electrical switches remotely. The device is removably attached to the switch and is actuated through the transfer of a user's force. The user is able to remain physically removed from the switch site obviating need for protective equipment. The device and method allow rapid, safe actuation of high-voltage or high-current carrying electrical switches or circuit breakers.

  11. Spherically Actuated Motor (United States)

    Peeples, Steven


    A three degree of freedom (DOF) spherical actuator is proposed that will replace functions requiring three single DOF actuators in robotic manipulators providing space and weight savings while reducing the overall failure rate. Exploration satellites, Space Station payload manipulators, and rovers requiring pan, tilt, and rotate movements need an actuator for each function. Not only does each actuator introduce additional failure modes and require bulky mechanical gimbals, each contains many moving parts, decreasing mean time to failure. A conventional robotic manipulator is shown in figure 1. Spherical motors perform all three actuation functions, i.e., three DOF, with only one moving part. Given a standard three actuator system whose actuators have a given failure rate compared to a spherical motor with an equal failure rate, the three actuator system is three times as likely to fail over the latter. The Jet Propulsion Laboratory reliability studies of NASA robotic spacecraft have shown that mechanical hardware/mechanism failures are more frequent and more likely to significantly affect mission success than are electronic failures. Unfortunately, previously designed spherical motors have been unable to provide the performance needed by space missions. This inadequacy is also why they are unavailable commercially. An improved patentable spherically actuated motor (SAM) is proposed to provide the performance and versatility required by NASA missions.

  12. Soft Robotic Actuators (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.

  13. Piezoelectric stack actuator parameter extraction with hysteresis compensation

    DEFF Research Database (Denmark)

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


    The Piezoelectric Actuator Drive (PAD) is a type of rotary motor that transforms the linear motion of piezoelectric stack actuators into a precise rotational motion. The very high stiffness of the actuators employed make this type of motor suited for open-loop control, but the inherent hysteresis...... exhibited by piezoelectric ceramics causes losses. Therefore, this paper presents a straightforward method to measure piezoelectric stack actuator equiv- alent parameters that includes nonlinearities. By folding the nonlinearities into a newly-defined cou- pling coefficient, the inherent hysteretic behavior...

  14. Micro magnetic-actuators; Micro jiki actuator

    Energy Technology Data Exchange (ETDEWEB)

    Arai, K. [Tohoku University, Sendai (Japan). Research Institute of Electrical Communication; Honda, T. [Tokin Corporation, Tokyo (Japan)


    As the micromachine technology has attracted higher attention, the research and development of the technology is increasing. This paper describes the typical trial production samples of the electromagnetic type and magnetostrictive type actuators. The development of electromagnetic motors of the order of millimeters using the mechanical working technology is actively progressing. A report announced the axial gap motor 0.8 mm in outside diameter and 1.2 mm in height. The semiconductor micro machining technology was used to fabricate the reluctance motor (with the rotor 285 {mu}m in diameter). In this case, the LIGA process through the X-ray lithography was adopted. Some other types of micro magnetic-actuators were produced by using magnetic field gradient and magnetic torque. The magnetostrictive actuator is emerging to the market, drawing attention of the industry. This type of actuator utilizes the phenomenon that the dimensions vary when a magnetic field is applied to a magnetic substance. Samples applying high magnetic thin film include the cantilever type actuator and the travelling machine. 19 refs., 9 figs.

  15. Laser direct writing using submicron-diameter fibers. (United States)

    Tian, Feng; Yang, Guoguang; Bai, Jian; Xu, Jianfeng; Hou, Changlun; Liang, Yiyong; Wang, Kaiwei


    In this paper, a novel direct writing technique using submicron-diameter fibers is presented. The submicron-diameter fiber probe serves as a tightly confined point source and it adopts micro touch mode in the process of writing. The energy distribution of direct writing model is analyzed by Three-Dimension Finite-Difference Time-Domain method. Experiments demonstrate that submicron-diameter fiber direct writing has some advantages: simple process, 350-nm-resolution (lower than 442-nm-wavelength), large writing area, and controllable width of lines. In addition, by altering writing direction of lines, complex submicron patterns can be fabricated.

  16. Dielectric Elastomer Actuated Systems and Methods (United States)

    Dubowsky, Steven (Inventor); Hafez, Moustapha (Inventor); Lichter, Matthew (Inventor); Weiss, Peter (Inventor); Wingert, Andreas (Inventor)


    The system of the present invention includes an actuator having at least two electrodes, an elastomeric dielectric film disposed between the two electrodes, and a frame attached to the elastomeric dielectric film. The frame provides a linear actuation force characteristic over a displacement range. The displacement range is preferably the stroke of the actuator. The displacement range can be about 5 mm and greater. Further, the frame can include a plurality of configurations, for example, at least a rigid members coupled to a flexible member wherein the frame provides an elastic restoring force. In preferred embodiments, the rigid member can be, but is not limited to, curved beams, parallel beams, rods and plates. In a preferred embodiment the actuator can further include a passive element disposed between two flexible members such as, for example, links to tune a stiffness characteristic of the actuator. The passive element can be a bi-stable element. Further, the actuator can include a plurality of layers of the elastomeric dielectric film integrated into the frame. The elastomeric film can be made of different materials such as, for example, acrylic, silicone and latex.

  17. Actuator characterization of a man-portable precision maneuver concept

    Directory of Open Access Journals (Sweden)

    Ilmars Celmins


    Full Text Available The US Army Research Laboratory is conducting research to explore technologies that may be suitable for maneuvering man-portable munitions. Current research is focused on the use of rotary actuators with spin-stabilized munitions. A rotary actuator holds the potential of providing a low-power solution for guidance of a spinning projectile. This is in contrast to a linear (reciprocating actuator which would need to constantly change direction, resulting in large accelerations which in turn would require large forces, thereby driving up the actuator power. A rotational actuator would be operating at a fairly constant rotation rate once it is up to speed, resulting in much lower power requirements. Actuator experiments conducted over a variety of conditions validate the dynamic models of the actuator and supply the data necessary for model parameter estimation. Actuator performance metrics of spin rate response, friction, and power requirements were derived from the data. This study indicates that this class of maneuver concepts can be driven with these actuators. These results enable actuator design and multi-disciplinary simulation of refined maneuver concepts for a specific application.

  18. Analysis of helicopter flight dynamics through modeling and simulation of primary flight control actuation system (United States)

    Nelson, Hunter Barton

    A simplified second-order transfer function actuator model used in most flight dynamics applications cannot easily capture the effects of different actuator parameters. The present work integrates a nonlinear actuator model into a nonlinear state space rotorcraft model to determine the effect of actuator parameters on key flight dynamics. The completed actuator model was integrated with a swashplate kinematics where step responses were generated over a range of key hydraulic parameters. The actuator-swashplate system was then introduced into a nonlinear state space rotorcraft simulation where flight dynamics quantities such as bandwidth and phase delay analyzed. Frequency sweeps were simulated for unique actuator configurations using the coupled nonlinear actuator-rotorcraft system. The software package CIFER was used for system identification and compared directly to the linearized models. As the actuator became rate saturated, the effects on bandwidth and phase delay were apparent on the predicted handling qualities specifications.

  19. Electrochemical micro actuator

    NARCIS (Netherlands)

    Hamberg, M.W.; Hamberg, M.W.; Rusu, C.R.; Gardeniers, Johannes G.E.; Ijntema, D.J.; IJntema, D.J.; Elwenspoek, Michael Curt


    In this paper an investigation of the feasibility of a new electrochemical micro actuator is presented. The actuator is fabricated using silicon micro-machining techniques. A gas pressure is generated by electrolysis of an aqueous electrolyte solution. The build up pressure is used to change the

  20. Sensors and actuators, Twente

    NARCIS (Netherlands)

    Bergveld, Piet


    This paper describes the organization and the research programme of the Sensor and Actuator (S&A) Research Unit of the University of Twente, Enschede, the Netherlands. It includes short descriptions of all present projects concerning: micromachined mechanical sensors and actuators, optical sensors,

  1. Pneumatically actuated hand tool

    NARCIS (Netherlands)

    Cool, J.C.; Rijnsaardt, K.A.


    Abstract of NL 9401195 (A) Pneumatically actuated hand tool for carrying out a mechanical operation, provided with an exchangeable gas cartridge in which the gas which is required for pneumatic actuation is stored. More particularly, the hand tool is provided with at least one pneumatic motor, at

  2. Stress compensation for arbitrary curvature control in vanadium dioxide phase transition actuators

    Energy Technology Data Exchange (ETDEWEB)

    Dong, Kaichen, E-mail:, E-mail: [Department of Materials Science and Engineering, University of California, Berkeley, California 94720 (United States); Materials Sciences Division, Lawrence Berkeley National Laboratory, Berkeley, California 94720 (United States); State Key Laboratory of Precision Measurement Technology and Instruments, Department of Precision Instrument, Tsinghua University, Beijing 100084 (China); Lou, Shuai; Choe, Hwan Sung; Yao, Jie; Wu, Junqiao, E-mail:, E-mail: [Department of Materials Science and Engineering, University of California, Berkeley, California 94720 (United States); Materials Sciences Division, Lawrence Berkeley National Laboratory, Berkeley, California 94720 (United States); Liu, Kai [School of Materials Science and Engineering, Tsinghua University, Beijing 100084 (China); You, Zheng [State Key Laboratory of Precision Measurement Technology and Instruments, Department of Precision Instrument, Tsinghua University, Beijing 100084 (China)


    Due to its thermally driven structural phase transition, vanadium dioxide (VO{sub 2}) has emerged as a promising material for micro/nano-actuators with superior volumetric work density, actuation amplitude, and repetition frequency. However, the high initial curvature of VO{sub 2} actuators severely obstructs the actuation performance and application. Here, we introduce a “seesaw” method of fabricating tri-layer cantilevers to compensate for the residual stress and realize nearly arbitrary curvature control of VO{sub 2} actuators. By simply adjusting the thicknesses of the individual layers, cantilevers with positive, zero, or negative curvatures can be engineered. The actuation amplitude can be decoupled from the curvature and controlled independently as well. Based on the experimentally measured residual stresses, we demonstrate sub-micron thick VO{sub 2} actuators with nearly zero final curvature and a high actuation amplitude simultaneously. This “seesaw” method can be further extended to the curvature engineering of other microelectromechanical system multi-layer structures where large stress-mismatch between layers are inevitable.

  3. Microscopic imaging ellipsometry of submicron-scale bacterial cells ...

    African Journals Online (AJOL)

    Microscopic imaging ellipsometry of submicron-scale bacterial cells. ... Conclusion: MIE is a sensitive non-optical technique that can be used to image biological systems without the need for labeling of molecules. Keywords: Objective plane, Imaging ellipsometry, Submicron-scale bacterial cells, Streptococcus mutans, ...

  4. Cryogenic Piezoelectric Actuator (United States)

    Jiang, Xiaoning; Cook, William B.; Hackenberger, Wesley S.


    In this paper, PMN-PT single crystal piezoelectric stack actuators and flextensional actuators were designed, prototyped and characterized for space optics applications. Single crystal stack actuators with footprint of 10 mm x10 mm and the height of 50 mm were assembled using 10 mm x10mm x0.15mm PMN-PT plates. These actuators showed stroke > 65 - 85 microns at 150 V at room temperature, and > 30 microns stroke at 77 K. Flextensional actuators with dimension of 10mm x 5 mm x 7.6 mm showed stroke of >50 microns at room temperature at driving voltage of 150 V. A flextensional stack actuator with dimension of 10 mm x 5 mm x 47 mm showed stroke of approx. 285 microns at 150 V at room temperature and > 100 microns at 77K under driving of 150 V should be expected. The large cryogenic stroke and high precision of these actuators are promising for cryogenic optics applications.

  5. Processing and characterization of oval piezoelectric actuators (United States)

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


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

  6. Magnetically Actuated Seal Project (United States)

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

  7. Magnetically Actuated Seal (United States)

    Pinera, Alex


    This invention is a magnetically actuated seal in which either a single electromagnet, or multiple electromagnets, are used to control the seal's position. This system can either be an open/ close type of system or an actively controlled system.

  8. Rotary Series Elastic Actuator (United States)

    Ihrke, Chris A. (Inventor); Mehling, Joshua S. (Inventor); Parsons, Adam H. (Inventor); Griffith, Bryan Kristian (Inventor); Radford, Nicolaus A. (Inventor); Permenter, Frank Noble (Inventor); Davis, Donald R. (Inventor); Ambrose, Robert O. (Inventor); Junkin, Lucien Q. (Inventor)


    A rotary actuator assembly is provided for actuation of an upper arm assembly for a dexterous humanoid robot. The upper arm assembly for the humanoid robot includes a plurality of arm support frames each defining an axis. A plurality of rotary actuator assemblies are each mounted to one of the plurality of arm support frames about the respective axes. Each rotary actuator assembly includes a motor mounted about the respective axis, a gear drive rotatably connected to the motor, and a torsion spring. The torsion spring has a spring input that is rotatably connected to an output of the gear drive and a spring output that is connected to an output for the joint.

  9. Tendon Driven Finger Actuation System (United States)

    Ihrke, Chris A. (Inventor); Reich, David M. (Inventor); Bridgwater, Lyndon (Inventor); Linn, Douglas Martin (Inventor); Askew, Scott R. (Inventor); Diftler, Myron A. (Inventor); Platt, Robert (Inventor); Hargrave, Brian (Inventor); Valvo, Michael C. (Inventor); Abdallah, Muhammad E. (Inventor); hide


    A humanoid robot includes a robotic hand having at least one finger. An actuation system for the robotic finger includes an actuator assembly which is supported by the robot and is spaced apart from the finger. A tendon extends from the actuator assembly to the at least one finger and ends in a tendon terminator. The actuator assembly is operable to actuate the tendon to move the tendon terminator and, thus, the finger.

  10. Automated stopcock actuator


    Vandehey, N. T.; O\\'Neil, J. P.


    Introduction We have developed a low-cost stopcock valve actuator for radiochemistry automation built using a stepper motor and an Arduino, an open-source single-board microcontroller. The con-troller hardware can be programmed to run by serial communication or via two 5–24 V digital lines for simple integration into any automation control system. This valve actuator allows for automated use of a single, disposable stopcock, providing a number of advantages over stopcock manifold systems ...

  11. Laser Initiated Actuator study

    Energy Technology Data Exchange (ETDEWEB)

    Watson, B.


    The program task was to design and study a laser initiated actuator. The design of the actuator is described, it being comprised of the fiber and body subassemblies. The energy source for all experiments was a Spectra Diode 2200-H2 laser diode. The diode is directly coupled to a 100 micron core, 0.3 numerical aperture fiber optic terminated with an SMA connector. The successful testing results are described and recommendations are made.

  12. Laminar composite structures for high power actuators (United States)

    Hobosyan, M. A.; Martinez, P. M.; Zakhidov, A. A.; Haines, C. S.; Baughman, R. H.; Martirosyan, K. S.


    Twisted laminar composite structures for high power and large-stroke actuators based on coiled Multi Wall Carbon Nanotube (MWNT) composite yarns were crafted by integrating high-density Nanoenergetic Gas Generators (NGGs) into carbon nanotube sheets. The linear actuation force, resulting from the pneumatic force caused by expanding gases confined within the pores of laminar structures and twisted carbon nanotube yarns, can be further amplified by increasing NGG loading and yarns twist density, as well as selecting NGG compositions with high energy density and large-volume gas generation. Moreover, the actuation force and power can be tuned by the surrounding environment, such as to increase the actuation by combustion in ambient air. A single 300-μm-diameter integrated MWNT/NGG coiled yarn produced 0.7 MPa stress and a contractile specific work power of up to 4.7 kW/kg, while combustion front propagated along the yarn at a velocity up to 10 m/s. Such powerful yarn actuators can also be operated in a vacuum, enabling their potential use for deploying heavy loads in outer space, such as to unfold solar panels and solar sails.

  13. An algorithm for LQ optimal actuator location (United States)

    Darivandi, Neda; Morris, Kirsten; Khajepour, Amir


    The locations of the control hardware are typically a design variable in controller design for distributed parameter systems. In order to obtain the most efficient control system, the locations of control hardware as well as the feedback gain should be optimized. These optimization problems are generally non-convex. In addition, the models for these systems typically have a large number of degrees of freedom. Consequently, existing optimization schemes for optimal actuator placement may be inaccurate or computationally impractical. In this paper, the feedback control is chosen to be an optimal linear quadratic regulator. The optimal actuator location problem is reformulated as a convex optimization problem. A subgradient-based optimization scheme which leads to the global solution of the problem is used to optimize actuator locations. The optimization algorithm is applied to optimize the placement of piezoelectric actuators in vibration control of flexible structures. This method is compared with a genetic algorithm, and is observed to be faster and more accurate. Experiments are performed to verify the efficacy of optimal actuator placement.

  14. Zirconia nanocrystals as submicron level biological label (United States)

    Smits, K.; Liepins, J.; Gavare, M.; Patmalnieks, A.; Gruduls, A.; Jankovica, D.


    Inorganic nanocrystals are of increasing interest for their usage in biology and pharmacology research. Our interest was to justify ZrO2 nanocrystal usage as submicron level biological label in baker's yeast Saccharomyces cerevisia culture. For the first time (to our knowledge) images with sub micro up-conversion luminescent particles in biologic media were made. A set of undoped as well as Er and Yb doped ZrO2 samples at different concentrations were prepared by sol-gel method. The up-conversion luminescence for free standing and for nanocrystals with baker's yeast cells was studied and the differences in up-conversion luminescence spectra were analyzed. In vivo toxic effects of ZrO2 nanocrystals were tested by co-cultivation with baker's yeast.

  15. A small biomimetic quadruped robot driven by multistacked dielectric elastomer actuators (United States)

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


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

  16. A Bimorph Moment/Force Actuator for Dynamic Testing

    Directory of Open Access Journals (Sweden)

    Hou Xiaoyan


    Full Text Available This paper focuses on a novel bimorph actuator which can produce pure moment or pure force to structures under testing. Due to its unique construction, this actuator is only sensitive to one translational and one rotational degree of freedom (DOF, which can be further decoupled from each other through controlling the phase of the excitation voltage supplied to the actuator. To correlate the input electrical voltage with the output moment (or force, angular velocity, linear velocity, rotational (or translational conversion functions are defined and then numerically determined. Compared with conventional twin-shaker setup to generate moment, the bimorph actuator is simple, compact, light-weight, effective and cheap. When generating moment, the usually-existing unwanted force excitation is avoided. The working frequency range of the actuator is much wider and the loading effect is greatly reduced.

  17. Digital Actuator Technology

    Energy Technology Data Exchange (ETDEWEB)

    Ken Thomas; Ted Quinn; Jerry Mauck; Richard Bockhorst


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

  18. Design of a smart bidirectional actuator for space operation (United States)

    Saggin, Bortolino; Scaccabarozzi, Diego; Tarbini, Marco; Magni, Marianna; Biffi, Carlo Alberto; Tuissi, Ausonio


    A common need for space borne instruments, satellites and planetary exploration payloads is the usage of compact, light and low power actuators. In the recent years, this need has been partially solved by the development of customized solutions with an increasing usage of smart materials. A linear bidirectional actuator based on shape memory alloy technology is presented in this work. The device has been conceived to lock the double-pendulum scanning mechanism of a miniaturized Fourier transform spectrometer for planetary observation. The mechanism class is that of pin pullers, with the pin locking the movable components of the spectrometer during launch and landing phases. The proposed mechanism, differently from available off-the-shelf devices, allows multiple actuations without the need of manual resetting. Moreover, the device requires to be powered only to change its status. An appealing feature of the adopted concept is that the actuation is intrinsically shock-less, a key requirement for deployment of devices sensitive to mechanical vibration and shocks. All these characteristics, in addition to the design flexibility of the proposed concept in terms of achievable forces and strokes, make the designed actuator promising for many different applications, from space to ground. The designed bidirectional actuator provides 0.6 mm stroke and a 50 N preload but it represents just an example of implementation for the proposed concept. Structural design of the functional elastic components and SMA alloy characterization have guided the actuator development. A mockup of the actuator has been manufactured and the predicted performances preliminary validated.

  19. Stretchable Materials for Robust Soft Actuators towards Assistive Wearable Devices (United States)

    Agarwal, Gunjan; Besuchet, Nicolas; Audergon, Basile; Paik, Jamie


    Soft actuators made from elastomeric active materials can find widespread potential implementation in a variety of applications ranging from assistive wearable technologies targeted at biomedical rehabilitation or assistance with activities of daily living, bioinspired and biomimetic systems, to gripping and manipulating fragile objects, and adaptable locomotion. In this manuscript, we propose a novel two-component soft actuator design and design tool that produces actuators targeted towards these applications with enhanced mechanical performance and manufacturability. Our numerical models developed using the finite element method can predict the actuator behavior at large mechanical strains to allow efficient design iterations for system optimization. Based on two distinctive actuator prototypes’ (linear and bending actuators) experimental results that include free displacement and blocked-forces, we have validated the efficacy of the numerical models. The presented extensive investigation of mechanical performance for soft actuators with varying geometric parameters demonstrates the practical application of the design tool, and the robustness of the actuator hardware design, towards diverse soft robotic systems for a wide set of assistive wearable technologies, including replicating the motion of several parts of the human body.

  20. Elastic Cube Actuator with Six Degrees of Freedom Output

    Directory of Open Access Journals (Sweden)

    Pengchuan Wang


    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.

  1. Hydraulically actuated artificial muscles (United States)

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


    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.

  2. Optimal Sensor and Actuator Location for Unstable Systems

    DEFF Research Database (Denmark)

    Shaker, Hamid Reza; Tahavori, Maryamsadat


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

  3. Submicron Emulsions and Their Applications in Oral Delivery. (United States)

    Mundada, Veenu; Patel, Mitali; Sawant, Krutika


    A "submicron emulsion" is an isotropic mixture of drug, lipids, and surfactants, usually with hydrophilic cosolvents and with droplet diameters ranging from 10 to 500 nm. Submicron emulsions are of increasing interest in medicine due to their kinetic stability, high solubilizing capacity, and tiny globule size. Because of these properties, they have been applied in various fields, such as personal care, cosmetics, health care, pharmaceuticals, and agrochemicals. Submicron emulsions are by far the most advanced nanoparticulate systems for the systemic delivery of biologically active agents for controlled drug delivery and targeting. They are designed mainly for pharmaceutical formulations suitable for various routes of administration like parenteral, ocular, transdermal, and oral. This review article describes the marked potential of submicron emulsions for oral drug delivery owing to their numerous advantages like reduced first pass metabolism, inhibition of P-glycoprotein efflux system, and enhanced absorption via intestinal lymphatic pathway. To overcome the limitations of liquid dosage forms, submicron emulsions can be formulated into solid dosage forms such as solid self-emulsifying systems. This article covers various types of submicron emulsions like microemulsion, nanoemulsion, and self-emulsifying drug delivery system (SEDDS), and their potential pharmaceutical applications in oral delivery with emphasis on their advantages, limitations, and advancements.

  4. Contributions to Design of Actuators functioning with Nitinol Active Springs

    Directory of Open Access Journals (Sweden)

    Daniel Amariei


    Full Text Available The paper presents the research results achieved in order to perform a comparison regarding the influence of natural and forced cooling process applied to the Nitinol active springs inside a linear motion actuator. SMAs offer attractive potentials such as reversible strains of several percent, generation of high recovery stresses and high power / weight ratios. The actuator behavior was simulated first with SolidWorks and experimentally tested for results validation.

  5. Robust PID Controller for a Pneumatic Actuator


    Skarpetis Michael G.; Koumboulis Fotis N.; Panagiotakis George; Kouvakas Nikolaos D.


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

  6. Stabilization of Neutral Systems with Saturating Actuators

    Directory of Open Access Journals (Sweden)

    F. El Haoussi


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

  7. Submicron Features in Higher Manganese Silicide

    Directory of Open Access Journals (Sweden)

    Yatir Sadia


    Full Text Available The world energy crisis had increased the demand for alternative energy sources and as such is one of the topics at the forefront of research. One way for reducing energy consumption is by thermoelectricity. Thermoelectric effects enable direct conversion of thermal into electrical energy. Higher manganese silicide (HMS, MnSi1.75 is one of the promising materials for applications in the field of thermoelectricity. The abundance and low cost of the elements, combined with good thermoelectric properties and high mechanical and chemical stability at high temperatures, make it very attractive for thermoelectric applications. Recent studies have shown that Si-rich HMS has improved thermoelectric properties. The most interesting of which is the unusual reduction in thermal conductivity. In the current research, transmission (TEM and scanning (SEM electron microscopy as well as X-ray diffraction methods were applied for investigation of the govern mechanisms resulting in very low thermal conductivity values of an Si-rich HMS composition, following arc melting and hot-pressing procedures. In this paper, it is shown that there is a presence of sub-micron dislocations walls, stacking faults, and silicon and HMS precipitates inside each other apparent in the matrix, following a high temperature (0.9 Tm hot pressing for an hour. These are not just responsible for the low thermal conductivity values observed but also indicate the ability to create complicate nano-structures that will last during the production process and possibly during the application.

  8. On the dry deposition of submicron particles

    Energy Technology Data Exchange (ETDEWEB)

    Wesely, M. L.


    The air-surface exchange of particles can have a strong role in determining the amount, size, and chemical composition of particles in the troposphere. Here the authors consider only dry processes (deposition processes not directly aided by precipitation) and mostly address particles less than about 2 {micro}m in diameter (often referred to as submicron particles because most of such particles are less than 1 {micro}m in diameter). The processes that control the dry exchange of particulate material between the atmosphere and the surface of the Earth are numerous, highly varied, and sometimes poorly understood. As a result, determining which of the surface processes to parameterize or simulate in modeling the tropospheric mass budget of a particulate substance can be a significant challenge. Dry deposition, for example, can be controlled by a combination of Brownian diffusion, impaction, interception, and gravitational settling, depending on the size of the particles, the roughness of the surface on both micrometeorological and microscopic scales, the geometrical structure of vegetative canopies, and other surface characteristics such as wetness. Particles can be added to the lower atmosphere by resuspension from land surfaces and sea spray. The roles of rapid gas-to-particle conversion and growth or shrinkage of particles as a result of water condensation or evaporation in the lower few meters of the atmosphere can also have a significant impact on particle concentrations in the lower atmosphere. Here, a few micrometeorological observations and inferences on particle air-surface exchange are briefly addressed.

  9. Nonmagnetic driver for piezoelectric actuators

    DEFF Research Database (Denmark)

    Ekhtiari, Marzieh


    Piezoelectric actuator drive aims to enable reliable motor performance in strong magnetic fields for magnetic res- onance imaging and computed tomography treatment tables. There are technical limitations in operation of these motors and drive systems related to magnetic interference. Piezoelectric...... actuators. Therefore, piezoelectric transformer-based power converters are used for driving piezoelectric actuator drive motor in the presence of high electromagnetic field....

  10. A Magnetic Bead Actuator

    NARCIS (Netherlands)

    Derks, R.; Prins, M.W.J.; Wimberger-Friedl, R.


    Actuation principles of superparamagnetic beads applicable on biosensing (at single beads and chain orderning) are studied in this report. This research can be used to develop new techniques that are able to accelerate bio-assays. An experimental setup containing a sub-microliter fluid volume

  11. The Actuated Guitar

    DEFF Research Database (Denmark)

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


    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...

  12. Bistable microelectromechanical actuator (United States)

    Fleming, J.G.


    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. 49 figs.

  13. Thermally Actuated Hydraulic Pumps (United States)

    Jones, Jack; Ross, Ronald; Chao, Yi


    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

  14. Miniature osmotic actuators for controlled maxillofacial distraction osteogenesis (United States)

    Li, Yu-Hsien; Su, Yu-Chuan


    We have successfully demonstrated miniature actuators that are capable of converting chemical potential directly into steady mechanical movements for maxillofacial distraction osteogenesis. Pistons and diaphragms powered by osmosis are employed to provide the desired linear and volumetric displacements for bone distraction and potentially the release of bone morphogenetic proteins, respectively. The cylindrical-shaped miniature actuators are composed of polymeric materials and fabricated by molding and assembly processes. In the prototype demonstration, vapor-permeable thermoplastic polyurethane was employed as the semi-permeable material. 3 cm long actuators with piston and diaphragm radii of 1 mm and 500 µm, respectively, were fabricated and characterized. The maximum distraction force from the piston-type actuator is found to be 6 N while the piston travels at a constant velocity of 32 µm h-1 (or 0.77 mm/day) for about 1 week. Meanwhile, the release rate from the diaphragm-type actuator is measured to be constant, 0.15 µl h-1 (or 3.6 µl/day), throughout the experiment. Moreover, the sizes and output characteristics of the self-regulating actuators could readily be tailored to realize optimal distraction rate, rhythm and osteogenic activity. As such, the demonstrated miniature osmotic actuators could potentially serve as versatile apparatuses for maxillofacial distraction osteogenesis and fulfill the needs of a variety of implantable and biomedical applications.

  15. Voice Coil Actuators for two MTG Instruments (United States)

    Bencheikh, N.; Guignabert, A.; Barillot, F.; Benoit, C.; Burgui, C.; Compostizo, C.; Bueno, I.; Spanoudakis, P.; Kiener, L.; Schwab, P.


    While Cedrat Technologies has been active in space for more than 20 years with piezoelectric mechanisms, we have also been increasingly involved over the last few years in the development of magnetic actuators for space projects. In this paper, a focus is made on the case of magnetic actuators that are developed in the frame of the Meteosat Third Generation (MTG) project. The first one is the Scan Assembly (SCA) actuated by Rotating Voice Coil Motors (RVCM) for the East/West (E/W) axes and the North/South (N/S) axes developed in collaboration with Sener and the second one is the Voice Coil Motor (VCM) developed in collaboration with CSEM for the Corner Cube Mechanism (CCM)The motion needs are different for the both motor, linear motion for the CCM and rotational movement for the SCA. Even if the motion is different, the both applications have the same performance requirements such as linearity, low hysteresis, a high power to mass ratio, redundancy and so on.

  16. Active Polymer Gel Actuators

    Directory of Open Access Journals (Sweden)

    Shuji Hashimoto


    Full Text Available Many kinds of stimuli-responsive polymer and gels have been developed and applied to biomimetic actuators or artificial muscles. Electroactive polymers that change shape when stimulated electrically seem to be particularly promising. In all cases, however, the mechanical motion is driven by external stimuli, for example, reversing the direction of electric field. On the other hand, many living organisms can generate an autonomous motion without external driving stimuli like self-beating of heart muscles. Here we show a novel biomimetic gel actuator that can walk spontaneously with a wormlike motion without switching of external stimuli. The self-oscillating motion is produced by dissipating chemical energy of oscillating reaction. Although the gel is completely composed of synthetic polymer, it shows autonomous motion as if it were alive.

  17. Microfabricated therapeutic actuators (United States)

    Lee, Abraham P.; Northrup, M. Allen; Ciarlo, Dino R.; Krulevitch, Peter A.; Benett, William J.


    Microfabricated therapeutic actuators are fabricated using a shape memory polymer (SMP), a polyurethane-based material that undergoes a phase transformation at a specified temperature (Tg). At a temperature above temperature Tg material is soft and can be easily reshaped into another configuration. As the temperature is lowered below temperature Tg the new shape is fixed and locked in as long as the material stays below temperature Tg. Upon reheating the material to a temperature above Tg, the material will return to its original shape. By the use of such SMP material, SMP microtubing can be used as a release actuator for the delivery of embolic coils through catheters into aneurysms, for example. The microtubing can be manufactured in various sizes and the phase change temperature Tg is determinate for an intended temperature target and intended use.

  18. Modeling framework for piezoelectrically actuated MEMS tunable lenses. (United States)

    Farghaly, Mahmoud A; Akram, Muhammad Nadeem; Halvorsen, Einar


    WWe report a modeling framework for evaluating the performance of piezoelectrically actuated MEMS tunable lenses. It models the static opto-electromechanical coupling for symmetric configurations of piezoelectric actuators based on the laminated-plate theory, linear piezoelectricity, and ray tracing. With these assumptions, it helps to find geometrical parameters for actuators on clamped square or circular diaphragms that give a diffraction-limited tunable lens with minimum F-number. The tunable lens' optical performance and its focusing capability, alone and in combination with a paraxial fixed lens, were calculated in terms of object distance and actuation voltage. Using the modeling framework, we confirmed that the modulation transfer function for objects located at different distances remains the same after voltage adjustment.

  19. On reliable control system designs. Ph.D. Thesis; [actuators (United States)

    Birdwell, J. D.


    A mathematical model for use in the design of reliable multivariable control systems is discussed with special emphasis on actuator failures and necessary actuator redundancy levels. The model consists of a linear time invariant discrete time dynamical system. Configuration changes in the system dynamics are governed by a Markov chain that includes transition probabilities from one configuration state to another. The performance index is a standard quadratic cost functional, over an infinite time interval. The actual system configuration can be deduced with a one step delay. The calculation of the optimal control law requires the solution of a set of highly coupled Riccati-like matrix difference equations. Results can be used for off-line studies relating the open loop dynamics, required performance, actuator mean time to failure, and functional or identical actuator redundancy, with and without feedback gain reconfiguration strategies.

  20. Research on giant magnetostrictive micro-displacement actuator with self-adaptive control algorithm

    Energy Technology Data Exchange (ETDEWEB)

    Wang Lei; Tan, J B; Liu, Y T [Institute of Ultra-Precision Optoelectronic Instrument Engineering, Harbin Institute of Technology, Harbin 150001 (China)


    Giant magnetostrictive micro-displacement actuator has some unique characteristics, such as big output torque and high precision localization which can be in the nanometer scale. Because the relation between input magnetic field and output strain of giant magnetostrictive micro-displacement actuator exhibits hysteresis and eddy flow, the actuator has to be controlled and used in low input frequency mode or in static mode. When the actuator is controlled with a high input frequency (above 100 Hz), the output strain will exhibit strong nonlinearity. This paper found hysteresis and nonlinearity dynamic transfer function of the actuator based on Jiles-Atherton hysteresis model. The output strain of Jiles-Atherton hystersis model can reflect real output of actuator corresponding to the real input magnetic field, and this has been verified by experiment. Against the nonlinearity generated by hysteresis and eddy flow in this paper, the output strain of actuator is used for feedback to control system, and the control system adopted self-adaptive control algorithm, the ideal input and output model of actuator is used for a reference model and a hysteresis transfer function for the actuator real model. Through experiment, it has been verified that this algorithm can improve the dynamic frequency of the giant magnetostrictive micro-displacement actuator and guarantee high precision localization and linearity between the input magnetic field and output strain of the actuator at the same time.

  1. Dissolution actuated sample container (United States)

    Nance, Thomas A.; McCoy, Frank T.


    A sample collection vial and process of using a vial is provided. The sample collection vial has an opening secured by a dissolvable plug. When dissolved, liquids may enter into the interior of the collection vial passing along one or more edges of a dissolvable blocking member. As the blocking member is dissolved, a spring actuated closure is directed towards the opening of the vial which, when engaged, secures the vial contents against loss or contamination.

  2. Cylindrical Piezoelectric Fiber Composite Actuators (United States)

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


    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.

  3. Electrospun submicron bioactive glass fibers for bone tissue scaffold. (United States)

    Lu, H; Zhang, T; Wang, X P; Fang, Q F


    Submicron bioactive glass fibers 70S30C (70 mol% SiO(2), 30 mol% CaO) acting as bone tissue scaffolds were fabricated by electrospinning method. The scaffold is a hierarchical pore network that consists of interconnected fibers with macropores and mesopores. The structure, morphological characterization and mechanical properties of the submicron bioactive glass fibers were studied by XRD, EDS, FIIR, SEM, N(2) gas absorption analyses and nanoindentation. The effect of the voltage on the morphology of electrospun bioactive glass fibers was investigated. It was found that decreasing the applied voltage from 19 to 7 kV can facilitate the formation of finer fibers with fewer bead defects. The hardness and Young's modulus of submicron bioactive glass fibers were measured as 0.21 and 5.5 GPa, respectively. Comparing with other bone tissue scaffolds measured by nanoindentation, the elastic modulus of the present scaffold was relatively high and close to the bone.

  4. NATO Advanced Study Institute on Physics of Submicron Semiconductor Devices

    CERN Document Server

    Ferry, David; Jacoboni, C


    The papers contained in the volume represent lectures delivered as a 1983 NATO ASI, held at Urbino, Italy. The lecture series was designed to identify the key submicron and ultrasubmicron device physics, transport, materials and contact issues. Nonequilibrium transport, quantum transport, interfacial and size constraints issues were also highlighted. The ASI was supported by NATO and the European Research Office. H. L. Grubin D. K. Ferry C. Jacoboni v CONTENTS MODELLING OF SUB-MICRON DEVICES.................. .......... 1 E. Constant BOLTZMANN TRANSPORT EQUATION... ... ...... .................... 33 K. Hess TRANSPORT AND MATERIAL CONSIDERATIONS FOR SUBMICRON DEVICES. . .. . . . . .. . . . .. . .. . .... ... .. . . . .. . . . .. . . . . . . . . . . 45 H. L. Grubin EPITAXIAL GROWTH FOR SUB MICRON STRUCTURES.................. 179 C. E. C. Wood INSULATOR/SEMICONDUCTOR INTERFACES.......................... 195 C. W. Wilms en THEORY OF THE ELECTRONIC STRUCTURE OF SEMICONDUCTOR SURFACES AND INTERFACES...................

  5. Satellite Attitude Control Using Only Electromagnetic Actuation

    DEFF Research Database (Denmark)

    Wisniewski, Rafal

    of the work was on the class of periodic systems reflecting orbital motion of the satellite. In addition to a theoretical treatment, the thesis contains a large portion of application considerations. The controllers developed were implemented for the Danish Ørsted satellite. The control concept considered......The primary purpose of this work was to develop control laws for three axis stabilization of a magnetic actuated satellite. This was achieved by a combination of linear and nonlinear system theory. In order to reach this goal new theoretical results were produced in both fields. The focus...... was that interaction between the Earth's magnetic field and a magnetic field generated by a set of coils in the satellite can be used for actuation. Magnetic torquing was found attractive for generation of control torques on small satellites, since magnetic control systems are relatively lightweight, require low power...

  6. Magnetic and Optical Properties of Submicron-Size Hollow Spheres

    Directory of Open Access Journals (Sweden)

    Hirofumi Yoshikawa


    Full Text Available Magnetic hollow spheres with a controlled diameter and shell thickness have emerged as an important class of magnetic nanomaterials. The confined hollow geometry and pronouncedly curved surfaces induce unique physical properties different from those of flat thin films and solid counterparts. In this paper, we focus on recent progress on submicron-size spherical hollow magnets (e.g., cobalt- and iron-based materials, and discuss the effects of the hollow shape and the submicron size on magnetic and optical properties.

  7. An introduction to deep submicron CMOS for vertex applications

    CERN Document Server

    Campbell, M; Cantatore, E; Faccio, F; Heijne, Erik H M; Jarron, P; Santiard, Jean-Claude; Snoeys, W; Wyllie, K


    Microelectronics has become a key enabling technology in the development of tracking detectors for High Energy Physics. Deep submicron CMOS is likely to be extensively used in all future tracking systems. Radiation tolerance in the Mrad region has been achieved and complete readout chips comprising many millions of transistors now exist. The choice of technology is dictated by market forces but the adoption of deep submicron CMOS for tracking applications still poses some challenges. The techniques used are reviewed and some of the future challenges are discussed.

  8. Telescoping cylindrical piezoelectric fiber composite actuator assemblies (United States)

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


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

  9. Nonlinear feedback control of dual-stage actuator system (United States)

    Liu, Chuan; Liu, Yang; Li, Xing; Chen, Xing-lin


    The wafer stage of lithography is a dual-stage actuator (DSA) system. An nm-level positioning precision is required by using macro movement of long-stroke linear motor and high-precision micro movement of short-stroke voice coil motor, while the platform is moving in high-speed. This brief presents a nonlinear control method for dual-stage actuator systems to track a step command input fast and accurately. To further reduce the settling time, we design the long-stroke actuator controller with the control law of proximate time optimal control (PTOC) to yield a closed-loop system with a small damping ratio for a fast rise time and certain allowable overshoot. Moreover, for the purpose of reducing the overshoot caused by the long-stroke actuator as the system output approaches the target location, a composite nonlinear feedback (CNF) control law is designed for the short-stroke actuator to yield a closed-loop system with a large damping ratio. The linear extended state observer (LESO) was designed to estimate the unknown velocity and compensate the disturbance of servo systems, thus static error could be effectively decreased. We applied this proposed control method to an actual DSA positioning system, which consists of a linear motor and a voice coil motor. Experimental results show that our approach can improve the dynamic performance and the anti-jamming capability of the system, enhance the control precision.

  10. Understanding piezoelectric composite–based actuators with nonlinear and 90 domain walls effects

    NARCIS (Netherlands)

    Wiwattananon, P.; Bergsma, O.K.; Bersee, H.E.N.


    Piezoelectric materials possess nonlinear behavior when actuated in a large electric field and show a large deflection when embedded inside a composite laminate such as a LIghtweight Piezoelectric Composite Actuator. Linear and nonlinear COMSOL multi-physics finite element models were developed and

  11. Control Reconfiguration of LPV Systems Using Virtual Sensor and Virtual Actuator

    DEFF Research Database (Denmark)

    Tabatabaeipour, Seyed Mojtaba; Stoustrup, Jakob; Bak, Thomas


    In this paper, a fault tolerant control method for linear parameter varying (LPV) systems using a virtual actuator and a virtual sensor is proposed. The basic idea of the method is to insert a reconfiguration block, which consists of an LPV virtual actuator and an LPV virtual sensor, between the ...

  12. Bloch-Wave Engineered Submicron Diameter Micropillars with Quality Factors Exceeding 10,000

    DEFF Research Database (Denmark)

    Hofling, S.; Lermer, M.; Gregersen, Niels


    Adiabatic design submicron diameter quantum-dot micropillars have been designed and implemented for cavity quantum electrodynamics experiments. Ultra-high experimental quality factors (>10,000) are obtained for submicron diameters and strong light-matter interaction is observed.......Adiabatic design submicron diameter quantum-dot micropillars have been designed and implemented for cavity quantum electrodynamics experiments. Ultra-high experimental quality factors (>10,000) are obtained for submicron diameters and strong light-matter interaction is observed....

  13. Vibration control of a flexible structure with electromagnetic actuators

    DEFF Research Database (Denmark)

    Gruzman, Maurício; Santos, Ilmar


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

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

    Directory of Open Access Journals (Sweden)

    Aleksanin Sergei Andreevich


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

  15. Submicron particles of Co, Ni and Co–Ni alloys

    Indian Academy of Sciences (India)

    Home; Journals; Bulletin of Materials Science; Volume 24; Issue 5 ... Magnetic Materials Volume 24 Issue 5 October 2001 pp 515-521 ... Magnetic sub-micron sized particles (with diameters in the range 100–600 nm) of Co, Ni and Co–Ni alloys, protected with polyvinylpyrrolidone have been prepared in gram quantities ...

  16. UV Light–Induced Aggregation of Titania Submicron Particles

    Directory of Open Access Journals (Sweden)

    Can Zhou


    Full Text Available In this study, aggregation of TiO2 (rutile and anatase submicron particles in deionized (DI water under ultra-violet (UV light irradiation was investigated. While no aggregation was observed in the dark, rutile and anatase submicron particles started aggregating upon application of UV light and ceased aggregation in about 2 and 8.4 h, respectively. It has been demonstrated that UV light directly mitigated the particle mobility of TiO2, resulting in a neutralization effect of the Zeta potential. It was also observed that rutile particles aggregated much faster than anatase particles under UV radiation, indicating that the Zeta potential of as-prepared rutile is less than that of anatase in deionized (DI water. In addition, the interaction energy of rutile and anatase particles was simulated using the Derjaguin–Landau–Verwey–Overbeek (DLVO model. The results showed a significant reduction of barrier energy from 118.2 kBT to 33.6 kBT for rutile and from 333.5 kBT to 46.1 kBT for anatase, respectively, which further validated the remarkable influence of UV irradiation on the aggregation kinetics of rutile and anatase submicron particles. This work presents a further understanding of the aggregation mechanism of light-controlled submicron particles and has a promising potential application in environmental remediation.

  17. Submicron particle chemistry: Vapor condensation analogous to liquid solidification (United States)

    Jenkins, Neil T.; Eagar, Thomas W.


    The chemical composition of submicron particles condensed from vapor can vary with particle size. This chemical variation with size affects industrial health estimates and technological innovation. A model based on similar behavior during the solidification of liquids is proposed to explain this behavior.

  18. Deep-submicron CMOS Single Photon Detectors and Quantum Effects

    NARCIS (Netherlands)

    Karami, M.A.


    Quantum parasitic effects and miniaturization of Single Photon Avalanche Diodes in deep-submicron technologies have been studied in this thesis in detail. Tunneling noise and Random Telegraph Signal (RTS) noise have been the main two parasitic effects addressed comprehensively. While the fundamental

  19. Size effects in piezoelectric cantilevers at submicron thickness levels due to flexoelectricity (United States)

    Moura, Adriane G.; Erturk, Alper


    In elastic dielectrics, piezoelectricity is the response of polarization to applied mechanical strain, and vice versa. Piezoelectric coupling is controlled by a third-rank tensor and is allowed only in materials that are non-centrosymmetric. Flexoelectricity, however, is the generation of electric polarization by the application of a non-uniform mechanical strain field, i.e. a strain gradient, and is expected to be pronounced at submicron thickness levels, especially at the nano-scale. Flexoelectricity is controlled by a fourth-rank tensor and is therefore allowed in materials of any symmetry. As a gradient effect, flexoelectricity is size dependent, while piezoelectric coupling has no size dependence. Any ordinary piezoelectric cantilever model developed for devices above micron-level thickness has to be modified for nano-scale piezoelectric devices since the effect of flexoelectric coupling will change the electroelastic dynamics at such small scales. In this work, we establish and explore a complete analytical framework by accounting for both the piezoelectric and flexoelectric effects. The focus is placed on the development of governing electroelastodynamic piezoelectric-flexoelectric equations for the problems of energy harvesting, sensing, and actuation. The coupled governing equations are analyzed to obtain the frequency response. The coupling coefficient for the bimorph configuration is identified and its size dependence is explored.

  20. Robotic Arm Actuated by Electroactie Polymers (United States)

    Bar-Cohen, Y.; Xue, T.; Shaninpoor, M.; Simpson, J. O.; Smith, J.


    Actuators are used for many planetary and space applications. To meet the NASA goal to reduce the actuators size, mass, cost and power consumption, electroactie polymers (EAP) are being developed to induce large bending and longitudinal actuation strains.

  1. Investigations on Actuator Dynamics through Theoretical and Finite Element Approach

    Directory of Open Access Journals (Sweden)

    Somashekhar S. Hiremath


    Full Text Available This paper gives a new approach for modeling the fluid-structure interaction of servovalve component-actuator. The analyzed valve is a precision flow control valve-jet pipe electrohydraulic servovalve. The positioning of an actuator depends upon the flow rate from control ports, in turn depends on the spool position. Theoretical investigation is made for No-load condition and Load condition for an actuator. These are used in finite element modeling of an actuator. The fluid-structure-interaction (FSI is established between the piston and the fluid cavities at the piston end. The fluid cavities were modeled with special purpose hydrostatic fluid elements while the piston is modeled with brick elements. The finite element method is used to simulate the variation of cavity pressure, cavity volume, mass flow rate, and the actuator velocity. The finite element analysis is extended to study the system's linearized response to harmonic excitation using direct solution steady-state dynamics. It was observed from the analysis that the natural frequency of the actuator depends upon the position of the piston in the cylinder. This is a close match with theoretical and simulation results. The effect of bulk modulus is also presented in the paper.

  2. Towards holonomic electro-elastomer actuators with six degrees of freedom (United States)

    Conn, A. T.; Rossiter, J.


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

  3. Microfabricated actuators and their application to optics

    Energy Technology Data Exchange (ETDEWEB)

    Sniegowski, J.J.; Garcia, E.J.


    Several authors have given overviews of microelectromechanical systems, including microactuators. In our presentation we will review some of these results, and provide a brief description of the basic principles of operation, fabrication, and application, of a few selected microactuators (electrostatic and surface tension driven). We present a description of a three-level mechanical polysilicon surface-micromachining technology with a discussion of the advantages of this level of process complexity. This technology, is capable of forming complex, batch-fabricated, interconnected, and interactive, microactuated micromechanisms which include optical elements. The inclusion of a third deposited layer of mechanical polysilicon greatly extends the degree of complexity available for micromechanism design. Two examples of microactuators fabricated using this process are provided to illustrate the capabilities and usefulness of the technology. The first actuator is an example of a novel actuation mechanism based on the effect of surface tension at these micro-scale dimensions and of a microstructure within a microstructure. The second is a comb-drive-based microengine which has direct application as a drive and power source for micro optical elements, specifically, micro mirrors and micro shutters. This design converts linear oscillatory motion from electrostatic comb drive actuators into rotational motion via a direct linkage connection. The microengine provides output in the form of a continuously rotating output gear that is capable of delivering drive torque to a micromechanism.

  4. Organic Nanoaggregates: A Window to Submicron Optics

    DEFF Research Database (Denmark)

    Balzer, Frank; Bordo, Vladimir G.; Neuendorf, Rolf


    of controlled growth manipulation, while, on the other hand, showing self-assembled multiplication of individual entities. Examples on selective spectroscopy, scanning fluorescence optical microscopy, and waveguiding of individual nanofibers, as well as arrays of nanofibers are given. Both the linear optical...... properties, as well as the waveguiding efficiency are strongly related to the morphology of the nanoaggregates. Organic nanoaggregates, thus, are an interesting benchmark system for the investigation of the applicability of a variety of optical methods in the nanodomain....

  5. Electromagnetic actuation in MEMS switches

    DEFF Research Database (Denmark)

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

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

  6. Novel ionic polymeric hydraulic actuators (United States)

    Shahinpoor, Mohsen; Kim, Kwang J.


    It is now well recognized that a strip of ionic polymer- metal composite (IPMC) exhibits a spontaneous bending capability under the influence of an electric potential. A key observation is the appearance and disappearance of water on the expansion and contraction surfaces of the strip, respectively. Such water appearing/disappearing activities occur near the permeable metal electrodes. The imposition of en elctric field causes the mobile cations that are conjugated to the polymeric anions to undergo electrophoretic dynamic migration that can result in local deformation of the material. Such an electrophoretic behavior of the IPMC causes the water to leak out of the permeable electroded boundary so as to lower the actuation performance. This situation is similar to a leaking hydraulic actuator (hydraulic jack), which has the highest force density notwithstanding the compressor unit weight. Herein, a new category of actuators as ionic polymeric hydraulic actuators (IPHA's) is defined. The IPMC is a good example of such ionic polymeric hydraulic actuators. The advantage of ionic polymeric hydraulic actuators is their potential to generate substantially high force densities, theoretically better than current hydraulic actuators. Based upon this ionic polymer hydraulic actuator concept, a certain manufacturing technique was developed to increase the force density of the conventional IPMC's by a factor of two (100% improvement in force). This technology and associated experimental results are presented in this paper.

  7. Dielectric Elastomers for Actuation and Energy Harvesting (United States)

    Brochu, Paul A.

    The first part of this work focuses on free-standing linear soft silicone actuators as this configuration is the most relevant for real applications. A particular soft silicone has been isolated a good candidate and was extensively tested in a free-standing linear actuator configuration to determine the effects of pre-stretch and the application of mechanical loads on its actuation performance. It is shown that when the mechanical loads are properly applied, large linear actuation strains of 120% and work density of 0.5 J/cm3 can be obtained. Furthermore, we demonstrate that when coupled with single wall carbon nanotube (SWNT) compliant electrodes, fault-tolerance is introduced via self-clearing leading to significantly improved operational reliability. Driven at moderate electric fields, the actuators display relatively high linear actuation strain (25%) without degradation of the electromechanical performance even after 85,000 cycles. The high performance of the aforementioned soft silicone actuators requires the application of rather large levels of prestrain. In order to eliminate this requirement a novel all-silicone prestrain-locked interpenetrating polymer network (S-IPN) elastomer was developed. The elastomer is fabricated using a combination of two silicones: a soft room temperature vulcanizing silicone that serves as the host elastomer matrix, and a more rigid high temperature vulcanizing silicone that acts to preserve the prestrain in the host network. The free-standing prestrain-locked silicones show a more than twofold performance improvement over standard free-standing silicone films, with a linear strain of 25% and an area strain of 45% when tested in a diaphragm configuration. The S-IPN procedure was leveraged to improve electrode adhesion and stability as well as improve the interlayer adhesion in multilayer actuators. It is demonstrated that strongly bonded SWNT electrodes are capable of fault tolerance through self-clearing, even in multilayer

  8. Vibration control of a flexible structure with electromagnetic actuators

    DEFF Research Database (Denmark)

    Gruzman, Maurício; Santos, Ilmar


    elements were used. Nonlinear equations for the actuator electromagnetic force, noise in the position sensor, time delays for the control signal update and voltage saturation were also considered in the model. For controlling purposes, a discrete linear quadratic regulator combined with a predictive full...

  9. A Fast Panel Code for Complex Actuator Disk Flows

    NARCIS (Netherlands)

    Gamme, S.; De Oliveira Andrade, G.L.; Ragni, D.; Lau, F.


    A fast, linear scaling vortex method is presented to study inviscid incompressible flow problems involving one or more actuator disks. Building upon previous efforts that were limited to axi-symmetric flow cases, the proposed methodology is able to handle arbitrary configurations with no symmetry

  10. Pentanol as Co-Surfactant in Polypyrrole Actuators

    DEFF Research Database (Denmark)

    Bay, Lasse; West, Keld; Skaarup, Steen


    Conductin polymers have been investigated for the use as active component in polymer actuators. Addition of I-pentanol as co-surfactant to the polymerisation solution is shown to increase the reversible linear strain that can be achieved with polypyrrole films doped with dodecyl benzene sulfonate...

  11. Tailoring the actuation of ionic polymer metal composites (United States)

    Nemat-Nasser, Sia; Wu, Yongxian


    Ionic polymer-metal composites (IPMCs) are biomimetic actuators and sensors. A typical IPMC consists of a thin perfluorinated ionomer membrane, with noble metal electrodes plated on both faces, and neutralized with the necessary amount of cations. A cantilevered strip of IPMC responds to an electric stimulus by generating large bending motions and, conversely, produces an electric potential upon sudden bending deformations. IPMCs have been considered for potential applications in artificial muscles, robotic systems, and biomedical devices. By examining the underpinning mechanisms responsible for the actuation and the factors that affect IPMC's performance, novel methods to tailor its electro-mechanical response to obtain optimized actuation activities are developed and presented in this paper. By introducing various monovalent or multivalent single cations and cation combinations, diverse actuation behaviors can be obtained and optimal actuation activities can be identified. The experimental measurements show good agreement with the results obtained using the nano-scaled, physics-based model that was introduced by the first author to predict the actuation of IPMCs qualitatively and quantitatively. The bending motion of IPMCs can also be tailored by modifying the time variation of the applied direct or alternating current. We have discovered that the Nafion-based IPMC's initial motion towards the anode can be controlled and ultimately eliminated by applying a linearly increasing electric potential at a suitable rate. For Flemion-based IPMCs, the tip displacement towards the anode is always linearly related to the cation charge accumulation at the cathode. These results have significant bearing on verifying various IPMC actuation models.

  12. Design of a Solenoid Actuator with a Magnetic Plunger for Miniaturized Segment Robots

    Directory of Open Access Journals (Sweden)

    Chang-Woo Song


    Full Text Available We develop a solenoid actuator with a ferromagnetic plunger to generate both rectilinear and turning motions of a multi-segmented robot. Each segment of the miniaturized robot is actuated by a pair of solenoids, and in-phase and out-of-phase actuations of the solenoid pair cause the linear and turning motions. The theoretical analysis on the actuation force by the solenoid with the magnetic plunger is implemented based on the Biot-Savart law. The optimal design parameters of the solenoid are determined to actuate a segmented body. We manufacture the miniaturized robot consisting of two segments and a pair of solenoids. Experiments are performed to measure the linear and angular displacements of the two-segmented robot for various frictional conditions.

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

    Energy Technology Data Exchange (ETDEWEB)

    Kofod, Guggi [University of Potsdam, Institute of Physics, Advanced Condensed-Matter Physics, 14476 Potsdam (Germany)], E-mail:


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

  14. The static actuation of dielectric elastomer actuators: how does pre-stretch improve actuation? (United States)

    Kofod, Guggi


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

  15. Bouncing mode electrostatically actuated scanning micromirror for video applications (United States)

    Krylov, Slava; Barnea, Daniel I.


    We present a design and operation concept of a scanning device based on an electrostatic torsional micromirror that is aimed to fulfil the requirements of motion linearity, high operational frequency and low actuation voltages imposed by laser display applications. The operational mode incorporates a contact event between the mirror and an elastic constraint followed by a bouncing and an inversion of motion. A triangular response signal is obtained by the application of an actuation voltage which is piecewise constant in time. The tuning of the resonant frequency through the control of the applied voltage permits the synchronization of the response of the microfabricated device with a video signal.

  16. Gear-Driven Turnbuckle Actuator (United States)

    Rivera, Ricky N.


    This actuator design allows the extension and contraction of turnbuckle assemblies. It can be operated manually or remotely, and is extremely compact. It is ideal for turnbuckles that are hard to reach by conventional tools. The tool assembly design solves the problem of making accurate adjustments to the variable geometry guide vanes without having to remove and reinstall the actuator system back on the engine. The actuator does this easily by adjusting the length of the turnbuckles while they are still attached to the engine.

  17. Changes of propagation light in optical fiber submicron wires (United States)

    Stasiewicz, K. A.; Łukowski, A.; Jaroszewicz, L. R.


    At the moment technology allows to miniaturize measurement system to several micrometers. Application of an optical fiber taper in such system needs to manufacture a new one with diameters below single micrometers which is very difficult and expensive. Another way to obtain this level of diameters is the process of tapering from the existing fibers. In the paper, experimental results of propagation light from a supercontinnum sources of the wavelength generates the wavelength of 350-2000 nm, in different optical fiber submicron wires made from tapers manufactured from single mode fibers are presented. Biconical optical fibers' tapers were manufactured in low pressure gas burner technique. There are presented spectral characteristics of a propagated beam. For the test, there was manufactured an optical fiber submicron wires with a different length of waist region with a diameter near one micrometer. We put to the test a taper made from a standard telecommunication fiber SMF-28 with a cutoff wavelength equal to 1260.

  18. Embodying Desired Behavior in Variable Stiffness Actuators

    NARCIS (Netherlands)

    Visser, L.C.; Stramigioli, Stefano; Bicchi, Antonio


    Variable stiffness actuators are a class of actuators with the capability of changing their apparent output stiffness independently from the actuator output position. This is achieved by introducing internally a number of compliant elements, and internal actuated degrees of freedom that determine

  19. Energy-Efficient Variable Stiffness Actuators

    NARCIS (Netherlands)

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


    Variable stiffness actuators are a particular class of actuators that is characterized by the property that the apparent output stiffness can be changed independent of the output position. To achieve this, variable stiffness actuators consist of a number of elastic elements and a number of actuated

  20. Submicron bioactive glass tubes for bone tissue engineering. (United States)

    Xie, Jingwei; Blough, Eric R; Wang, Chi-Hwa


    Herein we describe a method to fabricate submicron bioactive glass tubes using sol-gel and coaxial electrospinning techniques for applications in bone tissue engineering. Heavy mineral oil and gel solution were delivered by two independent syringe pumps during the coaxial electrospinning process. Subsequently, submicron bioactive glass tubes were obtained by removal of poly(vinyl pyrrolidone) and heavy mineral oil via calcination at 600 °C for 5 h. Tubular structure was confirmed by scanning electron microscopy and transmission electron microscopy imaging. We examined the bioactivity of submicron bioactive glass tubes and fibers and evaluated their biocompatibility, using electrospun poly(ε-caprolactone) fibers--a bioinactive material--for comparison. The bioactivity of the glass tubes was examined in a simulated body fluid and they demonstrated the formation of hydroxyapatite-like minerals on both the outer and inner surfaces. In contrast, mineralization only occurred on their surface for bioactive glass solid fibers. Energy-dispersive X-ray data suggested that the bioactive glass tubes had a faster induction of mineral formation than the solid fibers. We demonstrate that the proliferation rate of mouse preosteoblastic MC3T3-E1 cells on bioactive glass tubes was comparable to that on solid fibers. We also show that bioactive glass tubes can be loaded with a model protein drug, bovine serum albumin, and that these structures exhibit delayed release properties. The bioactivity of released lysozyme can be as high as 90.9%. Taken together, these data suggest that submicron bioactive glass tubes could hold great potential for use in bone tissue engineering as well as topical drug or gene delivery. Copyright © 2011 Acta Materialia Inc. Published by Elsevier Ltd. All rights reserved.

  1. Energy Efficient Signaling in Deep-submicron Technology

    Directory of Open Access Journals (Sweden)

    Imed Ben Dhaou


    Full Text Available In deep-submicron technology, global interconnect capacitances have started reaching several orders of magnitude greater than the intrinsic capacitances of the CMOS gates. The dynamic power consumption of a CMOS gate driving a global wire is the sum of the power dissipated due to (discharging (i the intrinsic capacitance of the gate, and (ii the wire capacitance. The latter is referred to as on-chip signaling power consumption.

  2. Submicron plasticity: yield stress, dislocation avalanches, and velocity distribution


    Ispánovity, Péter Dusán; Groma, István; Györgyi, Géza; Csikor, Ferenc F.; Weygand, Daniel


    The existence of a well defined yield stress, where a macroscopic piece of crystal begins to plastically flow, has been one of the basic observations of materials science. In contrast to macroscopic samples, in micro- and nanocrystals the strain accumulates in distinct, unpredictable bursts, which makes controlled plastic forming rather difficult. Here we study by simulation, in two and three dimensions, plastic deformation of submicron objects under increasing stress. We show that, while the...

  3. Submicron Resolution Spectral-Domain Optical Coherence Tomography

    KAUST Repository

    Alarousu, Erkki


    Apparatuses and systems for submicron resolution spectral-domain optical coherence tomography (OCT) are disclosed. The system may use white light sources having wavelengths within 400-1000 nanometers, and achieve resolution below 1 .mu.m. The apparatus is aggregated into a unitary piece, and a user can connect the apparatus to a user provided controller and/or light source. The light source may be a supercontinuum source.

  4. Modular apparatus for electrostatic actuation of common atomic force microscope cantilevers. (United States)

    Long, Christian J; Cannara, Rachel J


    Piezoelectric actuation of atomic force microscope (AFM) cantilevers often suffers from spurious mechanical resonances in the loop between the signal driving the cantilever and the actual tip motion. These spurious resonances can reduce the accuracy of AFM measurements and in some cases completely obscure the cantilever response. To address these limitations, we developed a specialized AFM cantilever holder for electrostatic actuation of AFM cantilevers. The holder contains electrical contacts for the AFM cantilever chip, as well as an electrode (or electrodes) that may be precisely positioned with respect to the back of the cantilever. By controlling the voltages on the AFM cantilever and the actuation electrode(s), an electrostatic force is applied directly to the cantilever, providing a near-ideal transfer function from drive signal to tip motion. We demonstrate both static and dynamic actuations, achieved through the application of direct current and alternating current voltage schemes, respectively. As an example application, we explore contact resonance atomic force microscopy, which is a technique for measuring the mechanical properties of surfaces on the sub-micron length scale. Using multiple electrodes, we also show that the torsional resonances of the AFM cantilever may be excited electrostatically, opening the door for advanced dynamic lateral force measurements with improved accuracy and precision.

  5. Modular apparatus for electrostatic actuation of common atomic force microscope cantilevers

    Energy Technology Data Exchange (ETDEWEB)

    Long, Christian J., E-mail: [Center for Nanoscale Science and Technology, National Institute of Standards and Technology, Gaithersburg, Maryland 20899 (United States); Maryland Nanocenter, University of Maryland, College Park, Maryland 20742 (United States); Cannara, Rachel J. [Center for Nanoscale Science and Technology, National Institute of Standards and Technology, Gaithersburg, Maryland 20899 (United States)


    Piezoelectric actuation of atomic force microscope (AFM) cantilevers often suffers from spurious mechanical resonances in the loop between the signal driving the cantilever and the actual tip motion. These spurious resonances can reduce the accuracy of AFM measurements and in some cases completely obscure the cantilever response. To address these limitations, we developed a specialized AFM cantilever holder for electrostatic actuation of AFM cantilevers. The holder contains electrical contacts for the AFM cantilever chip, as well as an electrode (or electrodes) that may be precisely positioned with respect to the back of the cantilever. By controlling the voltages on the AFM cantilever and the actuation electrode(s), an electrostatic force is applied directly to the cantilever, providing a near-ideal transfer function from drive signal to tip motion. We demonstrate both static and dynamic actuations, achieved through the application of direct current and alternating current voltage schemes, respectively. As an example application, we explore contact resonance atomic force microscopy, which is a technique for measuring the mechanical properties of surfaces on the sub-micron length scale. Using multiple electrodes, we also show that the torsional resonances of the AFM cantilever may be excited electrostatically, opening the door for advanced dynamic lateral force measurements with improved accuracy and precision.

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

    Directory of Open Access Journals (Sweden)

    Qianqian Wu


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

  7. Electrically controllable twisted-coiled artificial muscle actuators using surface-modified polyester fibers (United States)

    Park, Jungwoo; Yoo, Ji Wang; Seo, Hee Won; Lee, Youngkwan; Suhr, Jonghwan; Moon, Hyungpil; Koo, Ja Choon; Ryeol Choi, Hyouk; Hunt, Robert; Kim, Kwang Jin; Kim, Soo Hyun; Nam, Jae-Do


    As a new class of thermally activated actuators based on polymeric fibers, we investigated polyethylene terephthalate (PET) yarns for the development of a twisted-coiled polymer fiber actuator (TCA). The PET yarn TCA exhibited the maximum linear actuation up to 8.9% by external heating at above the glass transition temperature, 160 °C-180 °C. The payload of the actuator was successfully correlated with the preload and training-load conditions by an empirical equation. Furthermore, the PET-based TCA was electrically driven by Joule heating after the PET surface was metallization with silver. For the fast and precise control of PET yarn TCA, electroless silver plating was conducted to form electrical conductive layers on the PET fiber surface. The silver plated PET-based TCA was tested by Joule heating and the tensile actuation was increased up to 12.1% (6 V) due to the enhanced surface hardness and slippage of PET fibers. Overall, silver plating of the polymeric yarn provided a fast actuation speed and enhanced actuation performance of the TCA actuator by Joule heating, providing a great potential for being used in artificial muscle for biomimetic machines including robots, industrial actuators and powered exoskeletons.

  8. The development of compact electroactive polymer actuators suitable for use in full page Braille displays (United States)

    Gorny, Lee J.; Zellers, Brian C.; Lin, Minren; Liu, Sheng; Zhang, Qiming M.


    Piezoceramic actuators, presently used in commercial Braille displays, are limited by the material's relatively small strain and brittle nature. For this reason, it is a challenge to develop full page, compact, graphic Braille displays that are affordable. A newly developed material composed of P(VDF-TrFE-CFE) terpolymer blended with 5% P(VDF-CTFE) electrostrictive actuators exhibits large strains (~5% at 150V/μm), fast actuation (>5 mm/s), and has a relatively high elastic modulus (1.2 GPa). This material exhibits more than double the elastic energy density and a 50% higher modulus of the original electrostrictive terpolymer. Hence, the potential for viable actuators in compact, full page Braille displays is greater than ever, provided actuators can be manufactured reliably in quantity. This talk presents recent work in scaling production of such rolled actuators. Actuators extend .5 mm, are confined to the 2.5 mm grid spacing of conventional Braille text, generate >0.5 N force and operate at less than 200V, thus meeting the primary requirements for a commercialized Braille display. To manufacture these actuators, cast films are stretched using a roll-to-roll zone drawing machine that is capable of producing quantities of 2 μm thick film with high quality. What follows is a discussion of this machine, the roll-to-roll film stretching process and an assessment of the resulting stretched film for use as linear strain actuators, like those used in our Braille cell.

  9. Scanning SQUID susceptometers with sub-micron spatial resolution

    Energy Technology Data Exchange (ETDEWEB)

    Kirtley, John R., E-mail:; Rosenberg, Aaron J.; Palmstrom, Johanna C.; Holland, Connor M.; Moler, Kathryn A. [Department of Applied Physics, Stanford University, Stanford, California 94305-4045 (United States); Paulius, Lisa [Department of Physics, Western Michigan University, Kalamazoo, Michigan 49008-5252 (United States); Spanton, Eric M. [Department of Physics, Stanford University, Stanford, California 94305-4045 (United States); Schiessl, Daniel [Attocube Systems AG, Königinstraße 11A, 80539 Munich (Germany); Jermain, Colin L.; Gibbons, Jonathan [Department of Physics, Cornell University, Cornell, Ithaca, New York 14853 (United States); Fung, Y.-K.K.; Gibson, Gerald W. [IBM Research Division, T. J. Watson Research Center, Yorktown Heights, New York 10598 (United States); Huber, Martin E. [Department of Physics, University of Colorado Denver, Denver, Colorado 80217-3364 (United States); Ralph, Daniel C. [Department of Physics, Cornell University, Cornell, Ithaca, New York 14853 (United States); Kavli Institute at Cornell, Ithaca, New York 14853 (United States); Ketchen, Mark B. [OcteVue, Hadley, Massachusetts 01035 (United States)


    Superconducting QUantum Interference Device (SQUID) microscopy has excellent magnetic field sensitivity, but suffers from modest spatial resolution when compared with other scanning probes. This spatial resolution is determined by both the size of the field sensitive area and the spacing between this area and the sample surface. In this paper we describe scanning SQUID susceptometers that achieve sub-micron spatial resolution while retaining a white noise floor flux sensitivity of ≈2μΦ{sub 0}/Hz{sup 1/2}. This high spatial resolution is accomplished by deep sub-micron feature sizes, well shielded pickup loops fabricated using a planarized process, and a deep etch step that minimizes the spacing between the sample surface and the SQUID pickup loop. We describe the design, modeling, fabrication, and testing of these sensors. Although sub-micron spatial resolution has been achieved previously in scanning SQUID sensors, our sensors not only achieve high spatial resolution but also have integrated modulation coils for flux feedback, integrated field coils for susceptibility measurements, and batch processing. They are therefore a generally applicable tool for imaging sample magnetization, currents, and susceptibilities with higher spatial resolution than previous susceptometers.

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

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


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

  11. A Nonlinear Physics-Based Optimal Control Method for Magnetostrictive Actuators (United States)

    Smith, Ralph C.


    This paper addresses the development of a nonlinear optimal control methodology for magnetostrictive actuators. At moderate to high drive levels, the output from these actuators is highly nonlinear and contains significant magnetic and magnetomechanical hysteresis. These dynamics must be accommodated by models and control laws to utilize the full capabilities of the actuators. A characterization based upon ferromagnetic mean field theory provides a model which accurately quantifies both transient and steady state actuator dynamics under a variety of operating conditions. The control method consists of a linear perturbation feedback law used in combination with an optimal open loop nonlinear control. The nonlinear control incorporates the hysteresis and nonlinearities inherent to the transducer and can be computed offline. The feedback control is constructed through linearization of the perturbed system about the optimal system and is efficient for online implementation. As demonstrated through numerical examples, the combined hybrid control is robust and can be readily implemented in linear PDE-based structural models.

  12. Variable Valve Actuation

    Energy Technology Data Exchange (ETDEWEB)

    Jeffrey Gutterman; A. J. Lasley


    Many approaches exist to enable advanced mode, low temperature combustion systems for diesel engines - such as premixed charge compression ignition (PCCI), Homogeneous Charge Compression Ignition (HCCI) or other HCCI-like combustion modes. The fuel properties and the quantity, distribution and temperature profile of air, fuel and residual fraction in the cylinder can have a marked effect on the heat release rate and combustion phasing. Figure 1 shows that a systems approach is required for HCCI-like combustion. While the exact requirements remain unclear (and will vary depending on fuel, engine size and application), some form of substantially variable valve actuation is a likely element in such a system. Variable valve actuation, for both intake and exhaust valve events, is a potent tool for controlling the parameters that are critical to HCCI-like combustion and expanding its operational range. Additionally, VVA can be used to optimize the combustion process as well as exhaust temperatures and impact the after treatment system requirements and its associated cost. Delphi Corporation has major manufacturing and product development and applied R&D expertise in the valve train area. Historical R&D experience includes the development of fully variable electro-hydraulic valve train on research engines as well as several generations of mechanical VVA for gasoline systems. This experience has enabled us to evaluate various implementations and determine the strengths and weaknesses of each. While a fully variable electro-hydraulic valve train system might be the 'ideal' solution technically for maximum flexibility in the timing and control of the valve events, its complexity, associated costs, and high power consumption make its implementation on low cost high volume applications unlikely. Conversely, a simple mechanical system might be a low cost solution but not deliver the flexibility required for HCCI operation. After modeling more than 200 variations of

  13. Enzyme actuated bioresponsive hydrogels (United States)

    Wilson, Andrew Nolan

    Bioresponsive hydrogels are emerging with technological significance in targeted drug delivery, biosensors and regenerative medicine. Conferred with the ability to respond to specific biologically derived stimuli, the design challenge is in effectively linking the conferred biospecificity with an engineered response tailored to the needs of a particular application. Moreover, the fundamental phenomena governing the response must support an appropriate dynamic range and limit of detection. The design of these systems is inherently complicated due to the high interdependency of the governing phenomena that guide the sensing, transduction, and the actuation response of hydrogels. To investigate the dynamics of these materials, model systems may be used which seek to interrogate the system dynamics by uni-variable experimentation and limit confounding phenomena such as: polymer-solute interactions, polymer swelling dynamics and biomolecular reaction-diffusion concerns. To this end, a model system, alpha-chymotrypsin (Cht) (a protease) and a cleavable peptide-chromogen (pro-drug) covalently incorporated into a hydrogel, was investigated to understand the mechanisms of covalent loading and release by enzymatic cleavage in bio-responsive delivery systems. Using EDC and Sulfo-NHS, terminal carboxyl groups of N-succinyl-Ala-Ala-Pro-Phe p-nitroanilide, a cleavable chromogen, were conjugated to primary amines of a hydrated poly(HEMA)-based hydrogel. Hydrogel discs were incubated in buffered Cht causing enzyme-mediated cleavage of the peptide and concomitant release of the chromophore for monitoring. To investigate substrate loading and the effects of hydrogel morphology on the system, the concentration of the amino groups (5, 10, 20, and 30 mol%) and the cross-linked density (1, 5, 7, 9 and 12 mol%) were independently varied. Loading-Release Efficiency of the chromogen was shown to exhibit a positive relation to increasing amino groups (AEMA). The release rates demonstrated a

  14. Bio-inspired aquatic robotics by untethered piezohydroelastic actuation. (United States)

    Cen, L; Erturk, A


    This paper investigates fish-like aquatic robotics using flexible bimorphs made of macro-fiber composite (MFC) piezoelectric laminates for carangiform locomotion. In addition to noiseless and efficient actuation over a range of frequencies, geometric scalability, and simple design, bimorph propulsors made of MFCs offer a balance between the actuation force and velocity response for performance enhancement in bio-inspired swimming. The experimental component of the presented work focuses on the characterization of an elastically constrained MFC bimorph propulsor for thrust generation in quiescent water as well as the development of a robotic fish prototype combining a microcontroller and a printed-circuit-board amplifier to generate high actuation voltage for untethered locomotion. From the theoretical standpoint, a distributed-parameter electroelastic model including the hydrodynamic effects and actuator dynamics is coupled with the elongated-body theory for predicting the mean thrust in quiescent water. In-air and underwater experiments are performed to verify the incorporation of hydrodynamic effects in the linear actuation regime. For electroelastically nonlinear actuation levels, experimentally obtained underwater vibration response is coupled with the elongated-body theory to predict the thrust output. The measured mean thrust levels in quiescent water (on the order of ∼10 mN) compare favorably with thrust levels of biological fish. An untethered robotic fish prototype that employs a single bimorph fin (caudal fin) for straight swimming and turning motions is developed and tested in free locomotion. A swimming speed of 0.3 body-length/second (7.5 cm s⁻¹ swimming speed for 24.3 cm body length) is achieved at 5 Hz for a non-optimized main body-propulsor bimorph combination under a moderate actuation voltage level.

  15. Soft Pneumatic Actuator Fascicles for High Force and Reliability. (United States)

    Robertson, Matthew A; Sadeghi, Hamed; Florez, Juan Manuel; Paik, Jamie


    Soft pneumatic actuators (SPAs) are found in mobile robots, assistive wearable devices, and rehabilitative technologies. While soft actuators have been one of the most crucial elements of technology leading the development of the soft robotics field, they fall short of force output and bandwidth requirements for many tasks. In addition, other general problems remain open, including robustness, controllability, and repeatability. The SPA-pack architecture presented here aims to satisfy these standards of reliability crucial to the field of soft robotics, while also improving the basic performance capabilities of SPAs by borrowing advantages leveraged ubiquitously in biology; namely, the structured parallel arrangement of lower power actuators to form the basis of a larger and more powerful actuator module. An SPA-pack module consisting of a number of smaller SPAs will be studied using an analytical model and physical prototype. Experimental measurements show an SPA pack to generate over 112 N linear force, while the model indicates the benefit of parallel actuator grouping over a geometrically equivalent single SPA scale as an increasing function of the number of individual actuators in the group. For a module of four actuators, a 23% increase in force production over a volumetrically equivalent single SPA is predicted and validated, while further gains appear possible up to 50%. These findings affirm the advantage of utilizing a fascicle structure for high-performance soft robotic applications over existing monolithic SPA designs. An example of high-performance soft robotic platform will be presented to demonstrate the capability of SPA-pack modules in a complete and functional system.

  16. Novel Cryogenic Actuator Development Project (United States)

    National Aeronautics and Space Administration —  New thin film low friction coating technologies have recently been developed and matured to the point for use in this IRAD actuator work.The new novel...

  17. Meso scale flextensional piezoelectric actuators (United States)

    York, Peter A.; Jafferis, Noah T.; Wood, Robert J.


    We present an ultra-thin meso scale piezoelectric actuator consisting of a piezoceramic beam and a carbon fiber displacement-amplification frame. We show that the actuator can be designed to achieve a wide range of force/displacement characteristics on the mN/μm scales. The best performing design achieved a free displacement of 106 μm and a blocked force of 73 mN, yielding a total energy density of 0.51 {{Jkg}}-1 for the 7.6 mg system. We describe a printed circuit MEMS process for fabricating the actuator that incorporates laser micromachining, chemical vapor deposition, and precision carbon fiber lamination. Lastly, we report the incorporation of the actuator into a microgripper and describe other promising application opportunities in micro-optics and micro-laser systems.

  18. Modeling and control of precision actuators

    CERN Document Server

    Kiong, Tan Kok


    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

  19. Soft Pneumatic Actuators for Rehabilitation

    Directory of Open Access Journals (Sweden)

    Guido Belforte


    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

  20. Dielectric Elastomer Actuators for Microfluidics


    Maffli, Luc; Rosset, Samuel; Shea, Herbert


    One of the goals of microfluidics is to bring a whole laboratory processing chain on a few square centimeters, Lab-On-Chips (LOC). But current LOCs require many heavy and power-consuming off-chip controls like pneumatics, pumps and valves, which keep the small chip bound to the lab. Miniaturized Dielectric Elastomer Actuators (DEA) are excellent candidates to make LOC truly portable, since they combine electrical actuation, large stroke volumes and high output forces. We report on the use of ...

  1. Control of Adjustable Compliant Actuators

    Directory of Open Access Journals (Sweden)

    Berno J.E. Misgeld


    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.

  2. A novel stiffness control method for series elastic actuator (United States)

    Lin, Guangmo; Zhao, Xingang; Han, Jianda


    Compliance plays an important role in human-robot cooperation. However, fixed compliance, or fixed stiffness, is difficult to meet the growing needs of human machine collaboration. As a result, the robot actuator is demanded to be able to adjust its stiffness. This paper presents a stiffness control scheme for a single DOF series elastic actuator (SEA) with a linear spring mounted in series in the mechanism. In this proposed method, the output angle of the spring is measured and used to calculate the input angle of the spring, thus the equivalent stiffness of the robot actuator revealed to the human operator can be rendered in accordance to the desired stiffness. Since the techniques used in this method only involve the position information of the system, there is no need to install an expensive force/torque sensor on the actuator. Further, the force/torque produced by the actuator can be estimated by simply multiplying the deformation angle of the spring and its constant stiffness coefficient. The analysis of the stiffness controller is provided. Then a simulation that emulates a human operates the SEA while the stiffness controller is running is carried out and the results also validate the proposed method.

  3. Placement optimization of actuators and sensors for gyroelastic body

    Directory of Open Access Journals (Sweden)

    Quan Hu


    Full Text Available Gyroelastic body refers to a flexible structure with a distribution of stored angular momentum provided by fly wheels or control moment gyroscopes. The angular momentum devices can exert active torques to the structure for vibration suppression or shape control. This article mainly focuses on the placement optimization issue of the actuators and sensors on the gyroelastic body. The control moment gyroscopes and angular rate sensors are adopted as actuators and sensors, respectively. The equations of motion of the gyroelastic body incorporating the detailed actuator dynamics are linearized to a loosely coupled state-space model. Two optimization approaches are developed for both constrained and unconstrained gyroelastic bodies. The first is based on the controllability and observability matrices of the system. It is only applicable to the collocated actuator and sensor pairs. The second criterion is formulated from the concept of controllable and observable subspaces. It is capable of handling the cases of both collocated and noncollocated actuator and sensor pairs. The illustrative examples of a cantilevered beam and an unconstrained plate demonstrate the clear physical meaning and rationality of the two proposed methods.

  4. Bioengineered novel robotic actuators for utilization in neuromuscular control (United States)

    Paul, Eddie


    A linear motion-controlling or power-actuating cylinder can be found in virtually all types of machinery. In many applications, however, limitations in performance of longevity of operation exist due to a number of factors ranging from nature's environmental extremes to the demands of complex design and engineering requirements. Industry has come to accept the limited flexibility of current power- and motion-regulating mechanisms such as hydraulic valve-controlled actuators, and oftentimes chooses to design around the inherent flaws and drawbacks of these basic components. As a result, the level of maintenance and potential for mechanical failure are greater than necessary in many applications from routine road construction where hydraulic machinery is instrumental, to undersea operations where man relies heavily on hydraulic-cylinder devices during most scientific, geographic and biological research excursions. With ultimate flexibility and environmental adaptability providing the key motivation, E. P. Industries, Inc. has developed and prototyped a system of Novel Robotic Actuators to function where operational or environmental demands exceed the capabilities of conventional hydraulic-valve devices. The objective in developing the Robotic Muscle is to replace a typical hydraulic cylinder actuator with a relatively more compact `muscle-like' actuator exhibiting maximum flexibility and a superior strength-to-weight ratio while resisting the harsh temperatures and deterioration factors presented by unusual operating environments. Progressive development of the Robotic Muscle will be directed to use as an artificial biological replacement.

  5. A novel linear direct drive system for textile winding applications


    Jakeman, N; Bullough, W; Bingham, Chris; Mellor, Phillip


    The paper describes the specification, modelling, magnetic design, thermal characteristics and control of a novel, high acceleration (up to 82g) brushless PM linear actuator with Halbach array, for textile package winding applications. Experimental results demonstrate the realisation of the actuator and induced performance advantages afforded to the phase lead, closed-loop position control scheme.

  6. 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)


    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.

  7. Actuation Using Piezoelectric Materials: Application in Augmenters, Energy Harvesters, and Motors (United States)

    Hasenoehrl, Jennifer


    Piezoelectric actuators are used in many manipulation, movement, and mobility applications as well as transducers and sensors. When used at the resonance frequencies of the piezoelectric stack, the actuator performs at its maximum actuation capability. In this Space Grant internship, three applications of piezoelectric actuators were investigated including hammering augmenters of rotary drills, energy harvesters, and piezo-motors. The augmenter shows improved drill performance over rotation only. The energy harvesters rely on moving fluid to convert mechanical energy into electrical power. Specific designs allow the harvesters more freedom to move, which creates more power. The motor uses the linear movement of the actuator with a horn applied to the side of a rotor to create rotational motion. Friction inhibits this motion and is to be minimized for best performance. Tests and measurements were made during this internship to determine the requirements for optimal performance of the studied mechanisms and devices.

  8. Multi-Mode Electric Actuator Dynamic Modelling for Missile Fin Control

    Directory of Open Access Journals (Sweden)

    Bhimashankar Gurav


    Full Text Available Linear first/second order fin direct current (DC actuator model approximations for missile applications are currently limited to angular position and angular velocity state variables. Furthermore, existing literature with detailed DC motor models is decoupled from the application of interest: tail controller missile lateral acceleration (LATAX performance. This paper aims to integrate a generic DC fin actuator model with dual-mode feedforward and feedback control for tail-controlled missiles in conjunction with the autopilot system design. Moreover, the characteristics of the actuator torque information in relation to the aerodynamic fin loading for given missile trim velocities are also provided. The novelty of this paper is the integration of the missile LATAX autopilot states and actuator states including the motor torque, position and angular velocity. The advantage of such an approach is the parametric analysis and suitability of the fin actuator in relation to the missile lateral acceleration dynamic behaviour.

  9. Stable electroosmotically driven actuators (United States)

    Sritharan, Deepa; Motsebo, Mylene; Tumbic, Julia; Smela, Elisabeth


    We have previously presented "nastic" actuators based on electroosmotic (EO) pumping of fluid in microchannels using high electric fields for potential application in soft robotics. In this work we address two challenges facing this technology: applying EO to meso-scale devices and the stability of the pumping fluid. The hydraulic pressure achieved by EO increases with as 1/d2, where d is the depth of the microchannel, but the flow rate (which determines the stroke and the speed) is proportional to nd, where n is the number of channels. Therefore to get high force and high stroke the device requires a large number of narrow channels, which is not readily achievable using standard microfabrication techniques. Furthermore, for soft robotics the structure must be soft. In this work we present a method of fabricating a three-dimensional porous elastomer to serve as the array of channels based on a sacrificial sugar scaffold. We demonstrate the concept by fabricating small pumps. The flexible devices were made from polydimethylsiloxane (PDMS) and comprise the 3D porous elastomer flanked on either side by reservoirs containing electrodes. The second issue addressed here involves the pumping fluid. Typically, water is used for EO, but water undergoes electrolysis even at low voltages. Since EO takes place at kV, these systems must be open to release the gases. We have recently reported that propylene carbonate (PC) is pumped at a comparable rate as water and is also stable for over 30 min at 8 kV. Here we show that PC is, however, degraded by moisture, so future EO systems must prevent water from reaching the PC.

  10. Study on core free rolled actuator based on soft dielectric EAP (United States)

    Kovacs, Gabor; Ha, Soon Mok; Michel, Silvain; Pelrine, Ron; Pei, Qibing


    The rolled actuator represents a design where the pre-stretched EAP film is wrapped many times around a spring core in order to form a multilayer actuator system with unidirectional actuation. The freestanding rolled configuration enables the use of the DE film for muscle like linear actuators with a broad application potential. The stress state of the pre-strained acrylic film in the rolled configuration and the required stiff core can cause several serious problems concerning lifetime, size and efficiency of the actuator. In order to obtain an acceptable specific actuator performance and lifetime the pre-stretching stress has to be essentially reduced or even eliminated. This can be achieved by the interpenetrating polymer network (IPN) process newly developed at the UCLA. Thereby a trifunctional methacrylate monomers is introduced into the highly pre-strained acrylic films and subsequently curing the monomers to form an interpenetrating elastomeric network. The as obtained interpenetrating polymer network (IPN) can effectively support the pre-strain of the acrylic film and consequently eliminate the need for external pre-strain-supporting structures. In this study a new rolled actuator design is presented based on the IPN post treated VHB material. Due to the stress free state of the wrapped film no spring core is necessary. As a result a significantly longer lifetime and better specific volume efficiency of the actuator has been achieved at lower unidirectional elongation when activated. Introductorily, the specific problems on conventional rolled actuators are discussed and the aims for core free rolled actuators are specified. Then some structural design parameters are addressed in order to achieve a slight shape and reliable working principle. In the main part of the study the manufacturing process of the actuators and some measurement results and experiences are discussed in detail.

  11. Interaction between submicron COD crystals and renal epithelial cells. (United States)

    Peng, Hua; Ouyang, Jian-Ming; Yao, Xiu-Qiong; Yang, Ru-E


    This study aims to investigate the adhesion characteristics between submicron calcium oxalate dihydrate (COD) with a size of 150 ± 50 nm and African green monkey kidney epithelial cells (Vero cells) before and after damage, and to discuss the mechanism of kidney stone formation. Vero cells were oxidatively injured by hydrogen peroxide to establish a model of injured cells. Scanning electron microscopy was used to observe Vero-COD adhesion. Inductively coupled plasma emission spectrometry was used to quantitatively measure the amount of adhered COD microcrystals. Nanoparticle size analyzer and laser scanning confocal microscopy were performed to measure the change in the zeta potential on the Vero cell surface and the change in osteopontin expression during the adhesion process, respectively. The level of cell injury was evaluated by measuring the changes in malonaldehyde content, and cell viability during the adhesion process. The adhesion capacity of Vero cells in the injury group to COD microcrystals was obviously stronger than that of Vero cells in the control group. After adhesion to COD, cell viability dropped, both malonaldehyde content and cell surface zeta potential increased, and the fluorescence intensity of osteopontin decreased because the osteopontin molecules were successfully covered by COD. Submicron COD further damaged the cells during the adhesion process, especially for Vero cells in the control group, leading to an elevated amount of attached microcrystals. Submicron COD can further damage injured Vero cells during the adhesion process. The amount of attached microcrystals is proportional to the degree of cell damage. The increased amount of microcrystals that adhered to the injured epithelial cells plays an important role in the formation of early-stage kidney stones.

  12. Highly sensitive measurement of submicron waveguides based on Brillouin scattering (United States)

    Godet, Adrien; Ndao, Abdoulaye; Sylvestre, Thibaut; Beugnot, Jean-Charles; Phan Huy, Kien


    Fabrication and characterization of submicron optical waveguides is one of the major challenges in modern photonics, as they find many applications from optical sensors to plasmonic devices. Here we report on a novel technique that allows for a complete and precise characterization of silica optical nanofibers. Our method relies on the Brillouin backscattering spectrum analysis that directly depends on the waveguide geometry. Our method was applied to several fiber tapers with diameter ranging from 500 nm to 3 μm. Results were compared to scanning electron microscopy (SEM) images and numerical simulations with very good agreement and similar sensitivity.

  13. Electron acceleration via high contrast laser interacting with submicron clusters

    Energy Technology Data Exchange (ETDEWEB)

    Zhang Lu; Chen Liming; Wang Weiming; Yan Wenchao; Yuan Dawei; Mao Jingyi; Wang Zhaohua; Liu Cheng; Shen Zhongwei; Li Yutong; Dong Quanli; Lu Xin; Ma Jinglong; Wei Zhiyi [Beijing National Laboratory of Condensed Matter Physics, Institute of Physics, CAS, Beijing 100080 (China); Faenov, Anatoly; Pikuz, Tatiana [Joint Institute for High Temperature of the Russian Academy of Sciences, Izhorskaya 13/19, Moscow 127412 (Russian Federation); Quantum Beams Science Directorate, JAEA, Kizugawa, Kyoto (Japan); Li Dazhang [Beijing National Laboratory of Condensed Matter Physics, Institute of Physics, CAS, Beijing 100080 (China); Institute of High Energy Physics, CAS, Beijing 100049 (China); Sheng Zhengming [Department of Physics, Shanghai Jiao Tong University, Shanghai 200240 (China); Zhang Jie [Beijing National Laboratory of Condensed Matter Physics, Institute of Physics, CAS, Beijing 100080 (China); Department of Physics, Shanghai Jiao Tong University, Shanghai 200240 (China)


    We experimentally investigated electron acceleration from submicron size argon clusters-gas target irradiated by a 100 fs, 10 TW laser pulses having a high-contrast. Electron beams are observed in the longitudinal and transverse directions to the laser propagation. The measured energy of the longitudinal electron reaches 600 MeV and the charge of the electron beam in the transverse direction is more than 3 nC. A two-dimensional particle-in-cell simulation of the interaction has been performed and it shows an enhancement of electron charge by using the cluster-gas target.

  14. Submicron particle monitoring of paving and related road construction operations. (United States)

    Freund, Alice; Zuckerman, Norman; Baum, Lisa; Milek, Debra


    This study identified activities and sources that contribute to ultrafine and other submicron particle exposure that could trigger respiratory symptoms in highway repair workers. Submicron particle monitoring was conducted for paving, milling, and pothole repair operations in a major metropolitan area where several highway repair workers were identified as symptomatic for respiratory illness following exposures at the 2001 World Trade Center disaster site. Exposure assessments were conducted for eight trades involved in road construction using a TSI P-Trak portable condensation particle counter. Direct readings near the workers' breathing zones and observations of activities and potential sources were logged on 7 days on 27 workers using four different models of pavers and two types of millers. Average worker exposure levels ranged from 2 to 3 times background during paving and from 1 to 4 times background during milling. During asphalt paving, average personal exposures to submicron particulates were 25,000-60,000, 28,000-70,000, and 23,000-37,000 particles/ cm(3) for paver operators, screed operators, and rakers, respectively. Average personal exposures during milling were 19,000-111,000, 28,000-81,000, and 19,000 particles/cm(3) for the large miller operators, miller screed operators, and raker, respectively. Personal peak exposures were measured up to 467,000 and 455,000 particles/cm(3) in paving and milling, respectively. Several sources of submicron particles were identified. These included the diesel and electric fired screed heaters; engine exhaust from diesel powered construction vehicles passing by or idling; raking, dumping, and paving of asphalt; exhaust from the hotbox heater; pavement dust or fumes from milling operations, especially when the large miller started and stopped; and secondhand cigarette smoke. To reduce the potential for health effects in workers, over 40 recommendations were made to control exposures, including improved maintenance of

  15. Novel Translucent and Strong Submicron Alumina Ceramics for Dental Restorations. (United States)

    Zhao, M; Sun, Y; Zhang, J; Zhang, Y


    An ideal ceramic restorative material should possess excellent aesthetic and mechanical properties. We hypothesize that the high translucency and strength of polycrystalline ceramics can be achieved through microstructural tailoring. The aim of this study is to demonstrate the superior optical and mechanical properties of a new class of submicron grain-sized alumina ceramics relative to the current state-of-the-art dental ceramic materials. The translucency, the in-line transmission ( TIT) in particular, of these submicron alumina ceramics has been examined with the Rayleigh-Gans-Debye light-scattering model. The theoretical predictions related very well with the measured TIT values. The translucency parameter ( TP) and contrast ratio ( CR) of the newly developed aluminas were measured with a reflectance spectrophotometer on a black-and-white background. For comparison, the TIT, TP, and CR values for a variety of dental ceramics, mostly measured in-house but also cited from the literature, were included. The flexural strength of the aluminas was determined with the 4-point bending test. Our findings have shown that for polycrystalline alumina ceramics, an average grain size <1 µm coupled with a porosity level <0.7% could yield translucency values ( TIT, TP, CR) similar to those of the commercial high-translucency porcelains. These values are far superior to the high-translucency lithium disilicate glass-ceramic and zirconias, including the most translucent cubic-containing zirconias. The strength of these submicron grain-sized aluminas was significantly higher than that of the cubic-containing zirconia (e.g., Zpex Smile) and lithia-based glass-ceramics (e.g., IPS e.max CAD HT). A coarse-grained alumina could also reach a translucency level comparable to that of dental porcelain. However, the relatively low strength of this material has limited its clinical indications to structurally less demanding applications, such as orthodontic brackets. With a combined high

  16. High accuracy position adjustment and vibration isolation actuator with the controlled ferrofluid (United States)

    Wu, Shuai; Li, Chunfang; Zhao, Xiangyu; Jiao, Zongxia


    An actuator for microposition adjustment and vibration isolation using the controlled ferrofluid is reported in this letter. The proposed actuator levitates on the ferrofluid which is affected by the combined dynamic magnetic field which is formed by coupling a permanent magnetic field with a controlled electromagnetic field. A controlled electromagnetic field is superposed on the permanent magnetic field in order to change the shape of the ferrofluid to ultimately move the actuator. The experimental results indicate that the proposed actuator can adjust the position with high accuracy and has a good dynamic performance. The proposed actuator can bear over 2 N loads, and the positioning accuracy is within 0.1 μ m. The stroke of the actuator is about of ±30 μ m with no load, and the stroke increases to ±75 μ m at 2 N load. Its dynamic band with -3 dB amplitude attenuation and -90° phase is over 40 Hz. In addition, the displacement has a very good linear relationship with the input current. The results also demonstrate that the actuator can isolate vibration in a wide frequency range, as the low frequency vibration can be compensated by the active motion control, while the high frequency vibration can be attenuated by the elasticity and damping effects of the ferrofluid. Consequently, the proposed actuator has a significant potential for applications where the high accuracy micro-position adjustment and vibration isolation are needed.

  17. Modeling of a corrugated dielectric elastomer actuator for artificial muscle applications (United States)

    Kadooka, Kevin; Taya, Minoru; Naito, Keishi; Saito, Makoto


    Dielectric elastomer actuators have many advantages, including light weight, simplicity, high energy density, and silent operation. These features make them suitable to replace conventional actuators and transducers, especially in artificial muscle applications where large contractile strains are necessary for lifelike motions. This paper will introduce the concept of a corrugated dielectric elastomer actuator (DEA), which consists of dielectric elastomer (DE) laminated to a thin elastic layer to induce bending motion at each of the corrugations, resulting in large axial deformation. The location of the DE and elastic layers can be configured to provide tensile or compressive axial strain. Such corrugated DE actuators are also highly scalable: linking multiple actuators in series results in greater deformation, whereas multiple actuators in parallel results in larger force output. Analytical closed-form solutions based on linear elasticity were derived for the displacement and force output of curved unimorph and corrugated DEA, both consisting of an arbitrary number of lamina. A total strain energy analysis and Castigiliano's theorem were used to predict the nonlinear force-displacement behavior of the corrugated actuator. Curved unimorph and corrugated DEA were fabricated using VHB F9469PC as the DE material. Displacement of the actuators observed during testing agreed well with the modeling results. Large contractile strain (25.5%) was achieved by the corrugated DEA. Future work includes investigating higher performance DE materials such as plasticized PVDF terpolymers, processed by thin film deposition methods.

  18. Dielectric barrier discharge actuator for vehicle drag reduction at highway speeds

    Directory of Open Access Journals (Sweden)

    Subrata Roy


    Full Text Available We propose and demonstrate reduction of aerodynamic drag for a realistic geometry at highway speeds using serpentine dielectric barrier discharge actuators. A comparable linear plasma actuator fails to reduce the drag at these speeds. Experimental data collected for linear and serpentine plasma actuators under quiescent operating conditions show that the serpentine design has profound effect on near wall flow structure and resulting drag. For certain actuator arrangement, the measured drag reduced by over 14% at 26.8 m/s (60 mph and over 10% at 31.3 m/s (70 mph opening up realistic possibility of reasonable energy savings for full scale ground vehicles. In addition, the power consumption data and drag reduction effectiveness for different input signals are also presented.

  19. Advancements in Actuated Musical Instruments

    DEFF Research Database (Denmark)

    Overholt, Daniel; Berdahl, Edgar; Hamilton, Robert


    This article presents recent developments in actuated musical instruments created by the authors, who also describe an ecosystemic model of actuated performance activities that blur traditional boundaries between the physical and virtual elements of musical interfaces. Actuated musical instruments...... are physical instruments that have been endowed with virtual qualities controlled by a computer in real-time but which are nevertheless tangible. These instruments provide intuitive and engaging new forms of interaction. They are different from traditional (acoustic) and fully automated (robotic) instruments...... in that they produce sound via vibrating element(s) that are co-manipulated by humans and electromechanical systems. We examine the possibilities that arise when such instruments are played in different performative environments and music-making scenarios, and we postulate that such designs may give rise to new...

  20. Elastic actuation for legged locomotion (United States)

    Cao, Chongjing; Conn, Andrew


    The inherent elasticity of dielectric elastomer actuators (DEAs) gives this technology great potential in energy efficient locomotion applications. In this work, a modular double cone DEA is developed with reduced manufacturing and maintenance time costs. This actuator can lift 45 g of mass (5 times its own weight) while producing a stroke of 10.4 mm (23.6% its height). The contribution of the elastic energy stored in antagonistic DEA membranes to the mechanical work output is experimentally investigated by adding delay into the DEA driving voltage. Increasing the delay time in actuation voltage and hence reducing the duty cycle is found to increase the amount of elastic energy being recovered but an upper limit is also noticed. The DEA is then applied to a three-segment leg that is able to move up and down by 17.9 mm (9% its initial height), which demonstrates the feasibility of utilizing this DEA design in legged locomotion.

  1. Series elastic actuation of an elbow rehabilitation exoskeleton with axis misalignment adaptation. (United States)

    Wu, Kuan-Yi; Su, Yin-Yu; Yu, Ying-Lung; Lin, Kuei-You; Lan, Chao-Chieh


    Powered exoskeletons can facilitate rehabilitation of patients with upper limb disabilities. Designs using rotary motors usually result in bulky exoskeletons to reduce the problem of moving inertia. This paper presents a new linearly actuated elbow exoskeleton that consists of a slider crank mechanism and a linear motor. The linear motor is placed beside the upper arm and closer to shoulder joint. Thus better inertia properties can be achieved while lightweight and compactness are maintained. A passive joint is introduced to compensate for the exoskeleton-elbow misalignment and intersubject size variation. A linear series elastic actuator (SEA) is proposed to obtain accurate force and impedance control at the exoskeleton-elbow interface. Bidirectional actuation between exoskeleton and forearm is verified, which is required for various rehabilitation processes. We expect this exoskeleton can provide a means of robot-aided elbow rehabilitation.

  2. Temperature dependency of the hysteresis behaviour of PZT actuators using Preisach model

    DEFF Research Database (Denmark)

    Mangeot, Charles; Zsurzsan, Tiberiu-Gabriel


    The Preisach model is a powerful tool for modelling the hysteresis phenomenon on multilayer piezo actuators under large signal excitation. In this paper, measurements at different temperatures are presented, showing the effect on the density of the Preisach matrix. An energy-based approach...... is presented, aiming at defining a temperature-dependent phenomenological model of hysteresis for a better understanding of the non-linear effects in piezo actuators....

  3. Relaxed formulation of the design conditions for Takagi-Sugeno fuzzy virtual actuators

    Directory of Open Access Journals (Sweden)

    Filasová Anna


    Full Text Available The H∞ norm approach to virtual actuators design, intended to Takagi-Sugeno fuzzy continuous-time systems, is presented in the paper. Using the second Ljapunov method, the design conditions are formulated in terms of linear matrix inequalities in adapted bounded real lemma structures. Related to the static output controller, and for systems under influence of single actuator faults, the design steps are revealed for a three-tank system plant.

  4. Polypyrrole Actuators for Tremor Suppression

    DEFF Research Database (Denmark)

    Skaarup, Steen; Mogensen, Naja; Bay, Lasse


    for the change of length and for the stiffness change are significantly different - the stiffness change being about 10 times faster. Both force measurements and Electrochemical Quartz Crystal Microbalance measurements indicate that the actuation process is complex and involves at least two different processes...... enter the polymer in a slower process driven by osmotic pressure. Earlier work has tended to focus on achieving the maximum length change, therefore taking the time needed to include all processes. However, since the slower process described above is associated with the lowest strength of the actuator...

  5. Modular Actuators for Space Applications Project (United States)

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

  6. Transputer Control of Hydraulic Actuators and Robots

    DEFF Research Database (Denmark)

    Conrad, Finn


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

  7. Online submicron particle sizing by dynamic light scattering using autodilution (United States)

    Nicoli, David F.; Elings, V. B.


    Efficient production of a wide range of commercial products based on submicron colloidal dispersions would benefit from instrumentation for online particle sizing, permitting real time monitoring and control of the particle size distribution. Recent advances in the technology of dynamic light scattering (DLS), especially improvements in algorithms for inversion of the intensity autocorrelation function, have made it ideally suited to the measurement of simple particle size distributions in the difficult submicron region. Crucial to the success of an online DSL based instrument is a simple mechanism for automatically sampling and diluting the starting concentrated sample suspension, yielding a final concentration which is optimal for the light scattering measurement. A proprietary method and apparatus was developed for performing this function, designed to be used with a DLS based particle sizing instrument. A PC/AT computer is used as a smart controller for the valves in the sampler diluter, as well as an input-output communicator, video display and data storage device. Quantitative results are presented for a latex suspension and an oil-in-water emulsion.

  8. Submicron magnetic core conducting polypyrrole polymer shell: Preparation and characterization. (United States)

    Tenório-Neto, Ernandes Taveira; Baraket, Abdoullatif; Kabbaj, Dounia; Zine, Nadia; Errachid, Abdelhamid; Fessi, Hatem; Kunita, Marcos Hiroiuqui; Elaissari, Abdelhamid


    Magnetic particles are of great interest in various biomedical applications, such as, sample preparation, in vitro biomedical diagnosis, and both in vivo diagnosis and therapy. For in vitro applications and especially in labs-on-a-chip, microfluidics, microsystems, or biosensors, the needed magnetic dispersion should answer various criteria, for instance, submicron size in order to avoid a rapid sedimentation rate, fast separations under an applied magnetic field, and appreciable colloidal stability (stable dispersion under shearing process). Then, the aim of this work was to prepare highly magnetic particles with a magnetic core and conducting polymer shell particles in order to be used not only as a carrier, but also for the in vitro detection step. The prepared magnetic seed dispersions were functionalized using pyrrole and pyrrole-2-carboxylic acid. The obtained core-shell particles were characterized in terms of particle size, size distribution, magnetization properties, FTIR analysis, surface morphology, chemical composition, and finally, the conducting property of those particles were evaluated by cyclic voltammetry. The obtained functional submicron highly magnetic particles are found to be conducting material bearing function carboxylic group on the surface. These promising conducting magnetic particles can be used for both transport and lab-on-a-chip detection. Copyright © 2015. Published by Elsevier B.V.

  9. Separating the signal from the noise: Expanding flow cytometry into the sub-micron range. (United States)

    Cytometry Part A Special Section: Separating the signal from the noise: Expanding flow cytometry into the sub-micron range. The current Cytometry Part A Special Section presents three studies that utilize cytometers to study sub-micron particles. The three studies involve the 1...

  10. Magnetic trapping of superconducting submicron particles produced by laser ablation in superfluid helium (United States)

    Takahashi, Yuta; Suzuki, Junpei; Yoneyama, Naoya; Tokawa, Yurina; Suzuki, Nobuaki; Matsushima, Fusakazu; Kumakura, Mitsutaka; Ashida, Masaaki; Moriwaki, Yoshiki


    We produced spherical superconducting submicron particles by laser ablation of their base metal tips in superfluid helium, and trapped them using a quadrupole magnetic field owing to the diamagnetism caused by the Meissner effect. We also measured their critical temperatures of superconductivity, by observing the threshold temperatures for the confinement of superconducting submicron particles in the trap.

  11. More Electric Landing Gear Actuation Study


    Li, Wei


    This report addresses the problem of landing gear actuation system design on more-electric aircraft (MEA). Firstly, information about more-electric aircraft and more-electric actuators was gathered and sorted. Current more-electric landing actuation system applications and researches were also summarized. Then several possible more-electric landing gear actuation concepts were identified. To evaluate these concepts, the case study method has been used. A concept aircraft “MR...

  12. Carbon nanotube-polymer composite actuators (United States)

    Gennett, Thomas [Denver, CO; Raffaelle, Ryne P [Honeoye Falls, NY; Landi, Brian J [Rochester, NY; Heben, Michael J [Denver, CO


    The present invention discloses a carbon nanotube (SWNT)-polymer composite actuator and method to make such actuator. A series of uniform composites was prepared by dispersing purified single wall nanotubes with varying weight percents into a polymer matrix, followed by solution casting. The resulting nanotube-polymer composite was then successfully used to form a nanotube polymer actuator.

  13. Pneumatic artificial muscle actuators for compliant robotic manipulators (United States)

    Robinson, Ryan Michael

    Robotic systems are increasingly being utilized in applications that require interaction with humans. In order to enable safe physical human-robot interaction, light weight and compliant manipulation are desirable. These requirements are problematic for many conventional actuation systems, which are often heavy, and typically use high stiffness to achieve high performance, leading to large impact forces upon collision. However, pneumatic artificial muscles (PAMs) are actuators that can satisfy these safety requirements while offering power-to-weight ratios comparable to those of conventional actuators. PAMs are extremely lightweight actuators that produce force in response to pressurization. These muscles demonstrate natural compliance, but have a nonlinear force-contraction profile that complicates modeling and control. This body of research presents solutions to the challenges associated with the implementation of PAMs as actuators in robotic manipulators, particularly with regard to modeling, design, and control. An existing PAM force balance model was modified to incorporate elliptic end geometry and a hyper-elastic constitutive relationship, dramatically improving predictions of PAM behavior at high contraction. Utilizing this improved model, two proof-of-concept PAM-driven manipulators were designed and constructed; design features included parallel placement of actuators and a tendon-link joint design. Genetic algorithm search heuristics were employed to determine an optimal joint geometry; allowing a manipulator to achieve a desired torque profile while minimizing the required PAM pressure. Performance of the manipulators was evaluated in both simulation and experiment employing various linear and nonlinear control strategies. These included output feedback techniques, such as proportional-integral-derivative (PID) and fuzzy logic, a model-based control for computed torque, and more advanced controllers, such as sliding mode, adaptive sliding mode, and

  14. Compliant actuation of rehabilitation robots

    NARCIS (Netherlands)

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


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

  15. Electro-active paper actuators (United States)

    Kim, Jaehwan; Seo, Yung B.


    In this paper, the actuation mechanism of electro-active paper (EAPap) actuators is addressed and the potential of the actuators is demonstrated. EAPap is a paper that produces large displacement with small force under an electrical excitation. EAPap is made with a chemically treated paper by constructing thin electrodes on both sides of the paper. When electrical voltage is applied on the electrodes the EAPap produces bending displacement. However, the displacement output has been unstable and degraded with timescale. To improve the bending performance of EAPap, different paper fibers - softwood, hardwood, bacteria cellulose, cellophane, carbon mixture paper, electrolyte containing paper and Korean traditional paper, in conjunction with additive chemicals, were tested. Two attempts were made to construct the electrodes: the direct use of aluminum foil and the gold sputtering technique. It was found that a cellophane paper exhibits a remarkable bending performance. When 2 MV m-1 excitation voltage was applied to the paper actuator, more than 3 mm tip displacement was observed from the 30 mm long paper beam. This is quite a low excitation voltage compared with that of other EAPs. Details of the experiments and results are addressed.

  16. The actuation of sound change

    NARCIS (Netherlands)

    Pinget, A.C.H.


    This dissertation is a sociophonetic study on sound change in progress. It addresses the actuation problem, i.e. the question as to why a particular change takes place in a particular language at a given time. The study is implemented in the framework of exemplar-based theories, which incorporates

  17. Explosive micro-bubble actuator

    NARCIS (Netherlands)

    van den Broek, D.M.


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

  18. Stick and slip actuators (SSA) (United States)

    Schmitt, Carl; Breguet, Jean-Marc; Bergander, Arvid; Clavel, Reymond


    Stick and Skip Actuators (SSA) are particularly well adapted to micro- robotics. A simple design, a very high intrinsic resolution (a few nanometers) and a high rigidity make them especially interesting in high precision micro-manipulations. Moreover, a smart design allows to combine the guiding and actuating function. The mechanical interface between the piezo-elements and the guiding mechanisms in an important point of the stick and slip actuators. The design of this interface and the choice of the material are very important. Both aspects have an impact on the rigidity, which has an influence on the behavior of the actuator. They have also an incidence onf the reliability (lifetime) because the design gives the contact condition and the material the wear resistance. In addition, a loading system allowing to keep the mechanical contact at this interface has a direct effect on the contact pressure. In order to confirm the performance of SSA, prototypes have been developed at the ISR. Their designs have bene made for application in optical microscopy, for manipulators in industrial assembly of micro- engineering products, for micro-factory, chemical and bio-engineering equipment for research or routine tasks, such as testing, screening etc. This paper presents a short description of several SSA made by the IRS and describes the parameters characterizing the stick and slip motion and the mechanical interface.

  19. Flexible printed circuit board actuators (United States)

    Lee, Junseok; Cha, Youngsu


    Out-of-plane actuators are made possible by the breaking of planar symmetry. In this paper, we present a thin-film out-of-plane electrostatic actuator for a flexible printed circuit board (FPCB) that can be fabricated with a single step of the conventional manufacturing process. No other components are required for actuation except a single sheet of the FPCB, and it works based on the planar asymmetry resulting from asymmetrically patterned top and bottom electrodes on each side of the polyimide film. With the structural asymmetry, the application of a high voltage in the order of kilovolts results in the asymmetry of the electric fields and the body force density, which generates the bending moment that leads to macroscopic deformations. We applied the finite element method to examine the asymmetry induced by the difference in the electrodes. In the experiment, the displacement responses to step input and square wave input of various frequencies were analyzed. It was found that our actuator constitutes an underdamped system, exhibiting resonance characteristics. The maximum oscillatory amplitude was determined at resonance, and the relationship between the displacement and the applied voltage was investigated.

  20. Multilayer Piezoelectric Stack Actuator Characterization (United States)

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


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

  1. Three-dimensional plasma actuation for faster transition to turbulence (United States)

    Das Gupta, Arnob; Roy, Subrata


    We demonstrate that a 3D non-linear plasma actuation method creates secondary instabilities by forming lambda vortices for a spatially developing turbulent boundary layer flow over a flat plate. Both bypass transition and controlled transition processes are numerically investigated using wall resolved modal discontinuous Galerkin based implicit large eddy simulation. The largest momentum thickness based Reynolds numbers ≤ft( R{{e}θ } \\right) tested are 1250 and 1100 for the bypass transition and the controlled transition, respectively. The 3D actuation method is based on a square serpentine plasma actuator (Durscher and Roy 2012 J. Phys. D: Appl. Phys. 45 035202). The transition is achieved via oblique wave transition by perturbing the flow at a frequency of 1 kHz with amplitude of 10% of the freestream velocity. Although the flow is perturbed at a single frequency, the instabilities arising due to the nonlinear interaction between the consecutive lambda vortices, creates subharmonic lambda vortices (half of the fundamental frequency), which finally break down into fully turbulent flow. These interactions have been thoroughly studied and discussed. Since the actuation creates oblique wave transition it will allow faster transition compared to the standard secondary instability mechanism with similar disturbance amplitude reducing the amount of energy input required for flow control.

  2. Antagonistic dielectric elastomer actuator for biologically-inspired robotics (United States)

    Conn, Andrew T.; Rossiter, Jonathan


    For optimal performance, actuators designed for biologically-inspired robotics applications need to be capable of mimicking the key characteristics of natural musculoskeletal systems. These characteristics include a large output stroke, high energy density, antagonistic operation and passive compliance. The actuation properties of dielectric elastomer actuators (DEAs) make them viable for use as an artificial muscle technology. However, much like the musculoskeletal system, rigid structures are needed to couple the compliant DEA layers to a load. In this paper, a cone DEA design is developed as an antagonistic, multi-DOF actuator, viable for a variety for biologically-inspired robotics applications. The design has the advantage of maintaining pre-strain through a support structure without substantially lowering the overall mass-specific power density. Prototype cone DEAs have been fabricated with VHB 4910 acrylic elastomer and have characteristic dimensions of 49mm (strut length) and 60mm (DEA diameter). Multi-DOF kinematical outputs of the cone DEAs were measured using a custom 3D motion tracking system. Experimental tests of the prototypes demonstrate antagonistic linear (+/-10mm), rotational (+/-25°) and combined multi-DOF strokes. Overall, antagonistic cone DEAs are shown to produce a complex multi-DOF output from a mass-efficient support structure and thus are well suited for being exploited in biologically-inspired robotics.

  3. Velocity feedback control with a flywheel proof mass actuator (United States)

    Kras, Aleksander; Gardonio, Paolo


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

  4. Discovering sub-micron ice particles across Dione' surface (United States)

    Scipioni, Francesca; Schenk, Pual; Tosi, Federico; Clark, Roger; Dalle Ore, Cristina; Combe, Jean-Philippe


    Water ice is the most abundant component of Saturn’s mid-sized moons. However, these moons show an albedo asymmetry - their leading sides are bright while their trailing side exhibits dark terrains. Such differences arise from two surface alteration processes: (i) the bombardment of charged particles from the interplanetary medium and driven by Saturn’s magnetosphere on the trailing side, and (ii) the impact of E-ring water ice particles on the satellites’ leading side. As a result, the trailing hemisphere appears to be darker than the leading side. This effect is particularly evident on Dione's surface. A consequence of these surface alteration processes is the formation or the implantation of sub-micron sized ice particles.The presence of such particles influences and modifies the surfaces' spectrum because of Rayleigh scattering by the particles. In the near infrared range of the spectrum, the main sub-micron ice grains spectral indicators are: (i) asymmetry and (ii) long ward minimum shift of the absorption band at 2.02 μm (iii) a decrease in the ratio between the band depths at 1.50 and 2.02 μm (iv) a decrease in the height of the spectral peak at 2.6 μm (v) the suppression of the Fresnel reflection peak at 3.1 μm and (vi) the decrease of the reflection peak at 5 μm relative to those at 3.6 μm.We present results from our ongoing work mapping the variation of sub-micron ice grains spectral indicators across Dione' surface using Cassini-VIMS cubes acquired in the IR range (0.8-5.1 μm). To characterize the global variations of spectral indicators across Dione' surface, we divided it into a 1°x1° grid and then averaged the band depths and peak values inside each square cell.We will investigate if there exist a correspondence with water ice abundance variations by producing water ice' absorption band depths at 1.25, 1.52 and 2.02 μm, and with surface morphology by comparing the results with ISS color maps in the ultraviolet, visible and infrared

  5. Design and simulation for a hydraulic actuated quadruped robot

    Energy Technology Data Exchange (ETDEWEB)

    Rong, Xuewen; Li, Yibin; Li, Bin [Shandong University, Jinan (China); Ruan, Jiuhong [Shandong Jiaotong University, Jinan (China)


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

  6. PD control for robot manipulators actuated by switched reluctance motors (United States)

    Hernández-Guzmán, Victor M.; Carrillo-Serrano, Roberto V.; Silva-Ortigoza, Ramón


    This article is concerned with position regulation in direct-drive n degrees of freedom rigid robots equipped only with revolute joints when actuated by switched reluctance motors. Our controller represents an extension to this case of a previous work in the literature which was proposed for a single-switched reluctance motor when moving a simple linear mechanical load. We show how to avoid a singularity present in such a previous controller. We also introduce some simplifications since the number of terms to be fedback is smaller. Further, a linear proportional inner electric current loop is included instead of a velocity dependent one.

  7. Lifetime of dielectric elastomer stack actuators (United States)

    Lotz, Peter; Matysek, Marc; Schlaak, Helmut F.


    Dielectric elastomer stack actuators (DESA) are well suited for the use in mobile devices, fluidic applications and small electromechanical systems. Despite many improvements during the last years the long term behavior of dielectric elastomer actuators in general is not known or has not been published. The first goal of the study is to characterize the overall lifetime under laboratory conditions and to identify potential factors influencing lifetime. For this we have designed a test setup to examine 16 actuators at once. The actuators are subdivided into 4 groups each with a separate power supply and driving signal. To monitor the performance of the actuators driving voltage and current are measured continuously and additionally, the amplitude of the deformations of each actuator is measured sequentially. From our first results we conclude that lifetime of these actuators is mainly influenced by the contact material between feeding line and multilayer electrodes. So far, actuators themselves are not affected by long term actuation. With the best contact material actuators can be driven for more than 2700 h at 200 Hz with an electrical field strength of 20 V/μm. This results in more than 3 billion cycles. Actually, there are further actuators driven at 10 Hz for more than 4000 hours and still working.

  8. Short range investigation of sub-micron zirconia particles

    Energy Technology Data Exchange (ETDEWEB)

    Caracoche, M C; Martinez, J A [Departamento de Fisica, IFLP, Facultad de Ciencias Exactas, CICPBA, Universidad Nacional de La Plata (Argentina); Rivas, P C [IFLP-CONICET, Facultad de Ciencias Agrarias y Forestales, Universidad Nacional de La Plata (Argentina); Bondioli, F; Cannillo, V [Dipartimento di Ingegniria dei Materiali e dell' Ambiente, Facolta di Ingegneria, Universita di Modena e Reggio Emilia (Italy); Ferrari, A M, E-mail: [Dipartimento di Scienza a Metodi dell' Ingegneria, Universita di Modena e Reggio Emilia (Italy)


    The Perturbed Angular Correlations technique was used to determine the configurations around Zirconium ions and their thermal behavior in non-aggregated sub-micron zirconia spherical particles. Three residues containing- Zr surroundings were determined for the non-crystalline starting particles, which were identified under the assumption of a certain chemical reactions sequence during synthesis. While the one made up mainly by hydroxyl groups was common to both samples, the two involving mainly organic residues were particle size dependent. Upon crystallization, both samples stabilized in the t'- and t- tetragonal forms and the Xc-cubic form but their amounts and temperatures of appearance were different. On heating, the structure of the smaller particles became gradually monoclinic achieving total degradation upon the subsequent cooling to RT.

  9. Chemical strategies for die/wafer submicron alignment and bonding.

    Energy Technology Data Exchange (ETDEWEB)

    Martin, James Ellis; Baca, Alicia I.; Chu, Dahwey; Rohwer, Lauren Elizabeth Shea


    This late-start LDRD explores chemical strategies that will enable sub-micron alignment accuracy of dies and wafers by exploiting the interfacial energies of chemical ligands. We have micropatterned commensurate features, such as 2-d arrays of micron-sized gold lines on the die to be bonded. Each gold line is functionalized with alkanethiol ligands before the die are brought into contact. The ligand interfacial energy is minimized when the lines on the die are brought into registration, due to favorable interactions between the complementary ligand tails. After registration is achieved, standard bonding techniques are used to create precision permanent bonds. We have computed the alignment forces and torque between two surfaces patterned with arrays of lines or square pads to illustrate how best to maximize the tendency to align. We also discuss complex, aperiodic patterns such as rectilinear pad assemblies, concentric circles, and spirals that point the way towards extremely precise alignment.

  10. Submicron Plasticity: Yield Stress, Dislocation Avalanches, and Velocity Distribution (United States)

    Ispánovity, Péter Dusán; Groma, István; Györgyi, Géza; Csikor, Ferenc F.; Weygand, Daniel


    The existence of a well-defined yield stress, where a macroscopic crystal begins to plastically flow, has been a basic observation in materials science. In contrast with macroscopic samples, in microcrystals the strain accumulates in random bursts, which makes controlled plastic formation difficult. Here we study by 2D and 3D simulations the plastic deformation of submicron objects under increasing stress. We show that, while the stress-strain relation of individual samples exhibits jumps, its average and mean deviation still specify a well-defined critical stress. The statistical background of this phenomenon is analyzed through the velocity distribution of dislocations, revealing a universal cubic decay and the appearance of a shoulder due to dislocation avalanches.

  11. Microscopic methods in analysis of submicron phospholipid dispersions

    Directory of Open Access Journals (Sweden)

    Płaczek Marcin


    Full Text Available Microscopy belongs to the group of tests, used in pharmaceutical technology, that despite the lapse of time and the development of new analytical methods, still remain irreplaceable for the characterization of dispersed drug dosage forms (e.g., suspensions and emulsions. To obtain complete description of a specific drug formulation, such as parenteral colloidal products, a combination of different microscopic techniques is sometimes required. Electron microscopy methods are the most useful ones; however, even such basic methods as optical microscopy may be helpful for determination of some properties of a sample. The publication explicates the most popular microscopical techniques used nowadays for characterization of the morphology of nanoparticles suspended in pharmaceutical formulations; ad vantages and disadvantages of these methods are also discussed. Parenteral submicron formulations containing lecithin or a particular phospholipid were chosen as examples.

  12. A Novel Fractional Order Model for the Dynamic Hysteresis of Piezoelectrically Actuated Fast Tool Servo (United States)

    Zhu, Zhiwei; Zhou, Xiaoqin


    The main contribution of this paper is the development of a linearized model for describing the dynamic hysteresis behaviors of piezoelectrically actuated fast tool servo (FTS). A linearized hysteresis force model is proposed and mathematically described by a fractional order differential equation. Combining the dynamic modeling of the FTS mechanism, a linearized fractional order dynamic hysteresis (LFDH) model for the piezoelectrically actuated FTS is established. The unique features of the LFDH model could be summarized as follows: (a) It could well describe the rate-dependent hysteresis due to its intrinsic characteristics of frequency-dependent nonlinear phase shifts and amplitude modulations; (b) The linearization scheme of the LFDH model would make it easier to implement the inverse dynamic control on piezoelectrically actuated micro-systems. To verify the effectiveness of the proposed model, a series of experiments are conducted. The toolpaths of the FTS for creating two typical micro-functional surfaces involving various harmonic components with different frequencies and amplitudes are scaled and employed as command signals for the piezoelectric actuator. The modeling errors in the steady state are less than ±2.5% within the full span range which is much smaller than certain state-of-the-art modeling methods, demonstrating the efficiency and superiority of the proposed model for modeling dynamic hysteresis effects. Moreover, it indicates that the piezoelectrically actuated micro systems would be more suitably described as a fractional order dynamic system.

  13. Optimal design of a smart post-buckled beam actuator using bat algorithm: simulations and experiments (United States)

    Mallick, Rajnish; Ganguli, Ranjan; Kumar, Ravi


    The optimized design of a smart post-buckled beam actuator (PBA) is performed in this study. A smart material based piezoceramic stack actuator is used as a prime-mover to drive the buckled beam actuator. Piezoceramic actuators are high force, small displacement devices; they possess high energy density and have high bandwidth. In this study, bench top experiments are conducted to investigate the angular tip deflections due to the PBA. A new design of a linear-to-linear motion amplification device (LX-4) is developed to circumvent the small displacement handicap of piezoceramic stack actuators. LX-4 enhances the piezoceramic actuator mechanical leverage by a factor of four. The PBA model is based on dynamic elastic stability and is analyzed using the Mathieu-Hill equation. A formal optimization is carried out using a newly developed meta-heuristic nature inspired algorithm, named as the bat algorithm (BA). The BA utilizes the echolocation capability of bats. An optimized PBA in conjunction with LX-4 generates end rotations of the order of 15° at the output end. The optimized PBA design incurs less weight and induces large end rotations, which will be useful in development of various mechanical and aerospace devices, such as helicopter trailing edge flaps, micro and nano aerial vehicles and other robotic systems.

  14. Control of stationary crossflow modes in swept Hiemenz flows with dielectric barrier discharge plasma actuators (United States)

    Wang, Zhefu; Wang, Liang; Fu, Song


    Sensitivity analyses and non-linear parabolized stability equations are solved to provide a computational assessment of the potential use of a Dielectric Barrier Discharge (DBD) plasma actuator for a prolonging laminar region in swept Hiemenz flow. The derivative of the kinetic energy with respect to the body force is deduced, and its components in different directions are defined as sensitivity functions. The results of sensitivity analyses and non-linear parabolized stability equations both indicate that the introduction of a body force as the plasma actuator at the bottom of a crossflow vortex can mitigate instability to delay flow transition. In addition, the actuator is more effective when placed more upstream until the neutral point. In fact, if the actuator is sufficiently close to the neutral point, it is likely to act as a strong disturbance over-riding the natural disturbance and dominating transition. Different operating voltages of the DBD actuators are tested, resulting in an optimal practice for transition delay. The results demonstrate that plasma actuators offer great potential for transition control.

  15. Cylindrical dielectric elastomer actuators reinforced with inextensible fibers (United States)

    Goulbourne, Nakhiah C. S.


    Novel actuator configurations for various applications can be obtained using cylindrical dielectric elastomer actuators. A new configuration for a contractile electro-elastomer is presented here for the first time. A cylindrical or tubular configuration is used to realize simultaneous axial shortening and radial expansion when a voltage is applied across the thickness of the hollow cylinder. In this configuration, the inner and outer surfaces of a cylindrical dielectric elastomer are coated with compliant electrodes. The outer cylindrical surface is then enclosed by a network of helical fibers that are very thin, very flexible and inextensible. Fiber networks or cord families are commonly used in many different materials and for a variety of applications. The primary purpose of these networks is structural, that is to say, for reinforcement. The composite active structure proposed here is reminiscent of the McKibben actuator, a pneumatically actuated cylindrical construct consisting of a flexible rubber bladder sheathed in a fiber network, which garners its impressive contracting force from the inextensible fibers that prevent axial extension when an inflation pressure is applied to the internal bladder [1]. The system is modeled using an electro- elastic formulation derived from the large deformation theory of reinforced cylinders [2]. The model combines Maxwell-Faraday electrostatics and nonlinear elasticity theory [3]. Illustratively, solutions are obtained assuming a Mooney-Rivlin material model for a silicone actuator. The results indicate that the relationship between the axial contraction force and the axial shortening is linear for the voltage range considered. The importance of other system parameters such as the fiber angle and the applied constant pressure is also reported.

  16. Topology optimization of embedded piezoelectric actuators considering control spillover effects (United States)

    Gonçalves, Juliano F.; De Leon, Daniel M.; Perondi, Eduardo A.


    This article addresses the problem of active structural vibration control by means of embedded piezoelectric actuators. The topology optimization method using the solid isotropic material with penalization (SIMP) approach is employed in this work to find the optimum design of actuators taken into account the control spillover effects. A coupled finite element model of the structure is derived assuming a two-phase material and this structural model is written into the state-space representation. The proposed optimization formulation aims to determine the distribution of piezoelectric material which maximizes the controllability for a given vibration mode. The undesirable effects of the feedback control on the residual modes are limited by including a spillover constraint term containing the residual controllability Gramian eigenvalues. The optimization of the shape and placement of the conventionally embedded piezoelectric actuators are performed using a Sequential Linear Programming (SLP) algorithm. Numerical examples are presented considering the control of the bending vibration modes for a cantilever and a fixed beam. A Linear-Quadratic Regulator (LQR) is synthesized for each case of controlled structure in order to compare the influence of the additional constraint.

  17. Piecewise Model and Parameter Obtainment of Governor Actuator in Turbine

    Directory of Open Access Journals (Sweden)

    Jie Zhao


    Full Text Available The governor actuators in some heat-engine plants have nonlinear valves. This nonlinearity of valves may lead to the inaccuracy of the opening and closing time constants calculated based on the whole segment fully open and fully close experimental test curves of the valve. An improved mathematical model of the turbine governor actuator is proposed to reflect the nonlinearity of the valve, in which the main and auxiliary piecewise opening and closing time constants instead of the fixed oil motive opening and closing time constants are adopted to describe the characteristics of the actuator. The main opening and closing time constants are obtained from the linear segments of the whole fully open and close curves. The parameters of proportional integral derivative (PID controller are identified based on the small disturbance experimental tests of the valve. Then the auxiliary opening and closing time constants and the piecewise opening and closing valve points are determined by the fully open/close experimental tests. Several testing functions are selected to compare genetic algorithm and particle swarm optimization algorithm (GA-PSO with other basic intelligence algorithms. The effectiveness of the piecewise linear model and its parameters are validated by practical power plant case studies.

  18. A survey of actuator shaft sealing techniques for extended space missions (United States)

    Hotz, G. M.


    Actuators for control and articulation aboard Mariner spacecraft have employed output shaft seals to maintain an internal gaseous atmosphere. On future missions, considerably greater expected lifetimes, temperature ranges, and radiation exposures have led to a need to determine the limitations of the present O-ring output shaft seal and to examine other candidate seals. Seals suited both to dynamic and static sealing were examined for potential use in three specific actuator applications and the following candidate seals were selected: (a) O-ring seal, (b) chevron seal, (c) bellows seal (linear actuator only), (d) magnetic fluid seal (rotary actuators only) and as a backup seal to any of the foregoing, (e) the labyrinth seal.

  19. Rubber muscle actuation with pressurized CO2 from enzyme-catalyzed urea hydrolysis (United States)

    Sutter, Thomas M.; Dickerson, Matthew B.; Creasy, Terry S.; Justice, Ryan S.


    A biologically inspired pneumatic pressure source was designed and sized to supply high pressure CO2(g) to power a rubber muscle actuator. The enzyme urease served to catalyze the hydrolysis of urea, producing CO2(g) that flowed into the actuator. The actuator’s power envelope was quantified by testing actuator response on a custom-built linear-motion rig. Reaction kinetics and available work density were determined by replacing the actuator with a double-action piston and measuring volumetric gas generation against a fixed pressure on the opposing piston. Under the conditions investigated, urease catalyzed the generation of up to 0.81 MPa (117 psi) of CO2(g) in the reactor headspace within 18 min, and the evolved gas produced a maximum work density of 0.65 J ml-1.

  20. CFD and Experimental Studies on Wind Turbines in Complex Terrain by Improved Actuator Disk Method (United States)

    Liu, Xin; Yan, Shu; Mu, Yanfei; Chen, Xinming; Shi, Shaoping


    In this paper, an onshore wind farm in mountainous area of southwest China was investigated through numerical and experimental methods. An improved actuator disk method, taking rotor data (i.e. blade geometry information, attack angle, blade pitch angle) into account, was carried out to investigate the flow characteristic of the wind farm, especially the wake developing behind the wind turbines. Comparing to the classic AD method and the situ measurements, the improved AD shows better agreements with the measurements. The turbine power was automatically predicted in CFD by blade element method, which agreed well with the measurement results. The study proved that the steady CFD simulation with improved actuator disk method was able to evaluate wind resource well and give good balance between computing efficiency and accuracy, in contrary to much more expensive computation methods such as actuator-line/actuator-surface transient model, or less accurate methods such as linear velocity reduction wake model.

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

  2. Electrical actuators applications and performance

    CERN Document Server

    De Fornel, Bernard


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

  3. Light-weight monocular display unit for 3D display using polypyrrole film actuator (United States)

    Sakamoto, Kunio; Ohmori, Koji


    The human vision system has visual functions for viewing 3D images with a correct depth. These functions are called accommodation, vergence and binocular stereopsis. Most 3D display system utilizes binocular stereopsis. The authors have developed a monocular 3D vision system with accommodation mechanism, which is useful function for perceiving depth. This vision unit needs an image shift optics for generating monocular parallax images. But conventional image shift mechanism is heavy because of its linear actuator system. To improve this problem, we developed a light-weight 3D vision unit for presenting monocular stereoscopic images using a polypyrrole linear actuator.

  4. Monocular 3D display unit using soft actuator for parallax image shift (United States)

    Sakamoto, Kunio; Kodama, Yuuki


    The human vision system has visual functions for viewing 3D images with a correct depth. These functions are called accommodation, vergence and binocular stereopsis. Most 3D display system utilizes binocular stereopsis. The authors have developed a monocular 3D vision system with accommodation mechanism, which is useful function for perceiving depth. This vision unit needs an image shift optics for generating monocular parallax images. But conventional image shift mechanism is heavy because of its linear actuator system. To improve this problem, we developed a light-weight 3D vision unit for presenting monocular stereoscopic images using a soft linear actuator made of a polypyrrole film.

  5. Cascaded adaptive control of ocean vehicles with significant actuator dynamics

    Directory of Open Access Journals (Sweden)

    Thor I. Fossen


    Full Text Available This paper presents a cascade adaptive control scheme for marine vehicles where the non-linear equations of motion include a model of the actuator dynamics. The adaptive controller does not require the parameters of the vehicle dynamics and the actuator time constants to be known a priori. Both the velocity and position tracking errors are shown to converge to zero by applying Barbalat's lemma. Global asymptotic stability is proven for the velocity scheme while the position/attitude controller is only proven to be convergent. Furthermore, all parameter estimates are shown to be bounded. Computer simulations of an ROV speed control system and an autopilot for automatic ship steering are used to illustrate the design methodology.

  6. Eyeball pseudo-muscular actuators for an android face (United States)

    Carpi, Federico; De Rossi, Danilo


    The human attention system is based on the capability of the eye of focusing and tracking. These actions are performed by the eyeball muscle system, as a consequence of visual stimuli. The F.A.C.E. (Facial Automaton for Conveying Emotions) project at our lab concerns the development of an android face endowed with dynamic expressiveness and artificial vision. Aimed at realising an artificial attention system for such an automaton, we present here a study for the development of pseudo-muscular polymer actuators for its eyeballs. The system is based on the mimicry of the muscular architecture of the human eye. In particular, linear actuators made of dielectric elastomers have been designed to replicate actions exerted by the main ocular muscles.

  7. Shape Memory Alloy Actuator Design: CASMART Collaborative Best Practices (United States)

    Benafan, Othmane; Brown, Jeff; Calkins, F. Tad; Kumar, Parikshith; Stebner, Aaron; Turner, Travis; Vaidyanathan, Raj; Webster, John; Young, Marcus L.


    Upon examination of shape memory alloy (SMA) actuation designs, there are many considerations and methodologies that are common to them all. A goal of CASMART's design working group is to compile the collective experiences of CASMART's member organizations into a single medium that engineers can then use to make the best decisions regarding SMA system design. In this paper, a review of recent work toward this goal is presented, spanning a wide range of design aspects including evaluation, properties, testing, modeling, alloy selection, fabrication, actuator processing, design optimization, controls, and system integration. We have documented each aspect, based on our collective experiences, so that the design engineer may access the tools and information needed to successfully design and develop SMA systems. Through comparison of several case studies, it is shown that there is not an obvious single, linear route a designer can adopt to navigate the path of concept to product. SMA engineering aspects will have different priorities and emphasis for different applications.

  8. Acoustic Emission Patterns and the Transition to Ductility in Sub-Micron Scale Laboratory Earthquakes (United States)

    Ghaffari, H.; Xia, K.; Young, R.


    We report observation of a transition from the brittle to ductile regime in precursor events from different rock materials (Granite, Sandstone, Basalt, and Gypsum) and Polymers (PMMA, PTFE and CR-39). Acoustic emission patterns associated with sub-micron scale laboratory earthquakes are mapped into network parameter spaces (functional damage networks). The sub-classes hold nearly constant timescales, indicating dependency of the sub-phases on the mechanism governing the previous evolutionary phase, i.e., deformation and failure of asperities. Based on our findings, we propose that the signature of the non-linear elastic zone around a crack tip is mapped into the details of the evolutionary phases, supporting the formation of a strongly weak zone in the vicinity of crack tips. Moreover, we recognize sub-micron to micron ruptures with signatures of 'stiffening' in the deformation phase of acoustic-waveforms. We propose that the latter rupture fronts carry critical rupture extensions, including possible dislocations faster than the shear wave speed. Using 'template super-shear waveforms' and their network characteristics, we show that the acoustic emission signals are possible super-shear or intersonic events. Ref. [1] Ghaffari, H. O., and R. P. Young. "Acoustic-Friction Networks and the Evolution of Precursor Rupture Fronts in Laboratory Earthquakes." Nature Scientific reports 3 (2013). [2] Xia, Kaiwen, Ares J. Rosakis, and Hiroo Kanamori. "Laboratory earthquakes: The sub-Rayleigh-to-supershear rupture transition." Science 303.5665 (2004): 1859-1861. [3] Mello, M., et al. "Identifying the unique ground motion signatures of supershear earthquakes: Theory and experiments." Tectonophysics 493.3 (2010): 297-326. [4] Gumbsch, Peter, and Huajian Gao. "Dislocations faster than the speed of sound." Science 283.5404 (1999): 965-968. [5] Livne, Ariel, et al. "The near-tip fields of fast cracks." Science 327.5971 (2010): 1359-1363. [6] Rycroft, Chris H., and Eran Bouchbinder

  9. Plasma actuators for bluff body flow control (United States)

    Kozlov, Alexey V.

    The aerodynamic plasma actuators have shown to be efficient flow control devices in various applications. In this study the results of flow control experiments utilizing single dielectric barrier discharge plasma actuators to control flow separation and unsteady vortex shedding from a circular cylinder in cross-flow are reported. This work is motivated by the need to reduce landing gear noise for commercial transport aircraft via an effective streamlining created by the actuators. The experiments are performed at Re D = 20,000...164,000. Circular cylinders in cross-flow are chosen for study since they represent a generic flow geometry that is similar in all essential aspects to a landing gear oleo or strut. The minimization of the unsteady flow separation from the models and associated large-scale wake vorticity by using actuators reduces the radiated aerodynamic noise. Using either steady or unsteady actuation at ReD = 25,000, Karman shedding is totally eliminated, turbulence levels in the wake decrease significantly and near-field sound pressure levels are reduced by 13.3 dB. Unsteady actuation at an excitation frequency of St D = 1 is found to be most effective. The unsteady actuation also has the advantage that total suppression of shedding is achieved for a duty cycle of only 25%. However, since unsteady actuation is associated with an unsteady body force and produces a tone at the actuation frequency, steady actuation is more suitable for noise control applications. Two actuation strategies are used at ReD = 82,000: spanwise and streamwise oriented actuators. Near field microphone measurements in an anechoic wind tunnel and detailed study of the near wake using LDA are presented in the study. Both spanwise and streamwise actuators give nearly the same noise reduction level of 11.2 dB and 14.2 dB, respectively, and similar changes in the wake velocity profiles. The contribution of the actuator induced noise is found to be small compared to the natural shedding

  10. Thermal vertical bimorph actuators and their applications

    CERN Document Server

    Sehr, H J


    In this thesis, a novel concept for lateral actuators based on vertical bimorphs is presented. Vertical bimorphs consist of silicon beams side-coated with aluminium, which bend when heated due to the different thermal expansion coefficients of the two materials causing a displacement in the wafer plane. The heating of the actuator is provided by an electrical current through the silicon beam. The simplest implementation of a vertical bimorph actuator is a clamped-clamped beam. To obtain higher deflections, a meander shaped actuator has been designed. By combining four meander actuators, a two-dimensional positioning stage has been realised. The meander actuator has also been applied for normally closed and normally open micro-relays. Analytical calculations and ANSYS simulations have been carried out to predict the physical behaviour of the bimorph devices, including temperature distribution, static deflection, vertical stiffness, thermal time constant and lateral resonances. For both the clamped-clamped beam...

  11. Series Elastic Actuators for legged robots (United States)

    Pratt, Jerry E.; Krupp, Benjamin T.


    Series Elastic Actuators provide many benefits in force control of robots in unconstrained environments. These benefits include high force fidelity, extremely low impedance, low friction, and good force control bandwidth. Series Elastic Actuators employ a novel mechanical design architecture which goes against the common machine design principal of "stiffer is better." A compliant element is placed between the gear train and driven load to intentionally reduce the stiffness of the actuator. A position sensor measures the deflection, and the force output is accurately calculated using Hooke"s Law (F=Kx). A control loop then servos the actuator to the desired output force. The resulting actuator has inherent shock tolerance, high force fidelity and extremely low impedance. These characteristics are desirable in many applications including legged robots, exoskeletons for human performance amplification, robotic arms, haptic interfaces, and adaptive suspensions. We describe several variations of Series Elastic Actuators that have been developed using both electric and hydraulic components.

  12. Microwave Power for Smart Membrane Actuators (United States)

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


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

  13. Topology Selection and Analysis of Actuator for Seat Valves suitable for use in Digital Displacement Pumps/Motors

    DEFF Research Database (Denmark)

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


    and switching times within a few milliseconds. These valves are mechatronic components and attention to both the electromagnetic, fluid dynamical, mechanical and control system design must be paid to ensure the needed performance. In the present work, a quick response linear electro-magnetic actuator for DD...... seat valves is developed, and the resulting dynamic response of the seat valve is presented. Requirements for the valve actuator is established based on the DD application, and three feasible actuator topologies are analyzed by means of transient electro-magnetic FEA simulation. From this analysis...... a moving coil actuator topology is selected for the DD valve. A lumped parameter model including magnetic diffusion effects of this chosen actuator is developed, which is included in the dynamic valve simulation. Result show a switching time below 2 ms and a pressure loss below 0.5 bar at 500 litres...

  14. An electro-mechanically coupled model for the dynamic behavior of a dielectric electro-active polymer actuator (United States)

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


    Dielectric electro-active polymer (DEAP) technology holds promise for enabling lightweight, energy efficient, and scalable actuators. The circular DEAP actuator configuration (also known as cone or diaphragm actuator) in particular shows potential in applications such as pumps, valves, micro-positioners and loudspeakers. For a quantitative prediction of the actuator behavior as well as for design optimization tasks, material models which can reproduce the coupled electromechanical behavior inherent to these actuators are necessary. This paper presents a non-linear viscoelastic model based on an electro-mechanical Ogden free energy expression for the DEAP. The DEAP model is coupled with a spring/mass system to study the dynamic performance of such a representative system from static behavior to 50 Hz. The system is identified and validated by several different experiments.

  15. [Study on preparation of intravenous submicron emulsions of Oleum Cinnamomi oil of Miao nationality herbal]. (United States)

    Li, Jiang; Liu, Ying-bo


    To study the prescription and preparation of intravenous submicron emulsion of Oleum Cinnamomi oil of Miao nationality herbal. Using the high speed blender mixed round the Oleum Cinnamomi oil with the soybean phospholipids and Pluronic F68 as emulsifier, then using the high pressure homogenizer made the intravenous submicron emulsion of the Oleum Cinnamomi oil and investigate its grain path and distributing. Having been done by using hydroextractor 4,500 r min(-1) 15 minutes the submicron emulsion grain path has well proportioned distribution. The preparation technology is simple and has good stability, so it can be used as a method to make the intravenous submicron emulsion of the Oleum Cinnamomi oil of Miao nationality herbal.

  16. Light emitting diode with high aspect ratio submicron roughness for light extraction and methods of forming (United States)

    Li, Ting [Ventura, CA


    The surface morphology of an LED light emitting surface is changed by applying a reactive ion etch (RIE) process to the light emitting surface. High aspect ratio, submicron roughness is formed on the light emitting surface by transferring a thin film metal hard-mask having submicron patterns to the surface prior to applying a reactive ion etch process. The submicron patterns in the metal hard-mask can be formed using a low cost, commercially available nano-patterned template which is transferred to the surface with the mask. After subsequently binding the mask to the surface, the template is removed and the RIE process is applied for time duration sufficient to change the morphology of the surface. The modified surface contains non-symmetric, submicron structures having high aspect ratio which increase the efficiency of the device.

  17. Beschrijving van een verdampings-condensatie aerosol generator voor de produktie van submicron aerosol

    NARCIS (Netherlands)

    Feijt; A.*; Meulen; A.van der


    Dit rapport is een handleiding voor een bedrijfszeker, routinematig gebruik van een zgn. Evaporation-Condensation aerosol Conditioner. Met deze aerosol generatie apparatuur kunnen op stabiele, reproduceerbare manier zeer hoge concentraties (tot 1 miljoen deeltjes per cc) monodispers submicron

  18. Light emitting diode with high aspect ratio submicron roughness for light extraction and methods of forming (United States)

    Li, Ting


    The surface morphology of an LED light emitting surface is changed by applying a reactive ion etch (RIE) process to the light emitting surface. High aspect ratio, submicron roughness is formed on the light emitting surface by transferring a thin film metal hard-mask having submicron patterns to the surface prior to applying a reactive ion etch process. The submicron patterns in the metal hard-mask can be formed using a low cost, commercially available nano-patterned template which is transferred to the surface with the mask. After subsequently binding the mask to the surface, the template is removed and the RIE process is applied for time duration sufficient to change the morphology of the surface. The modified surface contains non-symmetric, submicron structures having high aspect ratio which increase the efficiency of the device.

  19. Characteristics of Submicron Aerosols in 2013 summer of Beijing (United States)

    Guo, Song; Hu, Min; Shang, Dongjie; Zheng, Jing; Du, Zhuofei; Wu, Yusheng; Lu, Sihua; Zeng, Limin; Zhang, Renyi


    To characterize the air pollution of North China Plain of China, CAREBEIJING-2013 field campaign (Campaigns of Air quality REsearch in BEIJING and surrounding region) was conducted in summer of 2013. Submicron aerosols were measured at an urban site PKU (Peking University, 39° 59'21"N, 116° 18'25"E) from July 28th to September 31st 2013. A suite of integrated instruments was used to measure the size distribution, effective density and hygroscopicity of ambient particles. The chemical composition of submicron particles were measured by using an Aerodyne High-Resolution Time-of-Flight Aerosol Mass Spectrometer (HR-ToF-AMS) (Billerica, MA, USA). The average PM2.5 concentration was 73.0±70.7 μg m-3 during the measurement. The particulate pollution showed distinct 4-7 days cycles controlled by the meteorological conditions. Each cycle started with low PM2.5 mass concentrations (air mass was from relatively clean mountainous area. The particle number concentrations were high, but and the sizes were small (60 μg day-1, and the particle mean diameter grew to >100 nm. It is interesting to note that the mean diameters showed similar trend to PM2.5 mass concentrations, indicating the particle pollution attributed to the growth of the newly formed small particles. During the measurement, the average particle densities are between 1.3-1.5 g cm-3, indicating organics and sulfate were dominant in the particles. The densities of smaller particles, i.e. 46 nm, 81nm, showed single peak at 1.3-1.5 g cm-3, indicating the particles are internal mixed sulfate and organics. While the 150nm and 240 nm particle densities exhibited bimodal distribution with an additional small peak at ˜1.1 g cm-3, which is considered as external mixed organic particles or aged soot particles. The particle hygroscopic growth factor for all the measured sizes at RH of 90% showed bimodal distribution, attributing to external mixed organics (or aged soot) and internal mixed organics and sulfate. Both the

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

    Directory of Open Access Journals (Sweden)

    Xin Zuo


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

  1. Study on the graphene-based actuator (United States)

    Xu, Liang; Oh, Il Kwon


    Bilayer actuators comprising of MWCNT (Multi-walled carbon nanotubes) and Graphene oxide (GO) were studied for their actuation performance by using induction heating system. A simple fabrication method namely, filtration of the colloidal suspensions of MWCNT and GO through an Anodisc membrane was used to fabricate the actuators. In case of bilayer actuators, sequential filtration of MWCNTs and Graphene oxide dispersions through a membrane filter membrane was used. Morphological studies by SEM showed that the bilayer paper did not delaminate at the macro-scale and a certain degree of adhesion between MWCNT and GO can be achieved even without any functionalization of either of the constituents of bilayer actuators. Actuation was tested by using the induction heating system, operated at different current densities. Substantial degree of deformation, as much as 0.128 mm-1 at 300 A was measured. The degree of actuation was defined in terms of bending curvature, because the deformation was too large to be detected by conventional displacement laser sensors. An attempt has been made to explain the basic mechanism of bilayer actuator in terms of the differential thermal expansion rates and eddy current which was confirmed from images obtained from thermal camera wherein the variation in bilayer actuator's surface temperature were monitored. Finally the deformation trend under different pulses is also examined.

  2. Stimuli-Responsive Polymers for Actuation. (United States)

    Zhang, Qiang Matthew; Serpe, Michael J


    A variety of stimuli-responsive polymers have been developed and used as actuators and/or artificial muscles, with the movement being driven by an external stimulus, such as electrical potential. This Review highlights actuators constructed from liquid-crystal elastomers, dielectric elastomers, ionic polymers, and conducting polymers. The Review covers recent examples of a variety of actuators generated from these materials and their utility. The mechanism of actuation will be detailed for most examples in order to stimulate possible future research, and lead to new applications and advanced applications. © 2017 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim.

  3. High Reliability Cryogenic Piezoelectric Valve Actuator Project (United States)

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

  4. A porous actuator for an Isfet-based coulometric sensor-actuator system

    NARCIS (Netherlands)

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


    The previously developed prototype ISFET (ion-sensitive field effect transistor)-based coulometric sensor-actuator system suffers from delay in response due to the nonzero distance between the sensor and actuator. The authors describe a novel configuration of a sensor-actuator device which employs a

  5. Chemical mapping of proterozoic organic matter at submicron spatial resolution. (United States)

    Oehler, Dorothy Z; Robert, François; Mostefaoui, Smail; Meibom, Anders; Selo, Madeleine; McKay, David S


    A NanoSIMS ion microprobe was used to map the submicron-scale distributions of carbon, nitrogen, sulfur, silicon, and oxygen in organic microfossils and laminae in a thin section of the approximately 0.85 billion year old Bitter Springs Formation of Australia. The data provide clues about the original chemistry of the microfossils, the silicification process, and the biosignatures of specific microorganisms and microbial communities. Chemical maps of fossil unicells and filaments revealed distinct wall- and sheath-like structures enriched in C, N, and S, consistent with their accepted biological origin. Surprisingly, organic laminae, previously considered to be amorphous, also exhibited filamentous and apparently compressed spheroidal structures defined by strong enrichments in C, N, and S. By analogy to NanoSIMS data from the well-preserved microfossils, these structures were interpreted as being of biological origin, most likely representing densely packed remnants of microbial mats. Given that the preponderance of organic matter in Precambrian sediments is similarly "amorphous," our findings indicate that a re-evaluation of ancient specimens via in situ structural, chemical, and isotopic study is warranted. Our analyses have led us to propose new criteria for assessing the biogenicity of problematic kerogenous materials, and, thus, these criteria can be applied to assessments of poorly preserved or fragmentary organic residues in early Archean sediments and any that might occur in meteorites or other extraterrestrial samples.

  6. Controlled motion of domain walls in submicron amorphous wires

    Directory of Open Access Journals (Sweden)

    Mihai Ţibu


    Full Text Available Results on the control of the domain wall displacement in cylindrical Fe77.5Si7.5B15 amorphous glass-coated submicron wires prepared by rapid quenching from the melt are reported. The control methods have relied on conical notches with various depths, up to a few tens of nm, made in the glass coating and in the metallic nucleus using a focused ion beam (FIB system, and on the use of small nucleation coils at one of the sample ends in order to apply magnetic field pulses aimed to enhance the nucleation of reverse domains. The notch-based method is used for the first time in the case of cylindrical ultrathin wires. The results show that the most efficient technique of controlling the domain wall motion in this type of samples is the simultaneous use of notches and nucleation coils. Their effect depends on wire diameter, notch depth, its position on the wire length, and characteristics of the applied pulse.

  7. Controlled motion of domain walls in submicron amorphous wires

    Energy Technology Data Exchange (ETDEWEB)

    Ţibu, Mihai; Lostun, Mihaela; Rotărescu, Cristian; Atiţoaie, Alexandru; Lupu, Nicoleta; Óvári, Tibor-Adrian, E-mail:; Chiriac, Horia [Department of Magnetic Materials and Devices, National Institute of Research and Development for Technical Physics, Iaşi, 700050 (Romania); Allwood, Dan A. [Department of Materials Science and Engineering, University of Sheffield, Sheffield, S1 3JD (United Kingdom)


    Results on the control of the domain wall displacement in cylindrical Fe{sub 77.5}Si{sub 7.5}B{sub 15} amorphous glass-coated submicron wires prepared by rapid quenching from the melt are reported. The control methods have relied on conical notches with various depths, up to a few tens of nm, made in the glass coating and in the metallic nucleus using a focused ion beam (FIB) system, and on the use of small nucleation coils at one of the sample ends in order to apply magnetic field pulses aimed to enhance the nucleation of reverse domains. The notch-based method is used for the first time in the case of cylindrical ultrathin wires. The results show that the most efficient technique of controlling the domain wall motion in this type of samples is the simultaneous use of notches and nucleation coils. Their effect depends on wire diameter, notch depth, its position on the wire length, and characteristics of the applied pulse.

  8. Toward standardization of EAP actuators test procedures (United States)

    Fernandez, Diego; Moreno, Luis; Baselga, Juan


    Since the field of Electroactive Polymers (EAP) actuators is fairly new there are no standard testing processes for such intelligent materials. This drawback can seriously limit the scope of application of EAP actuators, since the targeted industrial sectors (aerospace, biomedical...) demand high reliability and product assurance. As a first iteration two elements are required to define a test standard for an EAP actuator: a Unit Tester, and a Component Specification. In this paper a EAP Unit Tester architecture is presented along with the required classification of measurements to be included in the EAP actuator Component Specification. The proposed EAP Unit Tester allows on-line monitoring and recording of the following properties of the specimen under test: large deformation, small tip displacement, temperature at the electrodes, weight of the specimen, voltage and current driven into the EAP, load being applied to the actuator, output voltage of the EAP in sensing operation and mode of operation (structure/sensor/actuator/smart). The measurements are taken simultaneously, in real-time. The EAP Unit Tester includes a friendly Graphical User Interface. It uses embedded Excel tools to visualize data. In addition, real-time connectivity with MATLAB allows an easy testing of control algorithms. A novel methodology to measure the properties of EAP specimens versus a variable load is also presented. To this purpose a force signals generator in the range of mN was developed. The device is based on a DC mini-motor. It generates an opposing force to the movement of the EAP actuator. Since the device constantly opposes the EAP actuator movement it has been named Digital Force Generator (DFG). The DFG design allows simultaneous length and velocity measuring versus different load signals. By including such a device in the EAP Unit Tester the most suitable application for the specimen under test can be easily identified (vibration damper, large deformation actuator, large

  9. Modeling and performance evaluation of an electromechanical valve actuator for a camless IC engine

    Energy Technology Data Exchange (ETDEWEB)

    Mohamed, Eid [Automotive and Tractors Engineering, Faculty of Engineering, Helwan University, Cairo (Egypt)


    Valve train control is one of the best strategies for optimizing efficiency and emissions of Internal Combustion (IC) engines. Applications of solenoid valve actuators in (IC) engines can facilitate operations such as variable valve timing and variable valve lifting for improved the engine performance, fuel economy and reduce emission, the electromechanical valve actuator (EMVA) uses solenoid to actuate valve movement independently for the application of (IC) engine. In this work presents the effects of design and operating parameters on the system dynamic performances of the actuator and the proposed an (EMVA) structure by incorporating the hybrid magneto-motive force (MMF) implementation in which the magnetic flux is combined by the coil excitation and permanent magnets. A two-degree-of-freedom lumped parameter model is used to simulate the response of valve actuator system in the opening and closing. The model and control of an electromagnetic valve (EMV) are described. This is done using electromagnetic force to open and close the valve and a controller regulates the motion specifications required. The developments controller is based on a state-space description of the actuator that is derived based on physical principles and parameter identification. Linear-quadratic regulator design (LQR) optimal control is designed with the evaluation reasonable the performance and energy of (EMV) valve are obtained with the design.

  10. Power-efficient low-temperature woven coiled fibre actuator for wearable applications (United States)

    Hiraoka, Maki; Nakamura, Kunihiko; Arase, Hidekazu; Asai, Katsuhiko; Kaneko, Yuriko; John, Stephen W.; Tagashira, Kenji; Omote, Atsushi


    A fibre actuator that generates a large strain with high specific power represents a promising strategy to develop novel wearable devices and robotics. We propose a new coiled-fibre actuator based on highly drawn, hard linear low-density polyethylene (LLDPE) fibres. Driven by resistance heating, the actuator can be operated at temperatures as low as 60 °C and uses only 20% of the power consumed by previously coiled fibre actuators when generating 20 MPa of stress at 10% strain. In this temperature range, 1600 W kg-1 of specific work (8 times that of a skeletal muscle) at 69 MPa of tensile stress (230 times that of a skeletal muscle) with a work efficiency of 2% is achieved. The actuator generates strain as high as 23% at 90 °C. Given the low driving temperature, the actuator can be combined with common fabrics or stretchable conductive elastomers without thermal degradation, allowing for easy use in wearable systems. Nanostructural analysis implies that the lamellar crystals in drawn LLDPE fibres are weakly bridged with each other, which allows for easy deformation into compact helical shapes via twisting and the generation of large strain with high work efficiency.

  11. Characterization of three-dimensional dynamics of piezo-stack actuators (United States)

    Arda Gozen, B.; Burak Ozdoganlar, O.


    This paper presents a methodology for the characterization of dynamic behavior of piezoelectric-stack actuators. Piezo-stack actuators are used in many fields to obtain high-accuracy displacements and vibrations, commonly in multiple dimensions. However, obtaining accurate motions from piezo-stack actuators require thorough characterization of their non-linear dynamic response characteristics in three dimensions. In this work, a laser Doppler vibrometer-based precision characterization system is created to measure the three-dimensional dynamic motions of the piezo-stack actuators within a wide frequency range. A measurement reference frame is obtained by arranging three laser beams in a mutually orthogonal configuration. A set of stepped-sine tests are conducted at different levels of excitation amplitudes by individually exciting each of the stacks (of a multi-stack piezo actuator) and measuring the three-dimensional response in the measurement reference frame. The resulting dynamic response is decomposed into its components that occur at harmonics and non-harmonics of the excitation frequency. A power analysis is then conducted to determine the amount of contribution of each response component (harmonic or non-harmonic) in the overall response. The response behavior is then represented using a new approach constructed by extending the conventional frequency response function (FRF) description to higher-harmonic and non-harmonic components. The application of the approach is demonstrated by testing two three-axis piezo-stack actuators.

  12. Analysis of actuator delay and its effect on uncertainty quantification for real-time hybrid simulation (United States)

    Chen, Cheng; Xu, Weijie; Guo, Tong; Chen, Kai


    Uncertainties in structure properties can result in different responses in hybrid simulations. Quantification of the effect of these uncertainties would enable researchers to estimate the variances of structural responses observed from experiments. This poses challenges for real-time hybrid simulation (RTHS) due to the existence of actuator delay. Polynomial chaos expansion (PCE) projects the model outputs on a basis of orthogonal stochastic polynomials to account for influences of model uncertainties. In this paper, PCE is utilized to evaluate effect of actuator delay on the maximum displacement from real-time hybrid simulation of a single degree of freedom (SDOF) structure when accounting for uncertainties in structural properties. The PCE is first applied for RTHS without delay to determine the order of PCE, the number of sample points as well as the method for coefficients calculation. The PCE is then applied to RTHS with actuator delay. The mean, variance and Sobol indices are compared and discussed to evaluate the effects of actuator delay on uncertainty quantification for RTHS. Results show that the mean and the variance of the maximum displacement increase linearly and exponentially with respect to actuator delay, respectively. Sensitivity analysis through Sobol indices also indicates the influence of the single random variable decreases while the coupling effect increases with the increase of actuator delay.

  13. Soft robotics: a review and progress towards faster and higher torque actuators (presentation video) (United States)

    Shepherd, Robert


    Last year, nearly 160,000 industrial robots were shipped worldwide—into a total market valued at 26 Bn (including hardware, software, and peripherals).[1] Service robots for professional (e.g., defense, medical, agriculture) and personal (e.g., household, handicap assistance, toys, and education) use accounted for 16,000 units, 3.4 Bn and 3,000,000 units, $1.2 Bn respectively.[1] The vast majority of these robotic systems use fully actuated, rigid components that take little advantage of passive dynamics. Soft robotics is a field that is taking advantage of compliant actuators and passive dynamics to achieve several goals: reduced design, manufacturing and control complexity, improved energy efficiency, more sophisticated motions, and safe human-machine interactions to name a few. The potential for societal impact is immense. In some instances, soft actuators have achieved commercial success; however, large scale adoption will require improved methods of controlling non-linear systems, greater reliability in their function, and increased utility from faster and more forceful actuation. In my talk, I will describe efforts from my work in the Whitesides group at Harvard to prove sophisticated motions in these machines using simple controls, as well capabilities unique to soft machines. I will also describe the potential for combinations of different classes of soft actuators (e.g., electrically and pneumatically actuated systems) to improve the utility of soft robots. 1. World Robotics - Industrial Robots 2013, 2013, International Federation of Robotics.

  14. Characterization of nanosecond pulse driven dielectric barrier discharge plasma actuators for aerodynamic flow control (United States)

    Dawson, Robert; Little, Jesse


    Positive polarity nanosecond pulse driven dielectric barrier discharge (ns-DBD) plasma actuators are studied experimentally in quiescent atmosphere. Pulse energy and instantaneous pulse power (hereafter referred to as energy and power) are calculated using simultaneous voltage and current measurements. Electrical characteristics are evaluated as a function of peak voltage, pulse frequency, discharge length, and dielectric thickness. Schlieren imaging is used to provide a relative estimate of discharge energy that is coupled to the near surface gas as heat for the same parameters. Characteristics of the DBD load have a substantial effect on the individual voltage and current traces which are reflected in the energy and power values. Power is mainly dependent on actuator length which is inconsistent with schlieren data as expected. Higher per unit length energy indicates a stronger compression wave for a given actuator geometry, but this is not universally true across different actuators suggesting some constructions more efficiently couple energy to the gas. Energy and compression wave strength are linearly related. Higher pulse frequency produces higher energy but is primarily attributed to heating of the actuator and power supply components and not to an optimal discharge frequency. Both energy and wave strength increase as peak voltage to the power of approximately 3.5 over a substantial range similar to ac-DBD plasma actuators.

  15. Theoretical Investigation of the Viscous Damping Coefficient of Hydraulic Actuators (United States)

    Huang, Ming-Hui; Pan, Qing; Li, Yi-Bo; Ma, Peng-Da; Ma, Jun


    The viscous damping coefficient (VDC) of hydraulic actuators is crucial for system modeling, control and dynamic characteristic analysis. Currently, the researches on hydraulic actuators focus on behavior assessment, promotion of control performance and efficiency. However, the estimation of the VDC is difficult due to a lack of study. Firstly, using two types of hydraulic cylinders, behaviors of the VDC are experimentally examined with velocities and pressure variations. For the tested plunger type hydraulic cylinder, the exponential model B = α υ^{ - β } ,(α > 0,β > 0) or B = α1 e^{{ - β1 υ }} + α2 e^{{ - β2 υ }} (α1 ,α2 > 0,β1 ,β2 > 0), fits the relation between the VDC and velocities for a given pressure of chamber with high precision. The magnitude of the VDC decreases almost linearly under certain velocities when increasing the chamber pressure from 0.6 MPa to 6.0 MPa. Furthermore, the effects of the chamber pressures on the VDC of piston and plunge type hydraulic cylinders are different due to different sealing types. In order to investigate the VDC of a plunger type hydraulic actuator drastically, a steady-state numerical model has been developed to describe the mechanism incorporating tandem seal lubrication, back-up ring related friction behaviors and shear stress of fluid. It is shown that the simulated results of VDC agree with the measured results with a good accuracy. The proposed method provides an instruction to predict the VDC in system modeling and analysis.

  16. Synthetic Jet Actuator Performance Enhancement (United States)

    Pikcilingis, Lucia; Housley, Kevin; Whalen, Ed; Amitay, Michael; Rensselaer Polytechnic Institute Collaboration; Boeing Company Collaboration


    Over the last 20 years synthetic jets have been studied as a means for aerodynamic flow control. Specifically, synthetic jets provide momentum transfer with zero-net mass flux, which has been proven to be effective for controlling flow fields. A synthetic jet is created by the periodic formation of vortex rings at its orifice due to the periodic motion of a piezoelectric disk(s). The present study seeks to optimize the performance of a synthetic jet actuator by utilizing different geometrical parameters such as disk thickness, orifice width and length, cavity height and cavity diameter, and different input parameters such as voltage and frequency. Experiments were conducted using a synthetic jet apparatus designed for various geometrical parameters utilizing a dual disk configuration. Velocity and temperature measurements were acquired at the center of the synthetic jet orifice using a temperature compensated hotwire and thermocouple probe. The disk displacement was measured at the center of the disk with a laser displacement sensor. It was shown that the synthetic jet actuators are capable of exceeding peak velocities of 200 m/s with a relatively large orifice. Data suggests that jet velocities greater than 200 m/s are attainable.

  17. High precision laser forming for micro actuation

    NARCIS (Netherlands)

    Folkersma, Ger; Römer, Gerardus Richardus, Bernardus, Engelina; Brouwer, Dannis Michel; Huis in 't Veld, Bert; Nakata, Yoshiki; Xu, Xianfan; Roth, Stephan; Neuenschwander, Beat


    For assembly of micro-devices, such as photonic devices, the precision alignment of components is often critical for their performance. Laser forming, also known as laser-adjusting, can be used to create an integrated microactuator to align the components with sub-micron precision after bonding. In

  18. Actuator Fault Detection and Diagnosis for Quadrotors

    NARCIS (Netherlands)

    Lu, P.; Van Kampen, E.J.; Yu, B.


    This paper presents a method for fault detection and diagnosis of actuator loss of effectiveness for a quadrotor helicopter. This paper not only considers the detection of the actuator loss of effectiveness faults, but also addresses the diagnosis of the faults. The detection and estimation of the

  19. Active vibration control using DEAP actuators (United States)

    Sarban, Rahimullah; Jones, Richard W.


    Dielectric electro-active polymer (DEAP) is a new type of smart material, which has the potential to be used to provide effective actuation for a wide range of applications. The properties of DEAP material place it somewhere between those of piezoceramics and shape memory alloys. Of the range of DEAP-based actuators that have been developed those having a cylindrical configuration are among the most promising. This contribution introduces the use of a tubular type DEAP actuator for active vibration control purposes. Initially the DEAP-based tubular actuator to be used in this study, produced by Danfoss PolyPower A/S, is introduced along with the static and dynamic characteristics. Secondly an electromechanical model of the tubular actuator is briefly reviewed and its ability to model the actuator's hysteresis characteristics for a range of periodic input signals at different frequencies demonstrated. The model will be used to provide hysteresis compensation in future vibration isolation studies. Experimental active vibration control using the actuator is then examined, specifically active vibration isolation of a 250 g mass subject to shaker generated 'ground vibration'. An adaptive feedforward control strategy is used to achieve this. The ability of the tubular actuator to reject both tonal and broadband random vibratory disturbances is then demonstrated.

  20. Artificial Cilia : Mimicking Nature Through Magnetic Actuation

    NARCIS (Netherlands)

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


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

  1. Conducting Polymer Actuators: Prospects and Limitations

    DEFF Research Database (Denmark)

    Skaarup, Steen

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

  2. Conjugated Polymer Actuators: Prospects and Limitations

    DEFF Research Database (Denmark)

    Skaarup, Steen


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

  3. Fault Detection for Diesel Engine Actuator

    DEFF Research Database (Denmark)

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


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

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

    Directory of Open Access Journals (Sweden)

    Minh Khang Phan


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

  5. Advanced Actuator Concepts for High Precision Deformable Mirrors Project (United States)

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

  6. Class-D amplifier design and performance for driving a Piezo Actuator Drive servomotor

    DEFF Research Database (Denmark)

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


    This paper investigates the behavior of piezoelectric stacks in a Piezoelectric Actuator Drive (PAD) motor, which shows non-linear equivalent impedance and has a dramatic impact on the overall system performance. Therefore, in this paper, the piezo stackt’s model is discussed and an improved large...

  7. Physical model-based internal model control of a DE actuator (United States)

    Sarban, Rahimullah; Jones, Richard W.


    An accurate physical-based electromechanical model of a commercially available tubular dielectric elastomer actuator has been developed at University of Southern Denmark. This model has been validated for a range of different periodic input voltage signals as well as for different loading conditions. In this contribution we are interested in seeing how the physical-based electromechanical model can be used directly within a model-based control scheme. The choice of control scheme was dictated by the desire for transparency in both controller design and operation. The Internal Model Control (IMC) approach, which is based on the Internal Model Principle, which states that 'control can be achieved only if the control system encapsulates, either implicitly or explicitly, some representation of the process to be controlled' was chosen. If the IMC approach is implemented based on an exact model of the plant, perfect control is theoretically possible. IMC -based control is investigated for servo control of the dielectric elastomer actuator position as well as its ability to reject disturbances. The approach comprises (a) the use of the DE actuator model in parallel to the real actuator - the difference between the two outputs providing an estimate of any disturbance entering the system, (b) the estimated disturbance being fed back and compared with the reference input and (c) the difference between the reference and the estimated disturbance provides the input to the IMC controller which is based on an inverse model of the DE actuator. In the IMC implementation considered here the full nonlinear electromechanical model of the actuator is used to provide the disturbance estimate. The use of a linearizing gain scheduler, placed in series with the real actuator, allows a linearized inverse of the electromechanical model to be used in the formulation of the IMC controller.

  8. Microfabrication of stacked dielectric elastomer actuator fibers (United States)

    Corbaci, Mert; Walter, Wayne; Lamkin-Kennard, Kathleen


    Dielectric elastomer actuators (DEA) are one of the best candidate materials for next generation of robotic actuators, soft sensors and artificial muscles due to their fast response, mechanical robustness and compliance. However, high voltage requirements of DEAs have impeded their potential to become widely used in such applications. In this study, we propose a method for fabrication of silicon based multilayer DEA fibers composed of microlevel dielectric layers to improve the actuation ratios of DEAs at lower voltages. A multi-walled carbon nanotube - polydimethylsiloxane (MWCNT/PDMS) composite was used to fabricate mechanically compliant, conductive parallel plates and electrode connections for the DEA actuators. Active surface area and layer thickness were varied to study the effects of these parameters on actuation ratio as a function of applied voltage. Different structures were fabricated to assess the flexibility of the fabrication method for specific user-end applications.

  9. Design and model for the giant magnetostrictive actuator used on an electronic controlled injector (United States)

    Xue, Guangming; Zhang, Peilin; He, Zhongbo; Li, Ben; Rong, Ce


    Giant magnetostrictive actuator (GMA) may be a promising candidate actuator to drive an electronic controlled injector as giant magnetostrictive material (GMM) has excellent performances as large output, fast response and high operating stability etc. To meet the driving requirement of the injector, the GMA should produce maximal shortening displacement when energized. An unbiased GMA with a ‘T’ shaped output rod is designed to reach the target. Furthermore, an open-hold-fall type driving voltage is exerted on the actuator coil to accelerate the response speed of the coil current. The actuator displacement is modeled from establishing the sub-models of coil current, magnetic field within GMM rod, magnetization and magnetostrictive strain sequentially. Two modifications are done to make the model more accurate. Firstly, consider the model fails to compute the transient-state response precisely, a dead-zone and delay links are embedded into the coil current sub-model. Secondly, as the magnetization and magnetostrictive strain sub-models just influence the change rule of the transient-state response the linear magnetostrictive strain-magnetic field sub-model is introduced. From experimental results, the modified model with linear magnetostrictive stain expression can predict the actuator displacement quite effectively.

  10. New developments of the R & D silicon tracking for linear collider on ...

    Indian Academy of Sciences (India)

    Keywords. New generation of silicon tracking; new sensors; large area tracking systems for international linear collider; deep sub-micron electronics. ... are discussed. Combined tests with other sub-detectors are finally addressed. This test beam program is inserted in the framework of the EUDET European project.

  11. Anthropogenic influences on the physical state of submicron particulate matter over a tropical forest

    Energy Technology Data Exchange (ETDEWEB)

    Bateman, Adam P.; Gong, Zhaoheng; Harder, Tristan H.; de Sá, Suzane S.; Wang, Bingbing; Castillo, Paulo; China, Swarup; Liu, Yingjun; O& amp; apos; Brien, Rachel E.; Palm, Brett B.; Shiu, Hung-Wei; Cirino, Glauber G.; Thalman, Ryan; Adachi, Kouji; Alexander, M. Lizabeth; Artaxo, Paulo; Bertram, Allan K.; Buseck, Peter R.; Gilles, Mary K.; Jimenez, Jose L.; Laskin, Alexander; Manzi, Antonio O.; Sedlacek, Arthur; Souza, Rodrigo A. F.; Wang, Jian; Zaveri, Rahul; Martin, Scot T.


    The occurrence of nonliquid and liquid physical states of submicron atmospheric particulate matter (PM) downwind of an urban region in central Amazonia was investigated. Measurements were conducted during two intensive operating periods (IOP1 and IOP2) that took place during the wet and dry seasons of the GoAmazon2014/5 campaign. Air masses representing variable influences of background conditions, urban pollution, and regional- and continental-scale biomass burning passed over the research site. As the air masses varied, particle rebound fraction, an indicator of physical state, was measured in real time at ground level using an impactor apparatus. Micrographs collected by transmission electron microscopy confirmed that liquid particles adhered, while nonliquid particles rebounded. Relative humidity (RH) was scanned to collect rebound curves. When the apparatus RH matched ambient RH, 95 % of the particles adhered as a campaign average. Secondary organic material, produced for the most part by the oxidation of volatile organic compounds emitted from the forest, produces liquid PM over this tropical forest. During periods of anthropogenic influence, by comparison, the rebound fraction dropped to as low as 60 % at 95 % RH. Analyses of the mass spectra of the atmospheric PM by positive-matrix factorization (PMF) and of concentrations of carbon monoxide, total particle number, and oxides of nitrogen were used to identify time periods affected by anthropogenic influences, including both urban pollution and biomass burning. The occurrence of nonliquid PM at high RH correlated with these indicators of anthropogenic influence. A linear model having as output the rebound fraction and as input the PMF factor loadings explained up to 70 % of the variance in the observed rebound fractions. Anthropogenic influences can contribute to the presence of nonliquid PM in the atmospheric particle population through the combined effects of molecular species that increase viscosity

  12. Optothermally actuated capillary burst valve (United States)

    Eriksen, Johan; Bilenberg, Brian; Kristensen, Anders; Marie, Rodolphe


    We demonstrate the optothermal actuation of individual capillary burst valves in an all-polymer microfluidic device. The capillary burst valves are realised in a planar design by introducing a fluidic constriction in a microfluidic channel of constant depth. We show that a capillary burst valve can be burst by raising the temperature due to the temperature dependence of the fluid surface tension. We address individual valves by using a local heating platform based on a thin film of near infrared absorber dye embedded in the lid used to seal the microfluidic device [L. H. Thamdrup et al., Nano Lett. 10, 826-832 (2010)]. An individual valve is burst by focusing the laser in its vicinity. We demonstrate the capture of single polystyrene 7 μm beads in the constriction triggered by the bursting of the valve.

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

    KAUST Repository

    Rawashdeh, E.


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

  14. Characterization of Kink Actuators as Compared to Traditional Chevron Shaped Bent-Beam Electrothermal Actuators

    Directory of Open Access Journals (Sweden)

    Ian G. Foulds


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

  15. Penetration of sub-micron particles into dentinal tubules using ultrasonic cavitation. (United States)

    Vyas, N; Sammons, R L; Pikramenou, Z; Palin, W M; Dehghani, H; Walmsley, A D


    Functionalised silica sub-micron particles are being investigated as a method of delivering antimicrobials and remineralisation agents into dentinal tubules. However, their methods of application are not optimised, resulting in shallow penetration and aggregation. The aim of this study is to investigate the impact of cavitation occurring around ultrasonic scalers for enhancing particle penetration into dentinal tubules. Dentine slices were prepared from premolar teeth. Silica sub-micron particles were prepared in water or acetone. Cavitation from an ultrasonic scaler (Satelec P5 Newtron, Acteon, France) was applied to dentine slices immersed inside the sub-micron particle solutions. Samples were imaged with scanning electron microscopy (SEM) to assess tubule occlusion and particle penetration. Qualitative observations of SEM images showed some tubule occlusion. The particles could penetrate inside the tubules up to 60μm when there was no cavitation and up to ∼180μm when there was cavitation. The cavitation bubbles produced from an ultrasonic scaler may be used to deliver sub-micron particles into dentine. This method has the potential to deliver such particles deeper into the dentinal tubules. Cavitation from a clinical ultrasonic scaler may enhance penetration of sub-micron particles into dentinal tubules. This can aid in the development of novel methods for delivering therapeutic clinical materials for hypersensitivity relief and treatment of dentinal caries. Copyright © 2016 Elsevier Ltd. All rights reserved.

  16. High-Performance Multiresponsive Paper Actuators. (United States)

    Amjadi, Morteza; Sitti, Metin


    There is an increasing demand for soft actuators because of their importance in soft robotics, artificial muscles, biomimetic devices, and beyond. However, the development of soft actuators capable of low-voltage operation, powerful actuation, and programmable shape-changing is still challenging. In this work, we propose programmable bilayer actuators that operate based on the large hygroscopic contraction of the copy paper and simultaneously large thermal expansion of the polypropylene film upon increasing the temperature. The electrothermally activated bending actuators can function with low voltages (≤ 8 V), low input electric power per area (P ≤ 0.14 W cm-2), and low temperature changes (≤ 35 °C). They exhibit reversible shape-changing behavior with curvature radii up to 1.07 cm-1 and bending angle of 360°, accompanied by powerful actuation. Besides the electrical activation, they can be powered by humidity or light irradiation. We finally demonstrate the use of our paper actuators as a soft gripper robot and a lightweight paper wing for aerial robotics.

  17. Characterization of a Lorentz Force Actuator (United States)

    Donovan, John F.; Kral, Linda D.; Cary, Andrew W.


    To develop a detailed understanding of the effect of a Lorentz force actuator in seawater, both experiments and numerical simulations are conducted in an environment with no mean flow. The Lorentz force actuator is comprised of a pair of magnets and a pair of electrodes and produces a volumetric body force. A pressurized water vessel contains a uniform water/electrolyte solution. Particle image velocimetry and laser sheet flow visualization are used to obtain snapshots of the induced flow for different orientations of the laser sheet. Simulations are also performed in a static water/electrolyte solution with the same current levels as in the experiments. Flow is induced upward at the center of the actuator, even though a downward Lorentz force is applied there. Both the simulations and the experiments show that the Lorentz force actuator creates a complex three-dimensional interaction resulting in a upward flow over the actuator. Two wall jets directed toward one another are created by the forces over the electrodes that impinge in the center of the actuator and fluid is pushed up and away from the wall. In terms of vorticity production, the actuator exhibits local maxima in the curl of the Lorentz force away from the wall in a region above the magnets. Comparison between simulation and experiment is remarkably good. This work is supported by Mr. Gary Jones at the Defense Advanced Research Projects Agency.

  18. Linear algebra

    CERN Document Server

    Said-Houari, Belkacem


    This self-contained, clearly written textbook on linear algebra is easily accessible for students. It begins with the simple linear equation and generalizes several notions from this equation for the system of linear equations and introduces the main ideas using matrices. It then offers a detailed chapter on determinants and introduces the main ideas with detailed proofs. The third chapter introduces the Euclidean spaces using very simple geometric ideas and discusses various major inequalities and identities. These ideas offer a solid basis for understanding general Hilbert spaces in functional analysis. The following two chapters address general vector spaces, including some rigorous proofs to all the main results, and linear transformation: areas that are ignored or are poorly explained in many textbooks. Chapter 6 introduces the idea of matrices using linear transformation, which is easier to understand than the usual theory of matrices approach. The final two chapters are more advanced, introducing t...

  19. Saturated poroelastic actuators generated by topology optimization

    DEFF Research Database (Denmark)

    Andreasen, Casper Schousboe; Sigmund, Ole


    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...... 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....

  20. Refreshable Braille displays using EAP actuators (United States)

    Bar-Cohen, Yoseph


    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.

  1. Modeling of a Dielectric Elastomer Bender Actuator

    Directory of Open Access Journals (Sweden)

    Paul White


    Full Text Available The current smallest self-contained modular robot uses a shape memory alloy, which is inherently inefficient, slow and difficult to control. We present the design, fabrication and demonstration of a module based on dielectric elastomer actuation. The module uses a pair of bowtie dielectric elastomer actuators in an agonist-antagonist configuration and is seven times smaller than previously demonstrated. In addition, we present an intuitive model for the bowtie configuration that predicts the performance with experimental verification. Based on this model and the experimental analysis, we address the theoretical limitations and advantages of this antagonistic bender design relative to other dielectric elastomer actuators.

  2. Deciphering sub-micron ice particles on Enceladus surface (United States)

    Scipioni, F.; Schenk, P.; Tosi, F.; D'Aversa, E.; Clark, R.; Combe, J.-Ph.; Ore, C. M. Dalle


    The surface of Saturn's moon Enceladus is composed primarily by pure water ice. The Cassini spacecraft has observed present-day geologic activity at the moon's South Polar Region, related with the formation and feeding of Saturn's E-ring. Plumes of micron-sized particles, composed of water ice and other non-ice contaminants (e.g., CO2, NH3, CH4), erupt from four terrain's fractures named Tiger Stripes. Some of this material falls back on Enceladus' surface to form deposits that extend to the North at ∼40°W and ∼220°W, with the highest concentration found at the South Pole. In this work we analyzed VIMS-IR data to identify plumes deposits across Enceladus' surface through the variation in band depth of the main water ice spectral features. To characterize the global variation of water ice band depths across Enceladus, the entire surface was sampled with an angular resolution of 1° in both latitude and longitude, and for each angular bin we averaged the value of all spectral indices as retrieved by VIMS. The position of the plumes' deposits predicted by theoretical models display a good match with water ice band depths' maps on the trailing hemisphere, whereas they diverge significantly on the leading side. Space weathering processes acting on Enceladus' surface ionize and break up water ice molecules, resulting in the formation of particles smaller than one micron. We also mapped the spectral indices for sub-micron particles and we compared the results with the plumes deposits models. Again, a satisfactory match is observed on the trailing hemisphere only. Finally, we investigated the variation of the depth of the water ice absorption bands as a function of the phase angle. In the visible range, some terrains surrounding the Tiger Stripes show a decrease in albedo when the phase angle is smaller than 10°. This unusual effect cannot be confirmed by near infrared data, since observations with a phase angle lower than 10° are not available. For phase angle

  3. Parametric analysis of a shape memory alloy actuated arm (United States)

    Wright, Cody; Bilgen, Onur


    Using a pair of antagonistic Shape Memory Allow (SMA) wires, it may be possible to produce a mechanism that replicates human musculoskeletal movement. The movement of interest is the articulation of the elbow joint actuated by the biceps brachii muscle. In an effort to understand the bio-mechanics of the arm, a single degree of freedom crankslider mechanism is used to model the movement of the arm induced by the biceps brachii muscle. First, a purely kinematical analysis is performed on a rigid body crank-slider. Force analysis is also done modeling the muscle as a simple linear spring. Torque, rocking angle, and energy are calculated for a range of crank-slider geometries. The SMA wire characteristics are experimentally determined for the martensite detwinned and full austenite phases. Using the experimental data, an idealized actuator characteristic curve is produced for the SMA wire. Kinematic and force analyses are performed on the nonlinear wire characteristic curve and a linearized wire curve; both cases are applied to the crankslider mechanism. Performance metrics for both cases are compared, followed by discussion.

  4. FEM assisted design and simulation of novel electrothermal actuators

    NARCIS (Netherlands)

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


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

  5. Fabrication and characterization of submicron polymer waveguides by micro-transfer molding

    Energy Technology Data Exchange (ETDEWEB)

    Wu, Te-Wei [Iowa State Univ., Ames, IA (United States)


    Various methods exist for fabrication of micron and submicron sized waveguide structures. However, most of them include expensive and time consuming semiconductor fabrication techniques. An economical method for fabricating waveguide structures is introduced and demonstrated in this thesis. This method is established based on previously well-developed photonic crystal fabrication method called two-polymer microtransfer molding. The waveguide in this work functions by a coupler structure that diffracts the incident light into submicron polymer rods. The light is then guided through the rods. Characterization is done by collecting the light that has been guided through the waveguide and exits the end of these submicron polymer bars. The coupling and waveguiding capabilities are demonstrated using two light sources, a laser and white light.

  6. Recent Trends in Lower-Limb Robotic Rehabilitation Orthosis: Control Scheme and Strategy for Pneumatic Muscle Actuated Gait Trainers

    Directory of Open Access Journals (Sweden)

    Mohd Azuwan Mat Dzahir


    Full Text Available It is a general assumption that pneumatic muscle-type actuators will play an important role in the development of an assistive rehabilitation robotics system. In the last decade, the development of a pneumatic muscle actuated lower-limb leg orthosis has been rather slow compared to other types of actuated leg orthoses that use AC motors, DC motors, pneumatic cylinders, linear actuators, series elastic actuators (SEA and brushless servomotors. However, recent years have shown that the interest in this field has grown exponentially, mainly due to the demand for a more compliant and interactive human-robotics system. This paper presents a survey of existing lower-limb leg orthoses for rehabilitation, which implement pneumatic muscle-type actuators, such as McKibben artificial muscles, rubbertuators, air muscles, pneumatic artificial muscles (PAM or pneumatic muscle actuators (PMA. It reviews all the currently existing lower-limb rehabilitation orthosis systems in terms of comparison and evaluation of the design, as well as the control scheme and strategy, with the aim of clarifying the current and on-going research in the lower-limb robotic rehabilitation field.

  7. Linear algebra

    CERN Document Server

    Stoll, R R


    Linear Algebra is intended to be used as a text for a one-semester course in linear algebra at the undergraduate level. The treatment of the subject will be both useful to students of mathematics and those interested primarily in applications of the theory. The major prerequisite for mastering the material is the readiness of the student to reason abstractly. Specifically, this calls for an understanding of the fact that axioms are assumptions and that theorems are logical consequences of one or more axioms. Familiarity with calculus and linear differential equations is required for understand

  8. Linear Algebra and Linear Models

    Indian Academy of Sciences (India)

    This monograph provides an introduction to the basic aspects of the theory oflinear estima- tion and that of testing linear hypotheses. The primary objective is to provide a basic knowledge of analysis of linear models to advanced undergraduate or first year Master's students. The second edition virtually covers the same ...

  9. Linear algebra

    CERN Document Server

    Liesen, Jörg


    This self-contained textbook takes a matrix-oriented approach to linear algebra and presents a complete theory, including all details and proofs, culminating in the Jordan canonical form and its proof. Throughout the development, the applicability of the results is highlighted. Additionally, the book presents special topics from applied linear algebra including matrix functions, the singular value decomposition, the Kronecker product and linear matrix equations. The matrix-oriented approach to linear algebra leads to a better intuition and a deeper understanding of the abstract concepts, and therefore simplifies their use in real world applications. Some of these applications are presented in detailed examples. In several ‘MATLAB-Minutes’ students can comprehend the concepts and results using computational experiments. Necessary basics for the use of MATLAB are presented in a short introduction. Students can also actively work with the material and practice their mathematical skills in more than 300 exerc...

  10. Linear Models

    CERN Document Server

    Searle, Shayle R


    This 1971 classic on linear models is once again available--as a Wiley Classics Library Edition. It features material that can be understood by any statistician who understands matrix algebra and basic statistical methods.

  11. Linear programming

    CERN Document Server

    Solow, Daniel


    This text covers the basic theory and computation for a first course in linear programming, including substantial material on mathematical proof techniques and sophisticated computation methods. Includes Appendix on using Excel. 1984 edition.

  12. Linear algebra

    CERN Document Server

    Berberian, Sterling K


    Introductory treatment covers basic theory of vector spaces and linear maps - dimension, determinants, eigenvalues, and eigenvectors - plus more advanced topics such as the study of canonical forms for matrices. 1992 edition.

  13. Unidirectional variable stiffness hydraulic actuator for load-carrying knee exoskeleton

    Directory of Open Access Journals (Sweden)

    Jun Zhu


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

  14. On-chip digital microfluidic architectures for enhanced actuation and sensing (United States)

    Nichols, Jacqueline; Collier, Christopher M.; Landry, Emily L.; Wiltshire, Michael; Born, Brandon; Holzman, Jonathan F.


    An on-chip system is presented with integrated architectures for digital microfluidic actuation and sensing. Localized actuation is brought about by a digital microfluidic multiplexer layout that overcomes the challenges of multi-microdrop interference, and complete two-dimensional motion is shown for microdrops on a 14×14 grid with minimized complexity by way of 14+14 inputs. At the same time, microdrop sensing is demonstrated in a folded-cavity design for enhanced optical intensity probing of internal fluid refractive indices. The heightened intensities from this on-chip refractometer are shown to have a linear response to the underlying fluid refractive index. An electro-dispensing technique is used to fabricate the folded-cavity optical architecture in a format that is tuned for the desired refractive index range and sensitivity. The overall lab-on-a-chip system is successful in integrating localized microdrop actuation and sensing.

  15. Classical Flutter and Active Control of Wind Turbine Blade Based on Piezoelectric Actuation

    Directory of Open Access Journals (Sweden)

    Tingrui Liu


    Full Text Available The aim of this article is to analyze classical flutter and active control of single-cell thin-walled composite wind turbine blade beam based on piezoelectric actuation. Effects of piezoelectric actuation for classical flutter suppression on wind turbine blade beam subjected to combined transverse shear deformation, warping restraint effect, and secondary warping are investigated. The extended Hamilton’s principle is used to set up the equations of motion, and the Galerkin method is applied to reduce the aeroelastic coupled equations into a state-space form. Active control is developed to enhance the vibrational behavior and dynamic response to classical aerodynamic excitation and stabilize structures that might be damaged in the absence of control. Active optimal control scheme based on linear quadratic Gaussian (LQG controller is implemented. The research provides a way for rare study of classical flutter suppression and active control of wind turbine blade based on piezoelectric actuation.

  16. LINEAR ACCELERATOR (United States)

    Christofilos, N.C.; Polk, I.J.


    Improvements in linear particle accelerators are described. A drift tube system for a linear ion accelerator reduces gap capacity between adjacent drift tube ends. This is accomplished by reducing the ratio of the diameter of the drift tube to the diameter of the resonant cavity. Concentration of magnetic field intensity at the longitudinal midpoint of the external sunface of each drift tube is reduced by increasing the external drift tube diameter at the longitudinal center region.

  17. Active vibration reduction by optimally placed sensors and actuators with application to stiffened plates by beams (United States)

    Daraji, A. H.; Hale, J. M.


    This study concerns new investigation of active vibration reduction of a stiffened plate bonded with discrete sensor/actuator pairs located optimally using genetic algorithms based on a developed finite element modeling. An isotropic plate element stiffened by a number of beam elements on its edges and having a piezoelectric sensor and actuator pair bonded to its surfaces is modeled using the finite element method and Hamilton’s principle, taking into account the effects of piezoelectric mass, stiffness and electromechanical coupling. The modeling is based on the first order shear deformation theory taking into account the effects of bending, membrane and shear deformation for the plate, the stiffening beam and the piezoelectric patches. A Matlab finite element program has been built for the stiffened plate model and verified with ANSYS and also experimentally. Optimal placement of ten piezoelectric sensor/actuator pairs and optimal feedback gain for active vibration reduction are investigated for a plate stiffened by two beams arranged in the form of a cross. The genetic algorithm was set up for optimization of sensor/actuator placement and feedback gain based on the minimization of the optimal linear quadratic index as an objective function to suppress the first six modes of vibration. Comparison study is presented for active vibration reduction of a square cantilever plate stiffened by crossed beams with two sensor/actuator configurations: firstly, ten piezoelectric sensor/actuator pairs are located in optimal positions; secondly, a piezoelectric layer of single sensor/actuator pair covering the whole of the stiffened plate as a SISO system.

  18. Piezoelectric control of the static behaviour of flextensional actuators with constricted hinges (United States)

    Przybylski, Jacek


    The objective of this paper is to present the mathematical modelling and computational testing of the static operational performance and effectiveness of flextensional actuators comprised of two rectilinear or initially deflected beams placed equidistantly from a centrally located piezoceramic stack in the form of a rod. The beams are mounted by stiff links with an offset to a piezoelectric transformer. A monolithic hinge lever mechanism is applied by cutting constricted hinges at the links to generate and magnify the in-plane displacement created by the application of a voltage to the piezorod. Structures of such a type have been commonly used as passive or active actuators since the manufacturing of the mechanism’s prototypes in the form of Moonie or cymbal actuators. An analytical model of the actuator is developed on the basis of stationary values of the total potential energy principle with the use of the von Kármán non-linear strains theory. During the numerical computations, the deflection and internal axial force generated by both the externally distributed load and the the application of an electric field are determined by changing the actuator properties such as the distance between the beams and the rod, the amplitude of the beam’s initial displacement as well as the stiffness of the constricted hinges. Additionally, the application of structure prestressing is considered to avoid an undesired stretching of the piezo stack. It has been shown that for the flextensional actuator with a very high flexibility of constricted hinges, the generated transverse displacement is limited by the maximum electric field as the characteristic property for each piezoceramic material. A vast number of numerical results exhibit the mechanical responses of the transducer of different geometrical and physical properties to piezoelectric stimulation; this has potential applications in the design process of such actuators.

  19. High Reliability Cryogenic Piezoelectric Valve Actuator Project (United States)

    National Aeronautics and Space Administration — Piezoelectric actuators constructed with the "smart material" PZT offer many potential advantages for use in NASA cryo-valve missions relative to conventional...

  20. Robust Tracking Control for a Piezoelectric Actuator

    National Research Council Canada - National Science Library

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


    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...

  1. Serpentine Robot Arm Contains Electromagnetic Actuators (United States)

    Moya, Israel A.; Studer, Philip A.


    Identical modules assembled into flexible robot arm configured in serpentlike fashion to manipulate objects while avoiding obstacles. Each module includes integral electromagnetic actuators energized selectively to produce variety of motions, stationary configurations, and combinations thereof.

  2. 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


    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.

  3. Performance Characterization of HT Actuator for Venus (United States)

    Rehnmark, F.; Bailey, J.; Cloninger, E.; Zacny, K.; Hall, J.; Sherrill, K.; Melko, J.; Kriechbaum, K.; Wilcox, B.


    A high temperature (HT) actuator capable of operating in the harsh environment found on the surface of Venus has been built and tested in rock drilling trials at JPL’s Venus Materials Test Facility.

  4. MEMS Sensors and Actuators Laboratory (MSAL) (United States)

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

  5. Light-actuated microrobots for biomedical science

    DEFF Research Database (Denmark)

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


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

  6. Electrostatically actuated torsional resonant sensors and switches

    KAUST Repository

    Younis, Mohammad I.


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

  7. SparkJet Actuators for Flow Control (United States)


    GED-L-07-0137 Aqsi Recording Comute I, rm) /117 ~ Lens (f=105m) X2Photodiode Kodak ES4.0 (2amera 2K) Oscilloscope 300 MHz, Camera 2.5 GS/s and Laser...actuator arrays. 19 SparkJet Actuators for Flow Control Enclosure to: Final Report GED-L-07-0137 From a mathematical standpoint, CFD formulations will

  8. Dynamic profile of a prototype pivoted proof-mass actuator. [damping the vibration of large space structures (United States)

    Miller, D. W.


    A prototype of a linear inertial reaction actuation (damper) device employing a flexure-pivoted reaction (proof) mass is discussed. The mass is driven by an electromechanic motor using a dc electromagnetic field and an ac electromagnetic drive. During the damping process, the actuator dissipates structural kinetic energy as heat through electromagnetic damping. A model of the inertial, stiffness and damping properties is presented along with the characteristic differential equations describing the coupled response of the actuator and structure. The equations, employing the dynamic coefficients, are oriented in the form of a feedback control network in which distributed sensors are used to dictate actuator response leading to a specified amount of structural excitation or damping.

  9. Design and fabrication of a hybrid actuator (United States)

    Fu, Yao; Ghantasala, Muralidhar K.; Harvey, Erol; Qin, Lijiang


    The necessity to reduce the size of actuators and at the same time increase the force and the air gap has placed severe constraints on the suitability of current microactuator technology for various applications. This has led to the development of new actuator technologies based on novel materials or modifying existing systems. As an effort in this direction, we are reporting on the design and fabrication of a hybrid actuator employing a combination of electromagnetic and piezoelectric actuation methods for the first time. This actuator was designed and optimized by using the piezoelectric and electromagnetic solvers of commercially available FEM software packages (CoventorWare and ANSYS). The device consists of a shaped piezoelectric composite cantilever on the top and a copper coil wound around a permalloy core assembled on a silicon substrate with a permanent magnet at the bottom. The composite cantilever consists of polarized piezoelectric polymer polyvinylidene fluoride (PVDF) with an electroplated permalloy layer on one side. Microstructures in the required shape are introduced using novel methodologies including laser micromachining and microembossing. The hybrid actuator has been fabricated and tested using standard testing procedures. The experimental data are compared with the simulation results from both the finite element methods and the analytical model. There is excellent agreement between the results obtained in simulation and by experiment. A maximum total deflection of 400 µm with a typical contact force of 200 µN has been achieved.


    Directory of Open Access Journals (Sweden)

    A. Moosavi


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

  11. High-displacement spiral piezoelectric actuators (United States)

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


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

  12. Networked Rectenna Array for Smart Material Actuators (United States)

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


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

  13. Fuzzy Constrained Predictive Optimal Control of High Speed Train with Actuator Dynamics

    Directory of Open Access Journals (Sweden)

    Xi Wang


    Full Text Available We investigate the problem of fuzzy constrained predictive optimal control of high speed train considering the effect of actuator dynamics. The dynamics feature of the high speed train is modeled as a cascade of cars connected by flexible couplers, and the formulation is mathematically transformed into a Takagi-Sugeno (T-S fuzzy model. The goal of this study is to design a state feedback control law at each decision step to enhance safety, comfort, and energy efficiency of high speed train subject to safety constraints on the control input. Based on Lyapunov stability theory, the problem of optimizing an upper bound on the cruise control cost function subject to input constraints is reduced to a convex optimization problem involving linear matrix inequalities (LMIs. Furthermore, we analyze the influences of second-order actuator dynamics on the fuzzy constrained predictive controller, which shows risk of potentially deteriorating the overall system. Employing backstepping method, an actuator compensator is proposed to accommodate for the influence of the actuator dynamics. The experimental results show that with the proposed approach high speed train can track the desired speed, the relative coupler displacement between the neighbouring cars is stable at the equilibrium state, and the influence of actuator dynamics is reduced, which demonstrate the validity and effectiveness of the proposed approaches.

  14. Electrowetting dynamics of microfluidic actuation. (United States)

    Wang, K-L; Jones, T B


    When voltage is suddenly applied to vertical, parallel dielectric-coated electrodes dipped into a liquid with finite conductivity, the liquid responds by rising up to reach a new hydrostatic equilibrium height. On the microfluidic scale, the dominating mechanism impeding this electromechanically induced actuation appears to be a dynamic friction force that is directly proportional to the velocity of the contact line moving along the solid surface. This mechanism has its origin in the molecular dynamics of the liquid coming into contact with the solid surface. A simple reduced-order model for the rising column of liquid is used to quantify the magnitude of this frictional effect by providing estimates for the contact line friction coefficient. Above some critical threshold of voltage, the electromechanical force is clamped, presumably by the same mechanism responsible for contact angle saturation and previously reported static height-of-rise limits. The important distinction for the dynamic case is that the onset of the saturation effect is delayed in time until the column has risen more than about halfway to its static equilibrium height.

  15. Electrokinetic actuation of liquid metal for reconfigurable radio frequency devices (United States)

    Gough, Ryan C.

    Liquid metals are an attractive material choice for designers wishing to combine the advantages of metals, such as high electrical conductivity, thermal conductivity, and reflectivity, with the inherently dynamic nature of fluids. Liquid metals have been utilized for a wide variety of applications, but their high electrical conductivity, surface smoothness, and linear response makes them especially attractive as tuning elements within reconfigurable radio frequency (RF) devices. The recent introduction of non-toxic liquid metal alloys onto the commercial market has further fueled interest in this versatile material. Early experiments with liquid metal as an RF tuning element have yielded promising results, but have largely depended on externally applied pressure to actuate the liquid metal. For commercial implementation this would necessitate the use of clunky and inefficient micro-pumps, which can require both high voltages and high power consumption. This reliance on hydraulic pumping has been a significant barrier to the incorporation of liquid metal as an RF tuning element in applications outside of a laboratory setting. Here, several electrical actuation techniques are demonstrated that allow for the rapid and repeatable actuation of non-toxic gallium alloys as tuning elements within reconfigurable RF devices. These techniques leverage the naturally high surface tension of liquid metals, as well as the unique electrochemistry of gallium-based alloys, to exercise wide-ranging and high fidelity control over both the metal's shape and position. Furthermore, this control is exercised with voltage and power levels that are each better than an order of magnitude below that achievable with conventional micro-pumps. This control does not require the constant application of actuation signals in order to maintain an actuated state, and can even be 'self-actuated', with the liquid metal supplying its own kinetic energy via the electrochemical conversion of its native

  16. Linear regression

    CERN Document Server

    Olive, David J


    This text covers both multiple linear regression and some experimental design models. The text uses the response plot to visualize the model and to detect outliers, does not assume that the error distribution has a known parametric distribution, develops prediction intervals that work when the error distribution is unknown, suggests bootstrap hypothesis tests that may be useful for inference after variable selection, and develops prediction regions and large sample theory for the multivariate linear regression model that has m response variables. A relationship between multivariate prediction regions and confidence regions provides a simple way to bootstrap confidence regions. These confidence regions often provide a practical method for testing hypotheses. There is also a chapter on generalized linear models and generalized additive models. There are many R functions to produce response and residual plots, to simulate prediction intervals and hypothesis tests, to detect outliers, and to choose response trans...

  17. Linear algebra

    CERN Document Server

    Sahai, Vivek


    Beginning with the basic concepts of vector spaces such as linear independence, basis and dimension, quotient space, linear transformation and duality with an exposition of the theory of linear operators on a finite dimensional vector space, this book includes the concept of eigenvalues and eigenvectors, diagonalization, triangulation and Jordan and rational canonical forms. Inner product spaces which cover finite dimensional spectral theory and an elementary theory of bilinear forms are also discussed. This new edition of the book incorporates the rich feedback of its readers. We have added new subject matter in the text to make the book more comprehensive. Many new examples have been discussed to illustrate the text. More exercises have been included. We have taken care to arrange the exercises in increasing order of difficulty. There is now a new section of hints for almost all exercises, except those which are straightforward, to enhance their importance for individual study and for classroom use.

  18. Linear algebra

    CERN Document Server

    Edwards, Harold M


    In his new undergraduate textbook, Harold M Edwards proposes a radically new and thoroughly algorithmic approach to linear algebra Originally inspired by the constructive philosophy of mathematics championed in the 19th century by Leopold Kronecker, the approach is well suited to students in the computer-dominated late 20th century Each proof is an algorithm described in English that can be translated into the computer language the class is using and put to work solving problems and generating new examples, making the study of linear algebra a truly interactive experience Designed for a one-semester course, this text adopts an algorithmic approach to linear algebra giving the student many examples to work through and copious exercises to test their skills and extend their knowledge of the subject Students at all levels will find much interactive instruction in this text while teachers will find stimulating examples and methods of approach to the subject

  19. Linear algebra

    CERN Document Server

    Allenby, Reg


    As the basis of equations (and therefore problem-solving), linear algebra is the most widely taught sub-division of pure mathematics. Dr Allenby has used his experience of teaching linear algebra to write a lively book on the subject that includes historical information about the founders of the subject as well as giving a basic introduction to the mathematics undergraduate. The whole text has been written in a connected way with ideas introduced as they occur naturally. As with the other books in the series, there are many worked examples.Solutions to the exercises are available onlin

  20. Fabrication and actuation of electro-active polymer actuator based on PSMI-incorporated PVDF (United States)

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


    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.

  1. The efficiency and stability of bubble formation by acoustic vaporization of submicron perfluorocarbon droplets

    NARCIS (Netherlands)

    Reznik, Nikita; Shpak, O.; Gelderblom, E.C.; Williams, Ross; de Jong, N.; Versluis, Andreas Michel; Burns, Peter N.


    Submicron droplets of liquid perfluorocarbon converted into microbubbles with applied ultrasound have been studied, for a number of years, as potential next generation extravascular ultrasound contrast agents. In this work, we conduct an initial ultra-high-speed optical imaging study to examine the

  2. Analysis and Design of Monolithic Inductors in Sub-micron CMOS

    DEFF Research Database (Denmark)

    Fallesen, Carsten; Jørgensen, Allan


    In the last few years the CMOS processes have gone into deep sub-micron channel lengths. This means that it is now possible to make GHz applications in CMOS. In analog GHz applications it is often necessary to have access to inductors. This report describes the development of a physical model of ...

  3. Submicron organic nanofiber devices with different anode-cathode materials: A simple approach

    DEFF Research Database (Denmark)

    Henrichsen, Henrik Hartmann; Sturm, Heinz; Bøggild, Peter


    The authors present a simple general method for simultaneously producing tens of submicron electrode gaps with different cathode and anode materials on top of nanofibers, nanowires, and nanotubes, with an optional gap size variation. Using this method, an ensemble of para-hexaphenylene (p6P...

  4. A Comprehensive Evaluation of Nanoparticle Tracking Analysis (NanoSight) for Characterization of Proteinaceous Submicron Particles

    NARCIS (Netherlands)

    Tian, X.; Nejadnik, M.R.; Baunsgaard, D.; Henriksen, A.; Rischel, C.; Jiskoot, W.


    Nanoparticle tracking analysis (NTA) has attracted great interest for application in the field of submicron particle characterization for biopharmaceuticals. It has the virtue of direct sample visualization and particle-by-particle tracking, but the complexity of method development has limited its

  5. Thermophoretic motion behavior of submicron particles in boundary-layer-separation flow around a droplet. (United States)

    Wang, Ao; Song, Qiang; Ji, Bingqiang; Yao, Qiang


    As a key mechanism of submicron particle capture in wet deposition and wet scrubbing processes, thermophoresis is influenced by the flow and temperature fields. Three-dimensional direct numerical simulations were conducted to quantify the characteristics of the flow and temperature fields around a droplet at three droplet Reynolds numbers (Re) that correspond to three typical boundary-layer-separation flows (steady axisymmetric, steady plane-symmetric, and unsteady plane-symmetric flows). The thermophoretic motion of submicron particles was simulated in these cases. Numerical results show that the motion of submicron particles around the droplet and the deposition distribution exhibit different characteristics under three typical flow forms. The motion patterns of particles are dependent on their initial positions in the upstream and flow forms. The patterns of particle motion and deposition are diversified as Re increases. The particle motion pattern, initial position of captured particles, and capture efficiency change periodically, especially during periodic vortex shedding. The key effects of flow forms on particle motion are the shape and stability of the wake behind the droplet. The drag force of fluid and the thermophoretic force in the wake contribute jointly to the deposition of submicron particles after the boundary-layer separation around a droplet.

  6. Mountain pine beetle-killed lodgepole pine for the production of submicron lignocellulose fibrils (United States)

    Ingrid Hoeger; Rolland Gleisner; Jose Negron; Orlando J. Rojas; J. Y. Zhu


    The elevated levels of tree mortality attributed to mountain pine beetle (MPB) (Dendroctonus ponderosae Hopkins) in western North American forests create forest management challenges. This investigation introduces the production of submicron or nanometer lignocellulose fibrils for value-added materials from the widely available resource represented by dead pines after...

  7. Verification of operation of the actuator control system using the integration the B&R Automation Studio software with a virtual model of the actuator system (United States)

    Herbuś, K.; Ociepka, P.


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

  8. Electrostatic Comb-Drive Actuator with High In-Plane Translational Velocity

    Directory of Open Access Journals (Sweden)

    Yomna M. Eltagoury


    Full Text Available This work reports the design and opto-mechanical characterization of high velocity comb-drive actuators producing in-plane motion and fabricated using the technology of deep reactive ion etching (DRIE of silicon-on-insulator (SOI substrate. The actuators drive vertical mirrors acting on optical beams propagating in-plane with respect to the substrate. The actuator-mirror device is a fabrication on an SOI wafer with 80 μm etching depth, surface roughness of about 15 nm peak to valley and etching verticality that is better than 0.1 degree. The travel range of the actuators is extracted using an optical method based on optical cavity response and accounting for the diffraction effect. One design achieves a travel range of approximately 9.1 µm at a resonance frequency of approximately 26.1 kHz, while the second design achieves about 2 µm at 93.5 kHz. The two specific designs reported achieve peak velocities of about 1.48 and 1.18 m/s, respectively, which is the highest product of the travel range and frequency for an in-plane microelectromechanical system (MEMS motion under atmospheric pressure, to the best of the authors’ knowledge. The first design possesses high spring linearity over its travel range with about 350 ppm change in the resonance frequency, while the second design achieves higher resonance frequency on the expense of linearity. The theoretical predications and the experimental results show good agreement.

  9. Design of a Long-Stroke Noncontact Electromagnetic Actuator for Active Vibration Isolation (United States)

    Banerjee, Bibhuti; Allaire, Paul E.


    A long-stroke moving coil Lorentz Actuator was designed for use in a microgravity vibration isolation experiment. The final design had a stroke of 5.08 cm (2 in) and enough force capability to isolate a mass of the order of 22.7-45.4 kg. A simple dynamic magnetic circuit analysis, using an electrical analog, was developed for the initial design of the actuator. A neodymium-iron-boron material with energy density of 278 T-kA/m (35 MGOe) was selected to supply the magnetic field. The effect of changes in the design parameters of core diameter, shell outer diameter, pole face length, and coil wire layers were investigated. An extensive three-dimensional finite element analysis was carried out to accurately determine linearity with regard to axial position of the coil and coil current levels. The actuator was constructed and tested on a universal testing machine. Example plots are shown, indicating good linearity over the stroke of approximately 5.08 cm (2 in) and a range of coil currents from -1.5 A to +1.5 A. The actuator was then used for the microgravity vibration isolation experiments, described elsewhere.

  10. Optoelectrowetting for continuous microdroplet actuation (United States)

    Collier, Christopher M.; Hill, Kyle A.; DeWachter, Mark A.; Huizing, Alex M.; Holzman, Jonathan F.


    Microfluidics technologies have received great attention and appear in many bioanalyses applications. A recent microfluidics subset has appeared as droplet-based digital microfluidics (DMF). Here, microdroplets are manipulated in a two-dimensional on-chip plane using electric fields, contrasting the one-dimensional pressure-based channel flow of continuous flow microfluidics. These DMF systems fundamentally offer reconfigurability, whereby one device performs many bioanalysis tasks. A subset of DMF systems called optoelectrowetting is also of recent interest due to its ability for intricate microdroplet routing processes in the on-chip plane. For an optoelectrowetting chip, the DMF structure is modified with optically triggered electrodes with arrayed photoconductive switches. The arrayed photoconductive switches are optically-activated so microdroplets in the vicinity are routed to the illuminated switch. Unfortunately, such systems still require intricate electrode arrays, limiting microdroplet actuation resolution by the electrode size. This work proposes an on-chip optofluidic device with a continuous and planar semiconductor layer as the photoconductive mechanism. An illuminated section of the semiconductor layer acts as a localized electrode, with the photogenerated charge-carriers attracting nearby microdroplets. Given this planar topology, the illuminating beam is used to move the microdroplets continuously over the on-chip plane with precise optical control. The resolution for such a process is ultimately limited by charge-carrier diffusion, so an alternative material, a nanocomposite, is introduced to the on-chip device design. The nanocomposite consists of 20 nm semiconductor nanoparticles embedded in an insulative polymer host. This gives restricted diffusion length, being on the nanometer-scale of the nanoparticle diameter. Experimental device operation is demonstrated.

  11. Electromechanically Actuated Valve for Controlling Flow Rate (United States)

    Patterson, Paul


    A proposed valve for controlling the rate of flow of a fluid would include an electric-motor-driven ball-screw mechanism for adjusting the seating element of the valve to any position between fully closed and fully open. The motor would be of a type that can be electronically controlled to rotate to a specified angular position and to rotate at a specified rate, and the ball screw would enable accurate linear positioning of the seating element as a function of angular position of the motor. Hence, the proposed valve would enable fine electronic control of the rate of flow and the rate of change of flow. The uniqueness of this valve lies in a high degree of integration of the actuation mechanism with the flow-control components into a single, relatively compact unit. A notable feature of this integration is that in addition to being a major part of the actuation mechanism, the ball screw would also be a flow-control component: the ball screw would be hollow so as to contain part of the main flow passage, and one end of the ball screw would be the main seating valve element. The relationships among the components of the valve are best understood by reference to the figure, which presents meridional cross sections of the valve in the fully closed and fully open positions. The motor would be supported by a bracket bolted to the valve body. By means of gears or pulleys and a timing belt, motor drive would be transmitted to a sleeve that would rotate on bearings in the valve body. A ball nut inside the sleeve would be made to rotate with the sleeve by use of a key. The ball screw would pass through and engage the ball nut. A key would prevent rotation of the ball screw in the valve body while allowing the ball screw to translate axially when driven by the ball nut. The outer surface of the ball screw would be threaded only in a mid-length region: the end regions of the outer surface of the ball screw would be polished so that they could act as dynamic sealing surfaces

  12. Smart actuation for helicopter rotorblades

    NARCIS (Netherlands)

    Paternoster, Alexandre; Loendersloot, Richard; de Boer, Andries; Akkerman, Remko; Berselli, G.; Vertechy, R.; Vassura, G.


    Successful rotorcrafts were only achieved when the differences between hovering flight conditions and a stable forward flight were understood. During hovering, the air speed on all helicopter blades is linearly distributed along each blade and is the same for each. However, during forward flight,

  13. Design, Manufacturing and Test of a High Lift Secondary Flight Control Surface with Shape Memory Alloy Post-Buckled Precompressed Actuators

    Directory of Open Access Journals (Sweden)

    Thomas Sinn


    Full Text Available The use of morphing components on aerospace structures can greatly increase the versatility of an aircraft. This paper presents the design, manufacturing and testing of a new kind of adaptive airfoil with actuation through Shape Memory Alloys (SMA. The developed adaptive flap system makes use of a novel actuator that employs SMA wires in an antagonistic arrangement with a Post-Buckled Precompressed (PBP mechanism. SMA actuators are usually used in an antagonistic arrangement or are arranged to move structural components with linearly varying resistance levels similar to springs. Unfortunately, most of this strain energy is spent doing work on the passive structure rather than performing the task at hand, like moving a flight control surface or resisting air loads. A solution is the use of Post-Buckled Precompressed (PBP actuators that are arranged so that the active elements do not waste energy fighting passive structural stiffnesses. One major problem with PBP actuators is that the low tensile strength of the piezoelectric elements can often result in tensile failure of the actuator on the convex face. A solution to this problem is the use of SMA as actuator material due to their tolerance of tensile stresses. The power consumption to hold deflections is reduced by approximately 20% with the Post-Buckled Precompressed mechanism. Conventional SMAs are essentially non-starters for many classes of aircraft due to the requirement of holding the flight control surfaces in a given position for extremely long times to trim the vehicle. For the reason that PBP actuators balance out air and structural loads, the steady-state load on the SMAs is essentially negligible, when properly designed. Simulations and experiments showed that the SMAPBP actuator shows tip rotations on the order of 45°, which is nearly triple the levels achieved by piezoelectric PBP actuators. The developed SMAPBP actuator was integrated in a NACA0012 airfoil with a flexible skin

  14. Investigation of electrochemical actuation by polyaniline nanofibers (United States)

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


    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.

  15. Evolutionary flight and enabling smart actuator devices (United States)

    Manzo, Justin; Garcia, Ephrahim


    Recent interest in morphing vehicles with multiple, optimized configurations has led to renewed research on biological flight. The flying vertebrates - birds, bats, and pterosaurs - all made or make use of various morphing devices to achieve lift to suit rapidly changing flight demands, including maneuvers as complex as perching and hovering. The first part of this paper will discuss these devices, with a focus on the morphing elements and structural strong suits of each creature. Modern flight correlations to these devices will be discussed and analyzed as valid adaptations of these evolutionary traits. The second part of the paper will focus on the use of active joint structures for use in morphing aircraft devices. Initial work on smart actuator devices focused on NASA Langley's Hyper-Elliptical Cambered Span (HECS) wing platform, which led to development of a discretized spanwise curvature effector. This mechanism uses shape memory alloy (SMA) as the sole morphing actuator, allowing fast rotation with lightweight components at the expense of energy inefficiency. Phase two of morphing actuator development will add an element of active rigidity to the morphing structure, in the form of shape memory polymer (SMP). Employing a composite structure of polymer and alloy, this joint will function as part of a biomimetic morphing actuator system in a more energetically efficient manner. The joint is thermally actuated to allow compliance on demand and rigidity in the nominal configuration. Analytical and experimental joint models are presented, and potential applications on a bat-wing aircraft structure are outlined.

  16. Polypyrrole Actuator Based on Electrospun Microribbons. (United States)

    Beregoi, Mihaela; Evanghelidis, Alexandru; Diculescu, Victor C; Iovu, Horia; Enculescu, Ionut


    The development of soft actuators by using inexpensive raw materials and straightforward fabrication techniques, aiming at creating and developing muscle like micromanipulators, represents an important challenge nowadays. Providing such devices with biomimetic qualities, for example, sensing different external stimuli, adds even more complexity to the task. We developed electroactive polymer-coated microribbons that undergo conformational changes in response to external physical and chemical parameters. These were prepared following three simple steps. During the first step nylon-6/6 microribbons were fabricated by electrospinning. In a second step the microribbons were one side coated with a metallic layer. Finally, a conducting layer of polypyrrole was added by means of electrochemical deposition. Strips of polypyrrole-coated aligned microribbon meshes were tested as actuators responding to current, pH, and temperature. The electrochemical activity of the microstructured actuators was investigated by recording cyclic voltammograms. Chronopontentiograms for specific current, pH, and temperature values were obtained in electrolytes with different compositions. It was shown that, upon variation of the external stimulus, the actuator undergoes conformational changes due to the reduction processes of the polypyrrole layer. The ability of the actuator to hold and release thin wires, and to collect polystyrene microspheres from the bottom of the electrochemical cell, was also investigated.

  17. Curved Piezoelectric Actuators for Stretching Optical Fibers (United States)

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


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

  18. Parameter identification of an electrically actuated imperfect microbeam

    KAUST Repository

    Ruzziconi, Laura


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

  19. Modular Architecture of a Non-Contact Pinch Actuation Micropump

    Directory of Open Access Journals (Sweden)

    Ruzairi Abdul Rahim


    Full Text Available This paper demonstrates a modular architecture of a non-contact actuation micropump setup. Rapid hot embossing prototyping was employed in micropump fabrication by using printed circuit board (PCB as a mold material in polymer casting. Actuator-membrane gap separation was studied, with experimental investigation of three separation distances: 2.0 mm, 2.5 mm and 3.5 mm. To enhance the micropump performance, interaction surface area between plunger and membrane was modeled via finite element analysis (FEA. The micropump was evaluated against two frequency ranges, which comprised a low driving frequency range (0–5 Hz, with 0.5 Hz step increments and a nominal frequency range (0–80 Hz, with 10 Hz per step increments. The low range frequency features a linear relationship of flow rate with the operating frequency function, while two magnitude peaks were captured in the flow rate and back pressure characteristic in the nominal frequency range. Repeatability and reliability tests conducted suggest the pump performed at a maximum flow rate of 5.78 mL/min at 65 Hz and a backpressure of 1.35 kPa at 60 Hz.

  20. A motionless actuation system for magnetic shape memory devices (United States)

    Armstrong, Andrew; Finn, Kevin; Hobza, Anthony; Lindquist, Paul; Rafla, Nader; Müllner, Peter


    Ni-Mn-Ga is a Magnetic Shape Memory (MSM) alloy that changes shape in response to a variable magnetic field. We can intentionally manipulate the shape of the material to function as an actuator, and the material can thus replace complicated small electromechanical systems. In previous work, a very simple and precise solid-state micropump was developed, but a mechanical rotation was required to translate the position of the magnetic field. This mechanical rotation defeats the purpose of the motionless solid-state device. Here we present a solid-state electromagnetic driver to linearly progress the position of the applied magnetic field and the associated shrinkage. The generated magnetic field was focused at either of two pole pieces, providing a mechanism for moving the localized shrinkage in the MSM element. We confirmed that our driver has sufficient strength to actuate the MSM element using optical microscopy. We validated the whole design by comparing results obtained with finite element analysis with the experimentally measured flux density. This drive system serves as a possible replacement to the mechanical rotation of the magnetic field by using a multi-pole electromagnet that sweeps the magnetic field across the MSM micropump element, solid-state switching the current to each pole piece in the multi-pole electromagnet.

  1. Double nanoplate-based NEMS under hydrostatic and electrostatic actuations (United States)

    Ebrahimi, Farzad; Hosseini, S. H. S.


    Presented herein is a comprehensive investigation on the nonlinear vibration behavior of nanoplate-based nano electromechanical systems (NEMS) under hydrostatic and electrostatic actuations based on nonlocal elasticity and Gurtin-Murdoch theory. Using nonlinear strain-displacement relations, the geometrical nonlinearity is modeled. Based on Kelvin-Voigt model, the influence of the viscoelastic coefficient is also discussed. Nonlocal plate theory and Hamilton's principle are utilized for deriving the governing equations. Furthermore, the differential quadrature method (DQM) is employed to compute the nonlinear frequency. In addition, pull-in voltage and hydrostatic pressure are considered by comparing the results obtained from nanoplates made of two different materials including aluminum (Al) and silicon (Si). Finally, the influences of important parameters including the small scale, thickness of the nanoplate, center gap and Winkler coefficient in the actuated nanoplate are thoroughly studied. The plots for the ratio of nonlinear-to-linear frequencies against thickness, maximum transverse amplitude and non-dimensional center gap of nanoplate are also presented.

  2. Linear programming

    CERN Document Server

    Karloff, Howard


    To this reviewer’s knowledge, this is the first book accessible to the upper division undergraduate or beginning graduate student that surveys linear programming from the Simplex Method…via the Ellipsoid algorithm to Karmarkar’s algorithm. Moreover, its point of view is algorithmic and thus it provides both a history and a case history of work in complexity theory. The presentation is admirable; Karloff's style is informal (even humorous at times) without sacrificing anything necessary for understanding. Diagrams (including horizontal brackets that group terms) aid in providing clarity. The end-of-chapter notes are helpful...Recommended highly for acquisition, since it is not only a textbook, but can also be used for independent reading and study. —Choice Reviews The reader will be well served by reading the monograph from cover to cover. The author succeeds in providing a concise, readable, understandable introduction to modern linear programming. —Mathematics of Computing This is a textbook intend...

  3. Modeling of the effects of the electrical dynamics on the electromechanical response of a DEAP circular actuator with a mass-spring load (United States)

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


    This paper presents a modeling approach of an actuator system based on a dielectric electro-active polymer (DEAP) circular membrane mechanically loaded with a mass and a linear spring. The motion is generated by the deformation of the membrane caused by the electrostatic compressive force between two compliant electrodes applied on the surface of the polymer. A mass and a linear spring are used to pre-load the membrane, allowing stroke in the out-of-plane direction. The development of mathematical models which accurately describe the nonlinear coupling between electrical and mechanical dynamics is a fundamental step in order to design model-based, high-precision position control algorithms operating in high-frequency regimes (up to 150 Hz). The knowledge of the nonlinear electrical dynamics of the actuator driving circuit can be exploited during the control system design in order to achieve desirable features, such as higher modeling accuracy for high-frequency actuation, self-sensing or control energy minimization. This work proposes a physical model of the DEAP actuator system which couples both electrical and mechanical dynamics occurring during the actuation process. By means of numerous experiments, it is shown that the model can be used to predict both actuator current and displacement, and therefore to increase the overall displacement prediction accuracy with respect to actuator models which neglect electrical behavior.

  4. Nanocarbon/elastomer composites: Characterization and applications in photo-mechanical actuation (United States)

    Loomis, Robert James, III

    proportional to applied pre-strain, demonstrating mechanical coupling. Following investigation into photo-mechanical actuation responses between the various carbon forms, use of these composite actuators to achieve both macroscopic as well as microscopic movement in practical applications was evaluated. Using dual GNP/elastomer actuators, a two-axis sub-micron translation stage was developed, and allowed for two-axis photo-thermal positioning (˜100 microm per axis) with 120 nm resolution (limitation of the feedback sensor) and ˜5 microm/s actuation speeds. A proportional-integral-derivative control loop automatically stabilizes the stage against thermal drift, as well as random thermal-induced position fluctuations (up to the bandwidth of the feedback and position sensor). Nanopositioner performance characteristics were found to be on par with other commercial systems, with resolution limited only by the feedback system used. A mathematical model was developed to describe the elastomeric composite actuators as a series of n springs, with each spring element having its own independent IR-tunable spring constant. Effects of illumination intensity, position, and amount of the composite actuator illuminated are discussed. This model provided several additional insights, such as demonstrating the ability to place not just one, but multiple stages on a single polymer composite strip and position them independently from one another, a benefit not seen in any other type of positioning system. Further investigation yielded interesting and novel photo-mechanical properties with actuation visible on macroscopic scales. Addition of a third component (thermally expanding microspheres), produced a new class of stimuli-responsive expanding polymer composites with ability to unidirectionally transform physical dimensions, elastic modulus, density, and electrical resistance. Carbon nanotubes and core-shell acrylic microspheres were dispersed in polydimethylsiloxane, resulting in composites

  5. Electrothermally Actuated Microbeams With Varying Stiffness

    KAUST Repository

    Tella, Sherif Adekunle


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

  6. Optical feedback control for mechatronic actuators (United States)

    Necsulescu, Dan; Khatri, Zubair


    The paper investigates optical implementation of feedback control of mechatronic actuators. The goal is to analyze experimentally the feasibility of optical closed loop control using optical components for signal transmission and control loop implementation. The analysis is carried out for position control of an electric actuator. Angular position and velocity are measured with optical sensors. Measurement signals are transmitted through a fiberglass to an optical controller. Position commands from the optical controller are transmitted through a fiber glass as analog optical signals to a photodetector. A power operational amplifier serves a driver for the electric motor. This feedback controller configuration is designed to have extensive optical implementation and permits to investigate the level of complexity of the control laws which can be implemented optically. Experimental results, obtained using a LabVIEW for data acquisition and processing, illustrate the advantages and the limitations of the proposed optical implementation of a feedback controller for mechatronic actuators.

  7. Air Muscle Actuated Low Cost Humanoid Hand

    Directory of Open Access Journals (Sweden)

    Peter Scarfe


    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.

  8. Air Muscle Actuated Low Cost Humanoid Hand

    Directory of Open Access Journals (Sweden)

    Peter Scarfe


    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.

  9. Recent developments on SMA actuators: predicting the actuation fatigue life for variable loading schemes (United States)

    Wheeler, Robert W.; Lagoudas, Dimitris C.


    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.

  10. Multi-objective control of nonlinear boiler-turbine dynamics with actuator magnitude and rate constraints. (United States)

    Chen, Pang-Chia


    This paper investigates multi-objective controller design approaches for nonlinear boiler-turbine dynamics subject to actuator magnitude and rate constraints. System nonlinearity is handled by a suitable linear parameter varying system representation with drum pressure as the system varying parameter. Variation of the drum pressure is represented by suitable norm-bounded uncertainty and affine dependence on system matrices. Based on linear matrix inequality algorithms, the magnitude and rate constraints on the actuator and the deviations of fluid density and water level are formulated while the tracking abilities on the drum pressure and power output are optimized. Variation ranges of drum pressure and magnitude tracking commands are used as controller design parameters, determined according to the boiler-turbine's operation range. Copyright © 2012 ISA. Published by Elsevier Ltd. All rights reserved.

  11. Piezoelectric Actuated Phase Shifter Based on External Laser Interferometer: Design, Control and Experimental Validation. (United States)

    Li, Peng-Zhi; Wang, Xiao-Dong; Sui, Yong-Xin; Zhang, De-Fu; Wang, Dong-Fang; Dong, Li-Jian; Ni, Ming-Yang


    To improve the phase-shifting accuracy, this paper presents a novel integrated framework for design, control and experimental validation of the piezoelectric actuated phase shifter with a trade-off between accuracy and cost. The piezoelectric actuators with built-in sensors are adopted to drive the double parallel four-bar linkage flexure hinge-based mechanisms. Three mechanisms form the tripod structure of the assembled phase shifter. Then, a semi-closed loop controller with inner feedback and outer feedforward loops via the external laser interferometer is developed for accurate positioning of the phase shifter. Finally, experiments related with travel range, step response, linearity and repeatability are carried out. The linearity error is 0.21% and the repeatability error of 10 μ m displacement is 3 nm. The results clearly demonstrate the good performance of the developed phase shifter and the feasibility of the proposed integrated framework.

  12. Interference in axisymmetric synthetic jet actuator

    Directory of Open Access Journals (Sweden)

    Smyk Emil


    Full Text Available The paper presents research of phenomena of mechanical wave interference during generate synthetic jets in actuator with two executive elements (speakers. Two speakers work with the same or other phase using the phenomenon of mechanical wave interference (sound wave. In effect the volume of ingestion and expulsion flow is a sum of two speakers' work. In this paper is presented analysis of operation so constructed axisymetric actuator and influence of phase shift - between work of the speakers - on actuator’s operation.

  13. Optical nano and micro actuator technology

    CERN Document Server

    Knopf, George K


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

  14. Ceramic-Metal Interfaces in Multilayer Actuators

    DEFF Research Database (Denmark)

    Engell, John; Pedersen, Henrik Guldberg; Andersen, Bjørn


    on the quality and strength of this interface. In the case of a weak ceramic-metal interface, delaminations will occur under severe working conditions.Work has been carried out on a commercial PZT type ceramic and various types of Pt electrode paste. The present study involves characterization of the interface......Multilayer actuators consist of a number of piezoelectric or electrostrictive ceramic layers, separated by thin metal electrodes. Thus, the ceramic-metal interface plays an even more important role than for bulk piezoceramics. The performance and durability of the actuator depends closely...

  15. Supporting scalable Bayesian networks using configurable discretizer actuators

    CSIR Research Space (South Africa)

    Osunmakinde, I


    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...

  16. Actuator assembly including a single axis of rotation locking member (United States)

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


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

  17. Prognostic Health-Management System Development for Electromechanical Actuators (United States)

    National Aeronautics and Space Administration — Electro-mechanical actuators (EMAs) have been gaining increased acceptance as safety-critical actuation devices in the next generation of aircraft and spacecraft....

  18. Structure-property relations of gold and graphene nanoporous actuators

    NARCIS (Netherlands)

    Saane, Siva Shankar Reddy


    Electrochemical nanoporous actuators have low weight, large specific surface areas and low voltage operating capabilities, making them attractive for application in small-scale electromechanical devices. The actuation strain of these materials at the macroscopic scale is a manifestation of

  19. Evaluation of encapsulating coatings on the performance of polypyrrole actuators (United States)

    Naficy, Sina; Stoboi, Nicholas; Whitten, Philip G.; Spinks, Geoffrey M.; Wallace, Gordon G.


    Conjugated polymer actuators are electroactive materials capable of generating force and movement in response to an applied external voltage. Many potential biomedical and industrial applications require these actuators to operate in a liquid environment. However, immersion of uncoated conducting polymer actuators in non-electrolyte liquids greatly reduces their operating lifetime. Here, we demonstrate the use of spray coating as an effective and simple method to encapsulate polypyrrole (PPy) tri-layer bending actuators. Poly(styrene-b-isobutylene-b-styrene) (SIBS) was used as an encapsulating, compliant spray coating on PPy actuators. A significant enhancement in actuator lifetime in both air and water was observed by encapsulating the actuators. The change in stiffness and reduction in bending amplitude for coatings of different thickness was studied. A simple beam mechanics model describes the experimental results and highlights the importance of coating compliance for actuator coatings. The model may be used to evaluate other possible encapsulating materials.

  20. Linear systems

    CERN Document Server

    Bourlès, Henri


    Linear systems have all the necessary elements (modeling, identification, analysis and control), from an educational point of view, to help us understand the discipline of automation and apply it efficiently. This book is progressive and organized in such a way that different levels of readership are possible. It is addressed both to beginners and those with a good understanding of automation wishing to enhance their knowledge on the subject. The theory is rigorously developed and illustrated by numerous examples which can be reproduced with the help of appropriate computation software. 60 exe

  1. Feed-forward control of gear mesh vibration using piezoelectric actuators (United States)

    Montague, Gerald T.; Kascak, Albert F.; Palazzolo, Alan; Manchala, Daniel; Thomas, Erwin


    This paper presents a novel means for suppressing gear mesh-related vibrations. The key components in this approach are piezoelectric actuators and a high-frequency, analog feed-forward controller. Test results are presented and show up to a 70-percent reduction in gear mesh acceleration and vibration control up to 4500 Hz. The principle of the approach is explained by an analysis of a harmonically excited, general linear vibratory system.

  2. Active disturbance rejection attitude control for a hypersonic reentry vehicle with actuator saturation

    Directory of Open Access Journals (Sweden)

    Hongjiu Yang


    Full Text Available In this article, nonlinear uncertainty has been investigated for a hypersonic reentry vehicle subject to actuator saturation via active disturbance rejection control technology. A nonlinear extended state observer is designed to estimate “total disturbances,” which is compensated with a linear controller. Both convergence of the nonlinear extended state observer and stabilization of the closed-loop system are studied in this article. Some simulation results are given to illustrate the effectiveness of the proposed method.

  3. Development of High Temperature Electro-Magnetic Actuators (HTEMA) for Aircraft Propulsion Systems (Preprint) (United States)


    Cu Cycloid    Ball/Roller Thermoelectric Sensorless   Commutation Planetary    Ceramic/Metal Insulation  Encoder   Harmonic Hybrid Radiation  Shield...Electro Motive Force ( EMF ) voltage when unpowered, which may be advantageous in some failure modes. An ONR Phase I study on a linear back emf generated when unpowered. This may be an advantage in failure modes and effects analyses (FMEA). Given the motor is used in an aircraft

  4. Transient Thermal State of an Active Braille Matrix with Incorporated Thermal Actuators by Means of Finite Element Method (United States)

    Alutei, Alexandra-Maria; Szelitzky, Emoke; Mandru, Dan


    In this article the authors present the transient thermal analysis for a developed thermal linear actuator based on wax paraffin used to drive the cells of a Braille device. A numerical investigation of transient heat transfer phenomenon during paraffin melting and solidification in an encapsulated recipient has been carried out using the ANSYS…

  5. Semi-global regulation of output synchronization for heterogeneous networks of non-introspective, invertible agents subject to actuator saturation

    NARCIS (Netherlands)

    Yang, Tao; Stoorvogel, Antonie Arij; Grip, H°avard Fjær; Saberi, Ali


    In this paper, we consider the semi-global regulation of output synchronization problem for heterogeneous networks of invertible linear agents subject to actuator saturation. That is, we regulate the output of each agent according to an a priori specified reference model. The network communication

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

    Directory of Open Access Journals (Sweden)

    Ioan URSU


    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.

  7. Paper Actuators Made with Cellulose and Hybrid Materials


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


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

  8. A smooth impact rotation motor using a multi-layered torsional piezoelectric actuator. (United States)

    Morita, T; Yoshida, R; Okamoto, Y; Kurosawa, M K; Higuchi, T


    A smooth impact rotation motor was fabricated and successfully operated using a torsional piezo actuator. Yoshida et al. reported a linear type smooth impact motor in 1997. This linear motor demonstrated a high output force and a long stroke. A superior feature of the smooth impact drive is a high positioning resolution compared with an impact drive. The positioning resolution of SIDM (smooth impact drive mechanism) is equal to the piezo displacement. The reported positioning resolution of the linear type was 5 nm. Our rotation motor utilized a torsional actuator containing multi-layered piezoelectric material. The torsional actuator was cylindrical in shape with an outer diameter of 15 mm, an inner diameter of 10 mm, and a length of 11 mm. Torsional vibration performance was measured with a laser Doppler vibrometer. The obtained torsional displacement agreed with the calculated values and was sufficient to drive a rotor. The rotor was operated with a saw-shaped input voltage (180 V; 8 kHz). The revolution direction was reversible. The maximum revolution speed was 27 rpm, and the maximum output torque was 56 gfcm. In general, smooth-impact drives do not show high efficiency; however, the level of efficiency of our results (max., 0.045%) could be increased by improving the contact surface material. In addition, we are studying quantitative consideration, for example, about the optimum pre-load or frictional force.

  9. Preisach model of hysteresis for the Piezoelectric Actuator Drive

    DEFF Research Database (Denmark)

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


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

  10. Thermal Actuation for Precision Micro Motion and Positioning

    NARCIS (Netherlands)

    Paalvast, S.L.


    The primary goal of this research was to study the feasibility of a thermal micro actuator for improved tracking performance of a Hard Disk Drive (HDD), and the feasibility of thermal actuation for precision micro motion and positioning in general. The fast dynamics of the micro actuator allows it

  11. Evaluation of pneumatic cylinder actuators for hand prostheses

    NARCIS (Netherlands)

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


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

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

    DEFF Research Database (Denmark)

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


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

  13. Steering Micro-Robotic Swarm by Dynamic Actuating Fields

    NARCIS (Netherlands)

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


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

  14. A series elastic- and Bowden-cable-based actuation system for use as torque actuator in exoskeleton-type robots

    NARCIS (Netherlands)

    Veneman, J.F.; Ekkelenkamp, R.; Kruidhof, R.; van der Helm, F.C.T.; van der Kooij, Herman


    Within the context of impedance controlled exoskeletons, common actuators have important drawbacks. Either the actuators are heavy, have a complex structure or are poor torque sources, due to gearing or heavy nonlinearity. Considering our application, an impedance controlled gait rehabilitation

  15. Rapid heterogeneous oxidation of organic coatings on submicron aerosols (United States)

    Lim, C. Y.; Browne, E. C.; Sugrue, R. A.; Kroll, J. H.


    Laboratory studies have found that heterogeneous oxidation can affect the composition and loading of atmospheric organic aerosol particles over time scales of several days, but most studies have examined pure organic particles only. In this study, in order to probe the reactivity of organic species confined near the particle surface, the rates and products of the OH-initiated oxidation of pure squalane particles are compared to oxidation of thin coatings of squalane on ammonium sulfate particles. The squalane reaction rate constant shows a linear dependence on the organic surface area-to-volume ratio, with rate constants for coated particles up to 10 times larger than for pure particles. Changes in the carbon oxidation state and fraction of particulate carbon remaining show similar enhancements, implying that heterogeneous oxidation may exhibit a stronger effect on the loadings and properties of organic aerosol than previously estimated from laboratory studies.

  16. Influence of locational states of submicron fibers added into matrix on mechanical properties of plain-woven Carbon Fiber Composite

    National Research Council Canada - National Science Library

    Soichiro Kumamoto; Kazuya Okubo; Toru Fujii


    The aim of this study was to show the influence of locational states of submicron fibers added into epoxy matrix on mechanical properties of modified plane-woven carbon fiber reinforced plastic (CFRP...

  17. Ionic Polymer-Metal Composites (IPMCs) as Biomimetic Sensors, Actuators and Artificial Muscles: A Review (United States)

    Shahinpoor, M.; Bar-Cohen, Y.; Simpson, J. O.; Smith, J.


    This paper presents an introduction to ionic polymer-metal composites and some mathematical modeling pertaining to them. It further discusses a number of recent findings in connection with ion-exchange polymer-metal composites (IPMCS) as biomimetic sensors and actuators. Strips of these composites can undergo large bending and flapping displacement if an electric field is imposed across their thickness. Thus, in this sense they are large motion actuators. Conversely by bending the composite strip, either quasi-statically or dynamically, a voltage is produced across the thickness of the strip. Thus, they are also large motion sensors. The output voltage can be calibrated for a standard size sensor and correlated to the applied loads or stresses. They can be manufactured and cut in any size and shape. In this paper first the sensing capability of these materials is reported. The preliminary results show the existence of a linear relationship between the output voltage and the imposed displacement for almost all cases. Furthermore, the ability of these IPMCs as large motion actuators and robotic manipulators is presented. Several muscle configurations are constructed to demonstrate the capabilities of these IPMC actuators. This paper further identifies key parameters involving the vibrational and resonance characteristics of sensors and actuators made with IPMCS. When the applied signal frequency varies, so does the displacement up to a critical frequency called the resonant frequency where maximum deformation is observed, beyond which the actuator response is diminished. A data acquisition system was used to measure the parameters involved and record the results in real time basis. Also the load characterizations of the IPMCs were measured and it was shown that these actuators exhibit good force to weight characteristics in the presence of low applied voltages. Finally reported are the cryogenic properties of these muscles for potential utilization in an outer space

  18. Novel Highly Efficient Compact Rotary-Hammering Planetary Sampler Actuated by a Single Piezoelectric Actuator Project (United States)

    National Aeronautics and Space Administration — We had two objectives in this task: 1. Develop effective single low-mass, low-power piezoelectric drive that can actuate rotary-hammer samplers through walls. 2....

  19. Moment expansion approach to calculate impact ionization rate in submicron silicon devices (United States)

    Sonoda, Ken-ichiro; Yamaji, Mitsuru; Taniguchi, Kenji; Hamaguchi, Chihiro; Dunham, Scott T.


    A method to calculate the impact ionization rate in submicron silicon devices is developed using both an average energy and an average square energy of electrons. The method consists of an impact ionization model formulated with the average energy and conservation equations for the average square energy in the framework of an energy transport model. Parameters for the transport equations are extracted in such a way that calculated moments based on these equations match Monte Carlo simulation results. The impact ionization generation rate in an n+nn+ structure calculated with this method agrees well with the results obtained from Monte Carlo simulation. The new method is also applied to a submicron n-MOSFET. The calculated distribution of the generation rate is found to be quite different from the results based on a conventional method.

  20. Numerical simulation of mechatronic sensors and actuators

    CERN Document Server

    Kaltenbacher, Manfred


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

  1. Selecting Actuator Configuration for a Benson Boiler

    DEFF Research Database (Denmark)

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


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

  2. MSM actuators: design rules and control strategies

    Energy Technology Data Exchange (ETDEWEB)

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


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

  3. Comb-drive actuators for large displacements

    NARCIS (Netherlands)

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

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

  4. Actuation response of polyacrylate dielectric elastomers

    DEFF Research Database (Denmark)

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


    Polyacrylate dielectric elastomers have yielded extremely large strain and elastic energy density suggesting that they are useful for many actuator applications. A thorough understanding of the physics underlying the mechanism of the observed response to an electric field can help develop improve...

  5. Piezoelectric actuators control applications of smart materials

    CERN Document Server

    Choi, Seung-Bok


    Newer classes of smart materials are beginning to display the capacity for self-repair, self-diagnosis, self-multiplication, and self-degradation. While there are other candidates, piezoelectric actuators and sensors are proving to be the best choice. This title details the authors' research and development in this area.

  6. Influencing the naval mine actuation location

    NARCIS (Netherlands)

    Veldhoven, J. van; Beckers, A.L.D.


    During a naval mine sweeping operation, there is a risk of damage to the sweeping gear due to mine detonations. To reduce this risk, we mention five different methods to influence the actuation location of naval mines relative to a sweeping system. Three of these are discussed in more detail, using

  7. Actuator topology design using the controllability Gramian

    DEFF Research Database (Denmark)

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


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

  8. Plant-based torsional actuator with memory (United States)

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


    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-...

  9. A breath actuated dry powder inhaler

    NARCIS (Netherlands)

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


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

  10. Math Machines: Using Actuators in Physics Classes (United States)

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


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

  11. The surface characterisation and comparison of two potential sub-micron, sugar bulking excipients for use in low-dose, suspension formulations in metered dose inhalers. (United States)

    James, Jeff; Crean, Barry; Davies, Martyn; Toon, Richard; Jinks, Phil; Roberts, Clive J


    This study compares the surface characteristics and surface energetics of two potential bulking excipients, anhydrous sub-micron alpha-lactose and sub-micron sucrose, for use with low-dose, suspension formulations in pressurised metered dose inhalers (pMDIs). Both sub-micron bulking excipients are processed from parent materials (alpha-lactose monohydrate/alpha-lactose monohydrate and silk grade sucrose, respectively) so the surface characteristics of each material were determined and compared. Additionally, the surface energetics and adhesive interactions between each sub-micron bulking excipient and some chosen active pharmaceutical ingredients (APIs) used in pMDI formulations were also determined. From this data, it was possible to predict the potential degree of interaction between the APIs and each sub-micron bulking excipient, thus determining suitable API-excipient combinations for pMDI formulation optimisation. Salmon calcitonin was also investigated as a potential API due to the current interest in, and the potential low-dose requirements for, the pulmonary delivery of proteins. The size and morphology of each sub-micron excipient (and parent materials) were determined using scanning electron microscopy (SEM) and the crystalline nature of each sub-micron excipient and parent material was assessed using X-ray diffraction (XRD). The surface chemistry of each sub-micron excipient was analysed using X-ray photoelectron spectroscopy (XPS). The surface energies of each sub-micron excipient, along with their respective parent materials and any intermediates, were determined using two techniques. The surface energies of these materials were determined via (a) single particle adhesive interactions using atomic force microscopy (AFM) and (b) 'bulk' material surface interactions using contact angle measurements (CA). From the CA data, it was possible to calculate the theoretical work of adhesion values for each API-excipient interaction using the surface component

  12. Effective Use of Focused Ion Beam (FIB) in Investigating Fundamental Mechanical Properties of Metals at the Sub-Micron Scale


    Greer, Julia R.


    Recent advances in the 2-beam focused ion beams technology (FIB) have enabled researchers to not only perform high-precision nanolithography and micro-machining, but also to apply these novel fabrication techniques to investigating a broad range of materials' properties at the submicron and nano-scales. In our work, the FIB is utilized in manufacturing of sub-micron cylinders, or nano-pillars, as well as of TEM cross-sections to directly investigate plasticity of metals at thes...

  13. Mechanisms and actuators for rotorcraft blade morphing (United States)

    Vocke, Robert D., III

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

  14. Submicron ionography of nanostructures using a femtosecond-laser-driven-cluster-based source


    Faenov, A. Ya; Pikuz, T. A.; Fukuda, Y.(Miyagi University of Education, Department of Physics, Sendai, Japan); Kando, M; Kotaki, H.; Homma, T.; KAWASE, K; Kameshima, T.; Pirozkhov, A.; Yogo, A.; Tampo, M.; Mori, M.; Sakaki, H.; Hayashi, Y; Nakamura, T.


    An intense isotropic source of multicharged carbon and oxygen ions with energy above 300 keV and particle number >108 per shot was obtained by femtosecond Ti:Sa laser irradiation of submicron clusters. The source was employed for high-contrast contact ionography images with 600 nm spatial resolution. A variation in object thickness of 100 nm was well resolved for both Zr and polymer foils.

  15. Comprehensive investigation of the dynamics of micron and submicron lunar ejecta in heliocentric space

    Energy Technology Data Exchange (ETDEWEB)

    Hargrave, A.D.


    The forces which act on micron and submicron dust particles in interplanetary space are studied in detail. Particular attention is given to Mie scattering theory as it applies to the calculation of the force due to radiation pressure. All of the forces are integrated into a computer model to study the heliocentric orbits of lunar ejecta. It is shown that lunar ejecta contribute to a geocentric dust cloud, as well as to a heliocentric dust belt.

  16. OpenStage: a low-cost motorized microscope stage with sub-micron positioning accuracy.

    Directory of Open Access Journals (Sweden)

    Robert A A Campbell

    Full Text Available Recent progress in intracellular calcium sensors and other fluorophores has promoted the widespread adoption of functional optical imaging in the life sciences. Home-built multiphoton microscopes are easy to build, highly customizable, and cost effective. For many imaging applications a 3-axis motorized stage is critical, but commercially available motorization hardware (motorized translators, controller boxes, etc are often very expensive. Furthermore, the firmware on commercial motor controllers cannot easily be altered and is not usually designed with a microscope stage in mind. Here we describe an open-source motorization solution that is simple to construct, yet far cheaper and more customizable than commercial offerings. The cost of the controller and motorization hardware are under $1000. Hardware costs are kept low by replacing linear actuators with high quality stepper motors. Electronics are assembled from commonly available hobby components, which are easy to work with. Here we describe assembly of the system and quantify the positioning accuracy of all three axes. We obtain positioning repeatability of the order of 1 μm in X/Y and 0.1 μm in Z. A hand-held control-pad allows the user to direct stage motion precisely over a wide range of speeds (10(-1 to 10(2 μm·s(-1, rapidly store and return to different locations, and execute "jumps" of a fixed size. In addition, the system can be controlled from a PC serial port. Our "OpenStage" controller is sufficiently flexible that it could be used to drive other devices, such as micro-manipulators, with minimal modifications.

  17. OpenStage: a low-cost motorized microscope stage with sub-micron positioning accuracy. (United States)

    Campbell, Robert A A; Eifert, Robert W; Turner, Glenn C


    Recent progress in intracellular calcium sensors and other fluorophores has promoted the widespread adoption of functional optical imaging in the life sciences. Home-built multiphoton microscopes are easy to build, highly customizable, and cost effective. For many imaging applications a 3-axis motorized stage is critical, but commercially available motorization hardware (motorized translators, controller boxes, etc) are often very expensive. Furthermore, the firmware on commercial motor controllers cannot easily be altered and is not usually designed with a microscope stage in mind. Here we describe an open-source motorization solution that is simple to construct, yet far cheaper and more customizable than commercial offerings. The cost of the controller and motorization hardware are under $1000. Hardware costs are kept low by replacing linear actuators with high quality stepper motors. Electronics are assembled from commonly available hobby components, which are easy to work with. Here we describe assembly of the system and quantify the positioning accuracy of all three axes. We obtain positioning repeatability of the order of 1 μm in X/Y and 0.1 μm in Z. A hand-held control-pad allows the user to direct stage motion precisely over a wide range of speeds (10(-1) to 10(2) μm·s(-1)), rapidly store and return to different locations, and execute "jumps" of a fixed size. In addition, the system can be controlled from a PC serial port. Our "OpenStage" controller is sufficiently flexible that it could be used to drive other devices, such as micro-manipulators, with minimal modifications.

  18. Solid State Adaptive Rotor Using Postbuckled Precompressed, Bending-Twist Coupled Piezoelectric Actuator Elements

    Directory of Open Access Journals (Sweden)

    Ronald M. Barrett


    Full Text Available This paper is centered on a new actuation mechanism which is integrated on a solid state rotor. This paper outlines the application of such a system via a Post-Buckled Precompression (PBP technique at the end of a twist-active piezoelectric rotor blade actuator. The basic performance of the system is handily modeled by using laminated plate theory techniques. A dual cantilevered spring system was used to increasingly null the passive stiffness of the root actuator along the feathering axis of the rotor blade. As the precompression levels were increased, it was shown that corresponding blade pitch levels also increased. The PBP cantilever spring system was designed so as to provide a high level of stabilizing pitch-flap coupling and inherent resistance to rotor propeller moments. Experimental testing showed pitch deflections increasing from just 8° peak-to-peak deflections at 650 V/mm field strength to more than 26° at the same field strength with design precompression levels. Dynamic testing showed the corner frequency of the linear system coming down from 63 Hz (3.8/rev to 53 Hz (3.2/rev. Thrust coefficients manipulation levels were shown to increase from 0.01 to 0.028 with increasing precompression levels. The paper concludes with an overall assessment of the actuator design.

  19. Directly Printable Flexible Strain Sensors for Bending and Contact Feedback of Soft Actuators

    Directory of Open Access Journals (Sweden)

    Khaled Elgeneidy


    Full Text Available This paper presents a fully printable sensorized bending actuator that can be calibrated to provide reliable bending feedback and simple contact detection. A soft bending actuator following a pleated morphology, as well as a flexible resistive strain sensor, were directly 3D printed using easily accessible FDM printer hardware with a dual-extrusion tool head. The flexible sensor was directly welded to the bending actuator’s body and systematically tested to characterize and evaluate its response under variable input pressure. A signal conditioning circuit was developed to enhance the quality of the sensory feedback, and flexible conductive threads were used for wiring. The sensorized actuator’s response was then calibrated using a vision system to convert the sensory readings to real bending angle values. The empirical relationship was derived using linear regression and validated at untrained input conditions to evaluate its accuracy. Furthermore, the sensorized actuator was tested in a constrained setup that prevents bending, to evaluate the potential of using the same sensor for simple contact detection by comparing the constrained and free-bending responses at the same input pressures. The results of this work demonstrated how a dual-extrusion FDM printing process can be tuned to directly print highly customizable flexible strain sensors that were able to provide reliable bending feedback and basic contact detection. The addition of such sensing capability to bending actuators enhances their functionality and reliability for applications such as controlled soft grasping, flexible wearables, and haptic devices.

  20. Modelling and Composite Control of Single Flexible Manipulators with Piezoelectric Actuators

    Directory of Open Access Journals (Sweden)

    En Lu


    Full Text Available The piezoelectric actuators are used to investigate the active vibration control of flexible manipulators in this paper. Based on the assumed mode method, piezoelectric coupling model, and Hamilton’s principle, the dynamic equation of the single flexible manipulator (SFM with surface bonded actuators is established. Then, a singular perturbation model consisted of a slow subsystem and a fast subsystem is formulated and used for designing the composite controller. The slow subsystem controller is designed by fuzzy sliding mode control method, and the linear quadratic regulator (LQR optimal control method is used to design fast subsystem controller. Furthermore, the changing trends of natural frequencies along with the changes in the position of piezoelectric actuators are obtained through the ANSYS Workbench software, by which the optimal placement of actuators is determined. Finally, numerical simulations and experiments are presented. The results demonstrate that the method of optimal placement is feasible based on the maximal natural frequency, and the composite controller presented in this paper can not only realize the trajectory tracking of the SFM and has a good result on the vibration suppression.

  1. Development and experimental characterization of a pneumatic valve actuated by a dielectric elastomer membrane (United States)

    Hill, Marc; Rizzello, Gianluca; Seelecke, Stefan


    Due to their many features including lightweight and low energy consumption, dielectric elastomer (DE) membrane actuators are of interest for a number of industrial applications, such as pumping systems or valve control units. In particular, the use of DEs in valve control units offers advantages over traditional solenoid valves, including lower power requirements and relative simplicity in achieving proportional control. Additionally, DEs generate low thermal dissipation and are capable of virtually silent operation. The contribution of this work is the development of a new valve system based on a circular DE membrane pre-loaded with a linear spring. The valve is designed for pressurized air and operates by actuating a lever mechanism that opens and closes an outlet port. After presenting the operating principle and system design, several experiments are presented to compare actuator force, stroke, and dissipated energy for several pressure differentials and associated volume flows. It is observed that the DE-driven valve achieves a performance similar to a solenoid-based valve, while requiring a significantly lower amount of input energy. In addition, it is shown that DE-membrane valves can be controlled proportionally by simply adjusting the actuator voltage.

  2. Capabilities of the dielectric barrier discharge plasma actuator for multi-frequency excitations

    Energy Technology Data Exchange (ETDEWEB)

    Benard, N; Moreau, E [Laboratoire d' Etudes Aerodynamiques (LEA), Universite de Poitiers, ENSMA, CNRS Bld Marie et Pierre Curie, Teleport 2, 86962 Futuroscope Cedex (France)


    Natural instability mechanisms are inherent in most laminar and turbulent flow configurations. Usually, these instabilities result in the formation of flow structures occurring at diverse spatial and time scales. An effective control requires an actuator able to bring momentum transfer over a wide range of frequencies to act on these instabilities. Promising results are expected for such control strategy because, according to stability theory, a small amplitude perturbation can be large enough to produce significant effects even at high Reynolds number. Moreover, simultaneous production of small perturbations at several frequencies can enhance or cancel non-linear interactions; this opens alternative methods for flow control. The focus of this study is to demonstrate the ability of plasma actuators to introduce flow perturbations at single and dual frequencies by simply adjusting the waveform of the voltage applied to the plasma actuator. The flows produced by a dielectric barrier discharge supplied by burst, superposition and ring modulations are described in temporal and frequential domains. The results confirm the potential of non-thermal plasma actuators to produce highly unsteady flows at single, double or multiple frequencies.

  3. Failure of cargo aileron’s actuator

    Directory of Open Access Journals (Sweden)

    G. Zucca


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

  4. Printing low-voltage dielectric elastomer actuators (United States)

    Poulin, Alexandre; Rosset, Samuel; Shea, Herbert R.


    We demonstrate the fabrication of fully printed thin dielectric elastomer actuators (DEAs), reducing the operation voltage below 300 V while keeping good actuation strain. DEAs are soft actuators capable of strains greater than 100% and response times below 1 ms, but they require driving voltage in the kV range, limiting the possible applications. One way to reduce the driving voltage of DEAs is to decrease the dielectric membrane thickness, which is typically in the 20-100 μm range, as reliable fabrication becomes challenging below this thickness. We report here the use of pad-printing to produce μm thick silicone membranes, on which we pad-print μm thick compliant electrodes to create DEAs. We achieve a lateral actuation strain of 7.5% at only 245 V on a 3 μm thick pad-printed membrane. This corresponds to a ratio of 125%/kV2, by far the highest reported value for DEAs. To quantify the increasing stiffening impact of the electrodes on DEA performance as the membrane thickness decreases, we compare two circular actuators, one with 3 μm- and one with 30 μm-thick membranes. Our experimental measurements show that the strain uniformity of the 3 μm-DEA is indeed affected by the mechanical impact of the electrodes. We developed a simple DEA model that includes realistic electrodes of finite stiffness, rather than assuming zero stiffness electrodes as is commonly done. The simulation results confirm that the stiffening impact of the electrodes is an important parameter that should not be neglected in the design of thin-DEAs. This work presents a practical approach towards low-voltage DEAs, a critical step for the development of real world applications.

  5. Assessment of Sub-Micron Particles by Exploiting Charge Differences with Dielectrophoresis

    Directory of Open Access Journals (Sweden)

    Maria F. Romero-Creel


    Full Text Available The analysis, separation, and enrichment of submicron particles are critical steps in many applications, ranging from bio-sensing to disease diagnostics. Microfluidic electrokinetic techniques, such as dielectrophoresis (DEP have proved to be excellent platforms for assessment of submicron particles. DEP is the motion of polarizable particles under the presence of a non-uniform electric field. In this work, the polarization and dielectrophoretic behavior of polystyrene particles with diameters ranging for 100 nm to 1 μm were studied employing microchannels for insulator based DEP (iDEP and low frequency (<1000 Hz AC and DC electric potentials. In particular, the effects of particle surface charge, in terms of magnitude and type of functionalization, were examined. It was found that the magnitude of particle surface charge has a significant impact on the polarization and dielectrophoretic response of the particles, allowing for successful particle assessment. Traditionally, charge differences are exploited employing electrophoretic techniques and particle separation is achieved by differential migration. The present study demonstrates that differences in the particle’s surface charge can also be exploited by means of iDEP; and that distinct types of nanoparticles can be identified by their polarization and dielectrophoretic behavior. These findings open the possibility for iDEP to be employed as a technique for the analysis of submicron biological particles, where subtle differences in surface charge could allow for rapid particle identification and separation.

  6. Continuous Draw Spinning of Extra-Long Silver Submicron Fibers with Micrometer Patterning Capability. (United States)

    Bai, Xiaopeng; Liao, Suiyang; Huang, Ya; Song, Jianan; Liu, Zhenglian; Fang, Minghao; Xu, Chencheng; Cui, Yi; Wu, Hui


    Ultrathin metal fibers can serve as highly conducting and flexible current and heat transport channels, which are essential for numerous applications ranging from flexible electronics to energy conversion. Although industrial production of metal fibers with diameters of down to 2 μm is feasible, continuous production of high-quality and low-cost nanoscale metal wires is still challenging. Herein, we report the continuous draw spinning of highly conductive silver submicron fibers with the minimum diameter of ∼200 nm and length of more than kilometers. We obtained individual AgNO3/polymer fibers by continuous drawing from an aqueous solution at a speed of up to 8 m/s. With subsequent heat treatment, freestanding Ag submicron fibers with high mechanical flexibility and electric conductivity have been obtained. Woven mats of aligned Ag submicron fibers were used as transparent electrodes with high flexibility and high performance with sheet resistance of 7 Ω sq(-1) at a transparency of 96%. Continuous draw spinning opened new avenues for scalable, flexible, and ultralow-cost fabrication of extra-long conductive ultrathin metal fibers.

  7. Directed assembly of conducting polymers on sub-micron templates by electrical fields

    Energy Technology Data Exchange (ETDEWEB)

    Shen, Jia; Wei, Ming [National Science Foundation (NSF) Nanoscale Science and Engineering Center for High-Rate Nanomanufacturing, University of Massachusetts Lowell, Lowell, MA 01854 (United States); Busnaina, Ahmed [National Science Foundation (NSF) Nanoscale Science and Engineering Center for High-Rate Nanomanufacturing, Northeastern University, Boston, MA 02115 (United States); Barry, Carol [National Science Foundation (NSF) Nanoscale Science and Engineering Center for High-Rate Nanomanufacturing, University of Massachusetts Lowell, Lowell, MA 01854 (United States); Mead, Joey, E-mail: [National Science Foundation (NSF) Nanoscale Science and Engineering Center for High-Rate Nanomanufacturing, University of Massachusetts Lowell, Lowell, MA 01854 (United States)


    Highlights: Black-Right-Pointing-Pointer Nanoscale patterns with dimensions of assembled PANi down to 100 nm were fabricated. Black-Right-Pointing-Pointer We use electrophoretic and dielectrophoretic assembly to deposit PANi. Black-Right-Pointing-Pointer Electrophoretic and dielectrophoretic assembly of PANi finished in less than 1 min. Black-Right-Pointing-Pointer Effect of process parameters on assembly of PANi onto nanoscale pattern was studied. Black-Right-Pointing-Pointer The assembled PANi can be transferred to other flexible substrates. - Abstract: Patterning of conducting polymer into sub-micron patterns over large areas at high rate and low cost is significant for commercial manufacturing of novel devices. Electrophoretic and dielectrophoretic assembly provide an easily scaled approach with high fabrication rates. In this work, electrophoretic and dielectrophoretic assembly were used to assemble polyaniline (PANi) into multiscale sub-micron size patterns in less than 1 min. The process was controlled by assembly time, amplitude, and frequency of the electric field. Dielectrophoretic assembly is preferable for manufacturing as it reduces damage to the templates used to control the assembly. Using this method, sub-micron patterns with dimensions of the assembled PANi down to 100 nm were fabricated over large areas in short times. The assembled PANi was further transferred to other flexible polymer substrates by a thermoforming process, providing a fast, easily controlled and promising approach for fabrication of nanoscale devices.

  8. Influence of PEG Stoichiometry on Structure-Tuned Formation of Self-Assembled Submicron Nickel Particles

    Directory of Open Access Journals (Sweden)

    Bingxue Pu


    Full Text Available Self-assembled submicron nickel particles were successfully synthesized via the one-step surfactant-assisted solvothermal method. The impact of surfactant and reducing agent stoichiometry is investigated in this manuscript. Different morphologies and structures of Ni particles, including flower-like nanoflakes, hydrangea-like structures, chain structures, sphere-like structures, and hollow structures were prepared through different processing conditions with two parameters such as temperature and time. Based on scanning electron microscopy (SEM, X-ray diffraction (XRD, thermal gravimetric analysis (TGA and vibrating sample magnetometry (VSM, the submicron nickel particles show good saturation magnetization and excellent thermal stabilities with a possible growth mechanism for the variety of the structure-tuned formation. Importantly, the microwave absorption properties of the submicron nickel particles were studied. The lowest reflection loss of Ni-P9/T200/H15 with a thin layer thickness of 1.7 mm can reach −42.6 dB at 17.3 GHz.

  9. The study to reduce the hemolysis side effect of puerarin by a submicron emulsion delivery system. (United States)

    Yue, Peng-Fei; Hai-Long Yuan, Hai-Long; Zhu, Wei-Feng; Cong, Long-Bo; Xie, Huan; Liu, Zhi-Guo; Wang, Lu-Jun; Xiao, Xiao-He


    A safe and effective delivery system with a submicron emulsion for puerarin was studied. Puerarin submicron emulsion was prepared by a novel complex-phase inversion-high press homogenization technology. The mechanism to reduce the hemolysis side effect of puerarin was studied by blood cell counts in rabbits. The average diameter, zeta potential and entrapment efficiency of the emulsion prepared was 198.14+/-8.61 nm, -29.45+/-1.47 mV, 87.32+/-0.34%, respectively. Compared with control group, the red blood cell values, packed cell volume, plasma hemoglobin level, haptoglobin level and osmotic fragility of puerarin i.v. group was significantly different (pemulsion group were not significantly different (p>0.05) in contrast to control group. Such observations indicated that the intravascular hemolysis occurred at 42, 43 d in puerarin i.v. group rabbits, the hemolysis did not occur for puerarin emulsion group rabbits. As an explanation for these results, it was proposed that the puerarin was either incorporated into the lipophilic core or intercalated between the phospholipid molecules at the interface. It could be concluded that puerarin submicron emulsions prepared markedly reduced the hemolysis effect of puerarin.

  10. A flow cytometry-based submicron-sized bacterial detection system using a movable virtual wall. (United States)

    Choi, Hyoungseon; Jeon, Chang Su; Hwang, Inseong; Ko, Juhui; Lee, Saram; Choo, Jaebum; Boo, Jin-Hyo; Kim, Hee Chan; Chung, Taek Dong


    Detection of pathogenic bacteria requires a sensitive, accurate, rapid, and portable device. Given that lethal microbes are of various sizes, bacterial sensors based on DC (direct current) impedance on chips should be equipped with channels with commensurate cross sections. When it comes to counting and interrogation of individual bacteria on a microfluidic chip, very narrow channels are required, which are neither easy nor cost-effective to fabricate. Here, we report a flow cytometry-based submicron-sized bacterial detection system using a movable virtual wall made of a non-conducting fluid. We show that the effective dimension of a microfluidic channel can be adjusted by varying the respective flow rates of a sample solution as well as the liquid wall therein. Using such a virtual wall, we have successfully controlled the channel width and detected submicron-sized Francisella tularensis, a lethal, tularemia-causing bacterium. Since the system is capable of monitoring changes in DC impedance and fluorescence simultaneously, we were also able to discriminate between different types of bacterial mixtures containing F. tularensis and E. coli BL21 that have different gamuts of size distributions. The proposed flow cytometry-based system represents a promising way to detect bacteria including, but not limited to, submicron-sized pathogenic microbes.

  11. Aerodynamics and deposition effects of inhaled submicron drug aerosol in airway diseases. (United States)

    Faiyazuddin, Md; Mujahid, Md; Hussain, Talib; Siddiqui, Hefazat H; Bhatnagar, Aseem; Khar, Roop K; Ahmad, Farhan J


    Particle engineering is the prime focus to improve pulmonary drug targeting with the splendor of nanomedicines. In recent years, submicron particles have emerged as prettyful candidate for improved fludisation and deposition. For effective deposition, the particle size must be in the range of 0.5-5 μm. Inhalers design for the purpose of efficient delivery of powders to lungs is again a crucial task for pulmonary scientists. A huge number of DPI devices exist in the market, a significant number are awaiting FDA approval, some are under development and a large number have been patented or applied for patent. Even with superior design, the delivery competence is still deprived, mostly due to fluidisation problems which cause poor aerosol generation and deposition. Because of the cohesive nature and poor flow characteristics, they are difficult to redisperse upon aerosolization with breath. These problems are illustrious in aerosol research, much of which is vastly pertinent to pulmonary therapeutics. A technical review is presented here of advances that have been utilized in production of submicron drug particles, their in vitro/in vivo evaluations, aerosol effects and pulmonary fate of inhaled submicron powders.

  12. Printing 3D dielectric elastomer actuators for soft robotics (United States)

    Rossiter, Jonathan; Walters, Peter; Stoimenov, Boyko


    We present a new approach to the fabrication of soft dielectric elastomer actuators using a 3D printing process. Complete actuators including active membranes and support structures can be 3D printed in one go, resulting in a great improvement in fabrication speed and increases in accuracy and consistency. We describe the fabrication process and present force and displacement results for a double-membrane antagonistic actuator. In this structure controlled prestrain is applied by the simple process of pressing together two printed actuator halves. The development of 3D printable soft actuators will have a large impact on many application areas including engineering, medicine and the emerging field of soft robotics.

  13. Analysis and Modeling of Linear-Switched Reluctance for Medical Application

    Directory of Open Access Journals (Sweden)

    Jean-Francois Llibre


    Full Text Available This paper focuses on the analysis, the modeling and the control of a linear-switched reluctance motor. The application under consideration is medical, and the actuator is to be used as a left ventricular assist device. The actuator has a cylindrical or tubular shape, with a mechanical unidirectional valve placed inside the mover, which provides a pulsatile flow of blood. The analytical expression of the effort based on the linear behavior of the actuator is given. The identification of the characteristics of the prototype actuator and the principle of position control is performed. A modeling of the actuator is proposed, taking into account the variation of inductance with respect to the position. The closed-loop position control of the actuator is performed by simulation. A controller with integral action and anticipatory action is implemented in order to compensate the effects of disturbing efforts and tracking deviations. Moreover, a magic switch is performed in the controller to avoid overshoots. The results show that the closed-loop response of the actuator is satisfactory.

  14. Independent motion control of a tower crane through wireless sensor and actuator networks. (United States)

    Koumboulis, Fotis N; Kouvakas, Nikolaos D; Giannaris, George L; Vouyioukas, Demosthenes


    The problem of independent control of the performance variables of a tower crane through a wireless sensor and actuator network is investigated. The complete nonlinear mathematical model of the tower crane is developed. Based on appropriate data driven norms an accurate linear approximant of the system, including an upper bound of the communication delays, is derived. Using this linear approximant, a dynamic measurable output multi delay controller for independent control of the performance outputs of the system is proposed. The controller performs satisfactory despite the nonlinearities of the model and the communication delays of the wireless network. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

  15. Another Lesson from Plants: The Forward Osmosis-Based Actuator (United States)

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


    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

  16. Mechatronics and Bioinspiration in Actuator Design and Control

    Directory of Open Access Journals (Sweden)

    J. L. Pons


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

  17. The Energy Amplification Characteristic Research of a Multimodal Actuator

    Directory of Open Access Journals (Sweden)

    Han Yali


    Full Text Available A multimodal actuator is proposed to fulfil the different walking patterns of a power-assisted knee exoskeleton. With this actuator, the exoskeleton leg can realize several modes of operation, including series elastic actuation, stiff position control and energy storage and release. The energy amplification characteristics of the multimodal actuator in the series elastic mode are analysed. A dynamics model was established to study how series elasticity and the equivalent mass of transmission influence a power source, such as an electric motor. The results, in both simulation and experiment, show that series elasticity can amplify actuator power output, and the power output of a multimodal actuator is greater when the equivalent mass of the transmission mechanism is smaller. This research into multimodal actuator energy amplification supplies important insights into the design of artificial systems that can more closely approximate the performance of biological systems.

  18. Evaluating model parameterizations of submicron aerosol scattering and absorption with in situ data from ARCTAS 2008

    Directory of Open Access Journals (Sweden)

    M. J. Alvarado


    Full Text Available Accurate modeling of the scattering and absorption of ultraviolet and visible radiation by aerosols is essential for accurate simulations of atmospheric chemistry and climate. Closure studies using in situ measurements of aerosol scattering and absorption can be used to evaluate and improve models of aerosol optical properties without interference from model errors in aerosol emissions, transport, chemistry, or deposition rates. Here we evaluate the ability of four externally mixed, fixed size distribution parameterizations used in global models to simulate submicron aerosol scattering and absorption at three wavelengths using in situ data gathered during the 2008 Arctic Research of the Composition of the Troposphere from Aircraft and Satellites (ARCTAS campaign. The four models are the NASA Global Modeling Initiative (GMI Combo model, GEOS-Chem v9-02, the baseline configuration of a version of GEOS-Chem with online radiative transfer calculations (called GC-RT, and the Optical Properties of Aerosol and Clouds (OPAC v3.1 package. We also use the ARCTAS data to perform the first evaluation of the ability of the Aerosol Simulation Program (ASP v2.1 to simulate submicron aerosol scattering and absorption when in situ data on the aerosol size distribution are used, and examine the impact of different mixing rules for black carbon (BC on the results. We find that the GMI model tends to overestimate submicron scattering and absorption at shorter wavelengths by 10–23 %, and that GMI has smaller absolute mean biases for submicron absorption than OPAC v3.1, GEOS-Chem v9-02, or GC-RT. However, the changes to the density and refractive index of BC in GC-RT improve the simulation of submicron aerosol absorption at all wavelengths relative to GEOS-Chem v9-02. Adding a variable size distribution, as in ASP v2.1, improves model performance for scattering but not for absorption, likely due to the assumption in ASP v2.1 that BC is present at a constant mass

  19. The dynamics and control of large flexible space structures, 2. Part A: Shape and orientation control using point actuators (United States)

    Bainum, P. M.; Reddy, A. S. S. R.


    The equations of planar motion for a flexible beam in orbit which includes the effects of gravity gradient torques and control torques from point actuators located along the beam was developed. Two classes of theorems are applied to the linearized form of these equations to establish necessary conditions for controlability for preselected actuator configurations. The feedback gains are selected: (1) based on the decoupling of the original coordinates and to obtain proper damping, and (2) by applying the linear regulator problem to the individual model coordinates separately. The linear control laws obtained using both techniques were evaluated by numerical integration of the nonlinear system equations. Numerical examples considering pitch and various number of modes with different combination of actuator numbers and locations are presented. The independent model control concept used earlier with a discretized model of the thin beam in orbit was reviewed for the case where the number of actuators is less than the number of modes. Results indicate that although the system is controllable it is not stable about the nominal (local vertical) orientation when the control is based on modal decoupling. An alternate control law not based on modal decoupling ensures stability of all the modes.

  20. Determination of Geometric Dimensions of a Double Sided Linear Switched Reluctance Motor


    Dursun M.; Koc F.; Ozbay H.


    In this study, a double-sided linear switched reluctance motor (LSRM) drive was investigated as an alternative actuator for vertical linear transportation applications such as a linear elevator door, hospital and subway doors which move linearly and where accurate position control and rapid response is requested. A prototype sliding elevator door that is focused on a home elevator with LSRMs is designed. The motor has 6/4 poles, 3 phases, 8A, 24V, 250 W and 250 N pull for...

  1. Note: A SMA wire actuated extremely long-lifetime release actuator using two ball-lock mechanisms (United States)

    Huang, Dawei; Yan, Xiaojun; Zhang, Xiaoyong; Bai, Haibo; Wang, Xian; Liu, Ying


    A shape memory alloy (SMA)-wire actuated release actuator with an extremely long lifetime was designed and validated. To ensure the ability of repeated actuation, two stages of ball-lock mechanisms were adopted to reduce the load in the SMA wire. In addition, a length-increasing design of the SMA wire was employed. Validation tests, including function tests, vibration tests, shock tests, and thermal vacuum tests were conducted on prototypes. According to the test results, the actuator can release a maximum preload of 15 kN and has a lifetime of more than 693 cycles. Furthermore, the actuator can function well, even under severe thermal and vibration environments.

  2. Biomimetic jellyfish-inspired underwater vehicle actuated by ionic polymer metal composite actuators (United States)

    Najem, Joseph; Sarles, Stephen A.; Akle, Barbar; Leo, Donald J.


    This paper presents the design, fabrication, and characterization of a biomimetic jellyfish robot that uses ionic polymer metal composites (IPMCs) as flexible actuators for propulsion. The shape and swimming style of this underwater vehicle are based on the Aequorea victoria jellyfish, which has an average swimming speed of 20 mm s-1 and which is known for its high swimming efficiency. The Aequorea victoria is chosen as a model system because both its bell morphology and kinematic properties match the mechanical properties of IPMC actuators. This medusa is characterized by its low swimming frequency, small bell deformation during the contraction phase, and high Froude efficiency. The critical components of the robot include the flexible bell that provides the overall shape and dimensions of the jellyfish, a central hub and a stage used to provide electrical connections and mechanical support to the actuators, eight distinct spars meant to keep the upper part of the bell stationary, and flexible IPMC actuators that extend radially from the central stage. The bell is fabricated from a commercially available heat-shrinkable polymer film to provide increased shape-holding ability and reduced weight. The IPMC actuators constructed for this study demonstrated peak-to-peak strains of ˜0.7% in water across a frequency range of 0.1-1.0 Hz. By tailoring the applied voltage waveform and the flexibility of the bell, the completed robotic jellyfish with four actuators swam at an average speed 0.77 mm s-1 and consumed 0.7 W. When eight actuators were used the average speed increased to 1.5 mm s-1 with a power consumption of 1.14 W.

  3. More than 10-fold increase in the actuation strain of silicone dielectric elastomer actuators by applying prestrain (United States)

    Akbari, S.; Rosset, Samuel; Shea, Herbert R.


    Silicone based dielectric elastomer actuators are preferred for reliable and fast actuation due to their negligible viscoelastic behavior. However, it is more challenging to achieve large deformation actuation using this class of polymers compared to the traditionally used VHB films. In this paper, we present theoretical guidelines for improving actuation strain of silicone based dielectric elastomer actuators. The electromechanical behavior of two different silicones is compared and it is demonstrated that the softest elastomer is not necessarily the best choice to achieve large deformation. Lastly, we have experimentally shown that uniaxially prestretching the elastomer with an optimum prestretch ratio enhances the actuation strain up to 10 times. Actuation strain of up to 80% on 100 × 100 μm2 microactuators is generated.

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

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    Peng Li


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

  5. Thermal, size and surface effects on the nonlinear pull-in of small-scale piezoelectric actuators (United States)

    SoltanRezaee, Masoud; Ghazavi, Mohammad-Reza


    Electrostatically actuated miniature wires/tubes have many operational applications in the high-tech industries. In this research, the nonlinear pull-in instability of piezoelectric thermal small-scale switches subjected to Coulomb and dissipative forces is analyzed using strain gradient and modified couple stress theories. The discretized governing equation is solved numerically by means of the step-by-step linearization method. The correctness of the formulated model and solution procedure is validated through comparison with experimental and several theoretical results. Herein, the length-scale, surface energy, van der Waals attraction and nonlinear curvature are considered in the present comprehensive model and the thermo-electro-mechanical behavior of cantilever piezo-beams are discussed in detail. It is found that the piezoelectric actuation can be used as a design parameter to control the pull-in phenomenon. The obtained results are applicable in stability analysis, practical design and control of actuated miniature intelligent devices.

  6. Rise time reduction of thermal actuators operated in air and water through optimized pre-shaped open-loop driving (United States)

    Larsen, T.; Doll, J. C.; Loizeau, F.; Hosseini, N.; Peng, A. W.; Fantner, G. E.; Ricci, A. J.; Pruitt, B. L.


    Electrothermal actuators have many advantages compared to other actuators used in micro-electro-mechanical systems (MEMS). They are simple to design, easy to fabricate and provide large displacements at low voltages. Low voltages enable less stringent passivation requirements for operation in liquid. Despite these advantages, thermal actuation is typically limited to a few kHz bandwidth when using step inputs due to its intrinsic thermal time constant. However, the use of pre-shaped input signals offers a route for reducing the rise time of these actuators by orders of magnitude. We started with an electrothermally actuated cantilever having an initial 10-90% rise time of 85 μs in air and 234 μs in water for a standard open-loop step input. We experimentally characterized the linearity and frequency response of the cantilever when operated in air and water, allowing us to obtain transfer functions for the two cases. We used these transfer functions, along with functions describing desired reduced rise-time system responses, to numerically simulate the required input signals. Using these pre-shaped input signals, we improved the open-loop 10-90% rise time from 85 μs to 3 μs in air and from 234 μs to 5 μs in water, an improvement by a factor of 28 and 47, respectively. Using this simple control strategy for MEMS electrothermal actuators makes them an attractive alternative to other high speed micromechanical actuators such as piezoelectric stacks or electrostatic comb structures which are more complex to design, fabricate, or operate.

  7. Volatility measurement of atmospheric submicron aerosols in an urban atmosphere in southern China

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    L.-M. Cao


    Full Text Available Aerosol pollution has been a very serious environmental problem in China for many years. The volatility of aerosols can affect the distribution of compounds in the gas and aerosol phases, the atmospheric fates of the corresponding components, and the measurement of the concentration of aerosols. Compared to the characterization of chemical composition, few studies have focused on the volatility of aerosols in China. In this study, a thermodenuder aerosol mass spectrometer (TD-AMS system was deployed to study the volatility of non-refractory submicron particulate matter (PM1 species during winter in Shenzhen. To our knowledge, this paper is the first report of the volatilities of aerosol chemical components based on a TD-AMS system in China. The average PM1 mass concentration during the experiment was 42.7±20.1 µg m−3, with organic aerosol (OA being the most abundant component (43.2 % of the total mass. The volatility of chemical species measured by the AMS varied, with nitrate showing the highest volatility, with a mass fraction remaining (MFR of 0.57 at 50 °C. Organics showed semi-volatile characteristics (the MFR was 0.88 at 50 °C, and the volatility had a relatively linear correlation with the TD temperature (from the ambient temperature to 200 °C, with an evaporation rate of 0.45 % °C−1. Five subtypes of OA were resolved from total OA using positive matrix factorization (PMF for data obtained under both ambient temperature and high temperatures through the TD, including a hydrocarbon-like OA (HOA, accounting for 13.5 %, a cooking OA (COA, 20.6 %, a biomass-burning OA (BBOA, 8.9 %, and two oxygenated OAs (OOAs: a less-oxidized OOA (LO-OOA, 39.1 % and a more-oxidized OOA (MO-OOA, 17.9 %. Different OA factors presented different volatilities, and the volatility sequence of the OA factors at 50 °C was HOA (MFR of 0.56  >  LO-OOA (0.70  >  COA (0.85  ≈  BBOA (0.87

  8. A Facile Method for Separating and Enriching Nano and Submicron Particles from Titanium Dioxide Found in Food and Pharmaceutical Products. (United States)

    Faust, James J; Doudrick, Kyle; Yang, Yu; Capco, David G; Westerhoff, Paul


    Recent studies indicate the presence of nano-scale titanium dioxide (TiO2) as an additive in human foodstuffs, but a practical protocol to isolate and separate nano-fractions from soluble foodstuffs as a source of material remains elusive. As such, we developed a method for separating the nano and submicron fractions found in commercial-grade TiO2 (E171) and E171 extracted from soluble foodstuffs and pharmaceutical products (e.g., chewing gum, pain reliever, and allergy medicine). Primary particle analysis of commercial-grade E171 indicated that 54% of particles were nano-sized (i.e., particle analysis of five consumer goods intended to be ingested revealed differences in the percent of nano-sized particles from 32%‒58%. Separation and enrichment of nano- and submicron-sized particles from commercial-grade E171 and E171 isolated from foodstuffs and pharmaceuticals was accomplished using rate-zonal centrifugation. Commercial-grade E171 was separated into nano- and submicron-enriched fractions consisting of a nano:submicron fraction of approximately 0.45:1 and 3.2:1, respectively. E171 extracted from gum had nano:submicron fractions of 1.4:1 and 0.19:1 for nano- and submicron-enriched, respectively. We show a difference in particle adhesion to the cell surface, which was found to be dependent on particle size and epithelial orientation. Finally, we provide evidence that E171 particles are not immediately cytotoxic to the Caco-2 human intestinal epithelium model. These data suggest that this separation method is appropriate for studies interested in isolating the nano-sized particle fraction taken directly from consumer products, in order to study separately the effects of nano and submicron particles.

  9. Influence of locational states of submicron fibers added into matrix on mechanical properties of plain-woven Carbon Fiber Composite (United States)

    Kumamoto, Soichiro; Okubo, Kazuya; Fujii, Toru


    The aim of this study was to show the influence of locational states of submicron fibers added into epoxy matrix on mechanical properties of modified plane-woven carbon fiber reinforced plastic (CFRP). To change the locational states of submicron fibers, two kinds of fabrication processes were applied in preparing specimen by hand lay-up method. Submicron fibers were simply added into epoxy resin with ethanol after they were stirred by a dispersion process using homogenizer to be located far from the interface between reinforcement and matrix. In contrast, submicron fibers were attached onto the carbon fibers by injecting from a spray nozzle accompanying with ethanol to be located near the interface, after they were tentatively contained in ethanol. The plain-woven CFRP plates were fabricated by hand lay-up method and cured at 80 degree-C for 1 hour and then at 150 degree-C for 3 hours. After curing, the plain-woven CFRP plates were cut into the dimension of specimen. Tensile shear strength and Mode-II fracture toughness of CFRP were determined by tensile lap-shear test and End-notched flexure(ENF) test, respectively. When submicron fibers were located far from the interface between carbon fibers and epoxy resin, tensile shear strength and Mode-II fracture toughness of CFRP were improved 30% and 18% compared with those of unmodified case. The improvement ratio in modified case was rather low (about few percentages) in the case where submicron fibers were located near the interface. The result suggested that crack propagation should be prevented when submicron fibers were existed far from the interface due to the effective stress state around the crack tip.

  10. Influence of locational states of submicron fibers added into matrix on mechanical properties of plain-woven Carbon Fiber Composite

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    Kumamoto Soichiro


    Full Text Available The aim of this study was to show the influence of locational states of submicron fibers added into epoxy matrix on mechanical properties of modified plane-woven carbon fiber reinforced plastic (CFRP. To change the locational states of submicron fibers, two kinds of fabrication processes were applied in preparing specimen by hand lay-up method. Submicron fibers were simply added into epoxy resin with ethanol after they were stirred by a dispersion process using homogenizer to be located far from the interface between reinforcement and matrix. In contrast, submicron fibers were attached onto the carbon fibers by injecting from a spray nozzle accompanying with ethanol to be located near the interface, after they were tentatively contained in ethanol. The plain-woven CFRP plates were fabricated by hand lay-up method and cured at 80 degree-C for 1 hour and then at 150 degree-C for 3 hours. After curing, the plain-woven CFRP plates were cut into the dimension of specimen. Tensile shear strength and Mode-II fracture toughness of CFRP were determined by tensile lap-shear test and End-notched flexure(ENF test, respectively. When submicron fibers were located far from the interface between carbon fibers and epoxy resin, tensile shear strength and Mode-II fracture toughness of CFRP were improved 30% and 18% compared with those of unmodified case. The improvement ratio in modified case was rather low (about few percentages in the case where submicron fibers were located near the interface. The result suggested that crack propagation should be prevented when submicron fibers were existed far from the interface due to the effective stress state around the crack tip.

  11. (abstract) NDE and Advanced Actuators at JPL (United States)

    Bar-Cohen, Yoseph


    JPL is responsible for deep space exploration using spacecraft and telerobotic technologies. Since all JPL's missions are one of a kind and hardware dependent, the requirements for nondestructive evaluation (NDE) of the materials and structures that are employed are significantly more stringent than the ones for conventional aerospace needs. The multidisciplinary technologies that are developed at JPL, particularily the ones for the exploration of Mars, are finding applications to a wide variety of NDE applications. Further, technology spin-offs are enabling the development of advanced actuators that are being used to drive various types of telerobotic devices. A review will be given of the recent JPL NDE and advanced actuators activity and it will include several short videos.

  12. A bistable electromagnetically actuated rotary gate microvalve (United States)

    Luharuka, Rajesh; Hesketh, Peter J.


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

  13. Considerations for contractile electroactive materials and actuators (United States)

    Rasmussen, Lenore; Meixler, Lewis D.; Gentile, Charles A.


    Electroactive polymers (EAPs) that bend, swell, ripple (first generation materials), and now contract with low electric input (new development) have been produced. The mechanism of contraction is not well understood. Radionuclide-labeled experiments, molecular modeling, electrolyte experiments, pH experiments, and an ionic concentration experiment were used to determine the chain of events that occur during contraction and, reciprocally, expansion when the polarity is reversed, in these ionic EAPs. Plasma treatment of the electrodes, along with other strategies, allows for the embedded electrodes and the EAP material of the actuator to work and move as a unit, with no detachment, by significantly improving the metal-polymer interface, analogous to nerves and tendons moving with muscles during movement. Challenges involved with prototyping actuation using contractile EAPs are also discussed.

  14. Considerations For Contractile Electroactive Materials and Actuators

    Energy Technology Data Exchange (ETDEWEB)

    Lenore Rasmussen, Lewis D. Meixler and Charles A. Gentile


    Electroactive polymers (EAPs) that bend, swell, ripple (first generation materials), and now contract with low electric input (new development) have been produced. The mechanism of contraction is not well understood. Radionuclide-labeled experiments, molecular modeling, electrolyte experiments, pH experiments, and an ionic concentration experiment were used to determine the chain of events that occur during contraction and, reciprocally, expansion when the polarity is reversed, in these ionic EAPs. Plasma treatment of the electrodes, along with other strategies, allows for the embedded electrodes and the EAP material of the actuator to work and move as a unit, with no detachment, by significantly improving the metal-polymer interface, analogous to nerves and tendons moving with muscles during movement. Challenges involved with prototyping actuation using contractile EAPs are also discussed.

  15. Soft Actuators for Small-Scale Robotics. (United States)

    Hines, Lindsey; Petersen, Kirstin; Lum, Guo Zhan; Sitti, Metin


    This review comprises a detailed survey of ongoing methodologies for soft actuators, highlighting approaches suitable for nanometer- to centimeter-scale robotic applications. Soft robots present a special design challenge in that their actuation and sensing mechanisms are often highly integrated with the robot body and overall functionality. When less than a centimeter, they belong to an even more special subcategory of robots or devices, in that they often lack on-board power, sensing, computation, and control. Soft, active materials are particularly well suited for this task, with a wide range of stimulants and a number of impressive examples, demonstrating large deformations, high motion complexities, and varied multifunctionality. Recent research includes both the development of new materials and composites, as well as novel implementations leveraging the unique properties of soft materials. © 2016 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

  16. Sensing and actuation of smart chiral honeycombs (United States)

    Abramovitch, H.; Burgard, M.; Edery-Azulay, Lucy; Evans, K. E.; Hoffmeister, M.; Miller, W.; Scarpa, F.; Smith, C. W.; Tee, K. F.; Schönecker, A.; Seffner, L.


    A chiral honeycomb configuration is developed with embedded piezosensors and actuators for smart sandwich panel applications. The chiral honeycomb concept is made of repeating units of cylinders and plates (ligaments), featuring an in-plane negative Poisson's ratio. Rapid Prototyping vacuum-cast and FDM (Fusion Deposition Moulding) techniques are developed to embed micro fibres composites to be used for potential structural health monitoring (SHM) applications, and microwave absorption screens for electromagnetic compatibility. Finite Element models are also developed to prototype and simulate the response, sensing and actuation capability of the honeycombs for design purposes. Dynamic tests using scanning laser vibrometers and acoustic wave propagation are carried out to assess the feasibility of the concept.

  17. Azobenzene compound-based photomechanical actuator devices (United States)

    Ye, Xianjun; Kuzyk, Mark G.


    It has been shown that the chromophore disperse red 1 azobenzene (DR1) when doped into poly(methyl methacrylate) (PMMA) optical fiber can be used to make an optical cantilever in which an asymmetrically propagating beam at 633nm causes the fiber to bend. The fast response process is purported to be due to elongation of the material as molecules change between cis and trans isomers. In our work, UV light of 350nm will be used to investigate trans to cis somerization, which should induce contraction. Short fiber segments in a three-contactpoint geometry will be used to control the position and tilt of silver- or aluminum-coated coverslips that together with microscope glass slides as the substrate make optically-actuated beam-controlling mounts and Fabry-Perot interferometers. A Michelson interferometer is used to measure the length change of the fiber actuator. Azodye doped liquid crystal (LC) elastomers have been demonstrated to have a photomechanical effect that is at least ten times bigger than thermoplastic-based polymer fiber. However, the optical quality of thermoplastics are much better, enabling the cascading of devices in series. We will report on visible and UV laser-actuation of LC elastomer and polymer device structures using a quadrant photodetector to record the beam deflection caused by the shape change of the material, which will allow for dynamical measurements of the mechanisms. All measurements will be calibrated against a piezoelectric crystal actuator. Photomechanical devices provide an inexpensive but versatile, small-form factor, vibration free and high precision solution to optomechanics, sensing, positioning and other space applications.

  18. Dynamic Electromechanical Coupling of Piezoelectric Bending Actuators

    Directory of Open Access Journals (Sweden)

    Mostafa R. A. Nabawy


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

  19. Distributed Magnetic Actuators for Fine Shape Control (United States)


    1988 Authors: SatCon Technology Corporation G. Anastas 71 Rogers Street D. Elsenhaure Cambridge, NA 02142 R. Hockney B. Johnson RO1-88 K. Misovec F04611...Security Classification) -2 Distributed Magnetic Actuators for Fine Shape Control (U) 12, PERSONAL AUTHOR(S) George Anastas, David Eisenhaure, Richard... Hockney , Bruce Johnson, Kathleen Misovec 13a. TYPE OF REPORT 13b. TIME COVERED 14. DATE OF"REPORT (ear, Month,Day) 15. PAGE COUNT Final FROM R7/7 TO

  20. Challenges and New Trends for Piezoelectric Actuators (United States)

    Sehirlioglu, Alp


    BiScO3-PbTiO3 ceramics with TC greater than 400 C has been successfully processed. Despite the increase in TC, excess Pb addition increases both the bulk conductivity and the grain boundary contribution to conductivity at elevated temperatures. Conductivity at elevated temperatures, that limits the operating temperature for actuators, has been greatly reduced by excess Bi additions. Excess Bi doping improves poling conditions resulting in enhanced piezoelectric coefficient (d(sub 33) = 408 pC/N).

  1. Propellant actuated nuclear reactor steam depressurization valve (United States)

    Ehrke, Alan C.; Knepp, John B.; Skoda, George I.


    A nuclear fission reactor combined with a propellant actuated depressurization and/or water injection valve is disclosed. The depressurization valve releases pressure from a water cooled, steam producing nuclear reactor when required to insure the safety of the reactor. Depressurization of the reactor pressure vessel enables gravity feeding of supplementary coolant water through the water injection valve to the reactor pressure vessel to prevent damage to the fuel core.

  2. Biomimetic photo-actuation: sensing, control and actuation in sun-tracking plants. (United States)

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


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

  3. Novel compliant actuator for wearable robotics applications. (United States)

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


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

  4. Bending fluidic actuator for smart structures (United States)

    Che-Ming Chang, Benjamin; Berring, John; Venkataram, Manu; Menon, Carlo; Parameswaran, M.


    This paper presents a novel silicone-based, millimeter-scale, bending fluidic actuator (BFA). Its unique parallel micro-channel design enables, for the first time, operation at low working pressure while at the same time having a very limited thickness expansion during pressurization. It also enables the actuator to have the highest ratios of angular displacement over length and torque over volume among previously proposed BFAs. In this work, this parallel micro-channel design is implemented by embedding the BFA with an innovative single winding conduit, which yields a simple, single-component configuration suitable for low-cost production and reliable performance. The BFA design can be easily scaled down to smaller dimensions and can be adapted to applications in restricted space, particularly minimally invasive surgery. In this work, the actuator is manufactured in TC-silicone through poly(methyl methacrylate) molds obtained by using laser cutting technology. Repeated angular displacement measurements on multiple prototypes having different stiffness are carried out. The experimental results are compared with an analytical model, which accurately predicts the performance of the device.

  5. Shape memory alloys for micromembrane actuation (United States)

    Surbled, Patrick; Le Pioufle, Bruno; Yang, E. H.; Fujita, Hiroyuki


    More and more technologies and new materials have been combined with silicon process technologies to enhance the performances of microsystems and extend the application fields. Among these technologies, the Shape Memory Alloys (SMA's) as thin films have been developed recently. They have been shown to induce high displacement and large force/mass ratio under low voltage. They can produce work output higher than can be provided with other kinds of actuators. However, such SMA actuators are not easy to make because specific annealing treatments or mechanical bias springs are needed to realize cyclic device operation. Moreover, adhesion problems of SMA thin films may occur during the annealing treatment. We have developed a simple fabrication process allowing a reliable operation principle of a micromembrane. The cyclic actuation is ensured by membrane thickness residual stresses that avoids the assembling steps. These membranes whose surface varies from 200 X 200 micrometer2 up to 2 X 2 mm2 have been successfully tested. As developed, they are very adapted to integration process of microelectronics and can be applied to many applications such as optical, fluidic devices, and especially for biomedical applications as SMA's are biocompatible.

  6. Considerations for Contractile Electroactive Materials and Actuators

    Energy Technology Data Exchange (ETDEWEB)

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


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

  7. Electrowetting Actuation of Polydisperse Nanofluid Droplets

    Directory of Open Access Journals (Sweden)

    Crismar Patacsil


    Full Text Available We present results of electrowetting experiments employing droplets formed from aqueous suspensions of Au nanoparticles. A planar electrowetting system, consisting of a Pt wire electrode and a bottom Cu electrode with an insulating silicone layer, is used to observe changes in droplet contact angle when an external electric field is applied. The equilibrium contact angle at 0 V decreases with increasing nanoparticle concentration, dropping from 100.4° for pure deionized water to 94.7° for a 0.5 μM nanofluid. Increasing the nanoparticle content also lowers the required voltage for effective actuation. With actuation at 15 V, contact angle decreases by 9% and 35% for droplets formed from pure water and a 0.5 μM nanoparticle suspension, respectively. Contact angle saturation is observed with nanofluid droplets, with the threshold voltage decreasing as nanoparticle concentration rises. Maximum droplet actuation before contact angle saturation is achieved at only 10 V for a concentration of 0.5 μM. A proposed mechanism for the enhanced electrowetting response of a nanofluid droplet involves a reduction in surface tension of the droplet as nanoparticles accumulate at the liquid-vapor interface.

  8. Highly Tunable Electrothermally and Electrostatically Actuated Resonators

    KAUST Repository

    Hajjaj, Amal Z.


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

  9. Actuation of digital micro drops by electrowetting on open microfluidic chips fabricated in photolithography. (United States)

    Ko, Hyojin; Lee, Jeong Soo; Jung, Chan-Hee; Choi, Jae-Hak; Kwon, Oh-Sun; Shin, Kwanwoo


    Basic manipulations of discrete liquid drops on opened microfluidic chips based on electrowetting on dielectrics were described. While most developed microfluidic chips are closed systems equipped with a top plate to cover mechanically and to contact electrically to drop samples, our chips are opened systems with a single plate without any electric contact to drops directly. The chips consist of a linear array of patterned electrodes at 1.8 mm pitch was fabricated on a glass plate coated with thin hydrophobic and dielectric layers by using various methods including photolithography, spin coating and ion sputtering. Several actuations such as lateral oscillation, colliding mergence and translational motion for 3-10 μL water drops have been demonstrated satisfactory. All these kinetic performances of opened chips were similar to those of closed chip systems, indicating superiority of a none-contact method for the transport of drops on opened microfluidic chips actuated by using electrowetting technique.

  10. Manipulating flow separation: sensitivity of stagnation points, separatrix angles and recirculation area to steady actuation. (United States)

    Boujo, E; Gallaire, F


    A variational technique is used to derive analytical expressions for the sensitivity of several geometric indicators of flow separation to steady actuation. Considering the boundary layer flow above a wall-mounted bump, the six following representative quantities are considered: the locations of the separation point and reattachment point connected by the separatrix, the separation angles at these stagnation points, the backflow area and the recirculation area. For each geometric quantity, linear sensitivity analysis allows us to identify regions which are the most sensitive to volume forcing and wall blowing/suction. Validations against full nonlinear Navier-Stokes calculations show excellent agreement for small-amplitude control for all considered indicators. With very resemblant sensitivity maps, the reattachment point, the backflow and recirculation areas are seen to be easily manipulated. By contrast, the upstream separation point and the separatrix angles are seen to remain extremely robust with respect to external steady actuation.

  11. Electromechanical actuation for thrust vector control applications (United States)

    Roth, Mary Ellen

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

  12. Patterning process and actuation in open air of micro-beam actuator based on conducting IPNs (United States)

    Khaldi, Alexandre; Plesse, Cédric; Soyer, Caroline; Chevrot, Claude; Teyssié, Dominique; Vidal, Frédéric; Cattan, Eric


    We report on new method to obtain micrometric electroactive polymer actuators operating in air. High speed conducting Interpenetrating Polymer Network (IPN) microactuators are synthesized and fully characterized. The IPN architecture used in this work allows solving the interface and adhesion problems, which have been reported in the design of classical conducting polymer-based actuators. We demonstrated that it is possible to reduce the thickness of these actuators by a specific synthetic pathway. IPN host matrixes based on polyethylene oxide / polytetrahydrofurane have been shaped by hot pressing. Then, the resulting thin host matrixes (below 10 μm) are compatible with the microfabrication technologies. After interpenetration of poly(3,4-ethylenedioxythiophene) (PEDOT), these electroactive materials are micro-sized using dry etching process. Frequency responses and displacement have been characterized by scanning electronic microscopy. These conducting IPN microactuators can be considered as potential candidates in numerous low frequency applications, including micro-valves, micro-optical instrumentation and micro-robotics.

  13. Dependence on boundary conditions for actuation characteristics of dielectric elastomer actuators (United States)

    Kollosche, Matthias; Stoyanov, Hristiyan; Ragusch, Hülya; Kofod, Guggi


    We present electro-mechanical characterizations of dielectric elastomer actuators (DEA) prepared from polystyrene- ethylene-butadiene-styrene (SEBS) with comparison to the commonly used VHB 4905 tape. This study discusses effects of boundary conditions, stiffness and voltage ramp rate on the actuation properties of both materials. Measurements on samples in pure-shear configuration were made with variation in both load and applied voltage, to achieve so-called '3D-plots'. A strong dependence of the actuation characteristics on the voltage ramp rate was observed, leading to a large shift in the 'optimum load' for VHB, which was not found for SEBS. This is due to the large difference in visco-elastic behavior between materials.

  14. [Nasal submicron emulsion of Scutellariae Radix extract preparation technology research based on phase transfer of solute technology]. (United States)

    Shi, Ya-jun; Shi, Jun-hui; Chen, Shi-bin; Yang, Ming


    Based on the demand of nasal drug delivery high drug loadings, using the unique phase transfer of solute, integrating the phospholipid complex preparation and submicron emulsion molding process of Scutellariae Radix extract, the study obtained the preparation of the high drug loadings submicron emulsion of Scutellariae Radix extract. In the study of drug solution dispersion method, the uniformity of drug dispersed as the evaluation index, the traditional mixing method, grinding, homogenate and solute phase transfer technology were investigated, and the solute phase transfer technology was adopted in the last. With the adoption of new technology, the drug loading capacity reached 1.33% (phospholipid complex was 4%). The drug loading capacity was improved significantly. The transfer of solute method and timing were studied as follows,join the oil phase when the volume of phospholipid complex anhydrous ethanol solution remaining 30%, the solute phase transfer was completed with the continued recycling of anhydrous ethanol. After drug dissolved away to oil phase, the preparation technology of colostrum was determined with the evaluation index of emulsion droplet form. The particle size of submicron emulsion, PDI and stability parameters were used as evaluation index, orthogonal methodology were adopted to optimize the submicron emulsion ingredient and main influential factors of high pressure homogenization technology. The optimized preparation technology of Scutellariae Radix extract nasal submicron emulsion is practical and stable.

  15. Sub-micron Cu/SSZ-13: Synthesis and application as selective catalytic reduction (SCR) catalysts

    Energy Technology Data Exchange (ETDEWEB)

    Prodinger, Sebastian; Derewinski, Miroslaw A.; Wang, Yilin; Washton, Nancy M.; Walter, Eric D.; Szanyi, János; Gao, Feng; Wang, Yong; Peden, Charles H. F.


    For the first time, sub-micron Cu/SSZ-13, obtained by modifying an existing synthesis procedure, was shown to be an effective and stable catalyst for selective catalytic reduction reactions, such as NO reduction. Characterization of the materials with X-ray diffraction, N2-physisorption and 27Al MAS NMR shows that hydrothermal aging, simulating SCR reaction conditions, is more destructive in respect to dealumination for smaller particles prior to Cu-exchange. However, the catalytic performance and hydrothermal stability for Cu/SSZ-13 is independent of the particle size. In particular, the stability of tetrahedral framework Al is improved in the sub-micron Cu/SSZ-13 catalysts of comparable Cu loading. This indicates that variations in the Al distribution for different SSZ-13 synthesis procedures have a more critical influence on stabilizing isolated Cu-ions during harsh hydrothermal aging than the particle size. This study is of high interest for applications in vehicular DeNOx technologies where high loadings of active species on wash coats can be achieved by using sub-micron Cu/SSZ-13. The authors would like to thank B. W. Arey and J. J. Ditto for performing electron microscope imaging. The authors gratefully acknowledge the US Department of Energy (DOE), Energy Efficiency and Renewable Energy, Vehicle Technologies Office for the support of this work. S. P and M. A. D also acknowledge support by the Materials Synthesis and Simulation Across Scales (MS3 Initiative) conducted under the Laboratory Directed Research & Development Program at PNNL. The research described in this paper was performed in the Environmental Molecular Sciences Laboratory (EMSL), a national scientific user facility sponsored by the DOE’s Office of Biological and Environmental Research and located at Pacific Northwest National Laboratory (PNNL). PNNL is operated for the US DOE by Battelle.

  16. A novel inlet system for online chemical analysis of semi-volatile submicron particulate matter (United States)

    Eichler, P.; Müller, M.; D'Anna, B.; Wisthaler, A.


    We herein present a novel modular inlet system designed to be coupled to low-pressure gas analyzers for online chemical characterization of semi-volatile submicron particles. The "chemical analysis of aerosol online" (CHARON) inlet consists of a gas-phase denuder for stripping off gas-phase analytes, an aerodynamic lens for particle collimation combined with an inertial sampler for the particle-enriched flow and a thermodesorption unit for particle volatilization prior to chemical analysis. The denuder was measured to remove gas-phase organics with an efficiency > 99.999% and to transmit particles in the 100-750 nm size range with a 75-90% efficiency. The measured average particle enrichment factor in the subsampling flow from the aerodynamic lens was 25.6, which is a factor of 3 lower than the calculated theoretical optimum. We coupled the CHARON inlet to a proton-transfer-reaction time-of-flight mass spectrometer (PTR-ToF-MS) which quantitatively detects most organic analytes and ammonia. The combined CHARON-PTR-ToF-MS setup is thus capable of measuring both the organic and the ammonium fraction in submicron particles in real time. Individual organic compounds can be detected down to levels of 10-20 ng m-3. Two proof-of-principle studies were carried out for demonstrating the analytical power of this new instrumental setup: (i) oxygenated organics and their partitioning between the gas and the particulate phase were observed from the reaction of limonene with ozone and (ii) nicotine was measured in cigarette smoke particles demonstrating that selected organic target compounds can be detected in submicron particles in real time.

  17. Low-Stroke Actuation for a Serial Robot (United States)

    Gao, Dalong (Inventor); Ihrke, Chris A. (Inventor)


    A serial robot includes a base, first and second segments, a proximal joint joining the base to the first segment, and a distal joint. The distal joint that joins the segments is serially arranged and distal with respect to the proximal joint. The robot includes first and second actuators. A first tendon extends from the first actuator to the proximal joint and is selectively moveable via the first actuator. A second tendon extends from the second actuator to the distal joint and is selectively moveable via the second actuator. The robot includes a transmission having at least one gear element which assists rotation of the distal joint when an input force is applied to the proximal and/or distal joints by the first and/or second actuators. A robotic hand having the above robot is also disclosed, as is a robotic system having a torso, arm, and the above-described hand.

  18. Self-Sensing Ionic Polymer Actuators: A Review

    Directory of Open Access Journals (Sweden)

    Karl Kruusamäe


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

  19. Hierarchically arranged helical fibre actuators driven by solvents and vapours (United States)

    Chen, Peining; Xu, Yifan; He, Sisi; Sun, Xuemei; Pan, Shaowu; Deng, Jue; Chen, Daoyong; Peng, Huisheng


    Mechanical responsiveness in many plants is produced by helical organizations of cellulose microfibrils. However, simple mimicry of these naturally occurring helical structures does not produce artificial materials with the desired tunable actuations. Here, we show that actuating fibres that respond to solvent and vapour stimuli can be created through the hierarchical and helical assembly of aligned carbon nanotubes. Primary fibres consisting of helical assemblies of multiwalled carbon nanotubes are twisted together to form the helical actuating fibres. The nanoscale gaps between the nanotubes and micrometre-scale gaps among the primary fibres contribute to the rapid response and large actuation stroke of the actuating fibres. The compact coils allow the actuating fibre to rotate reversibly. We show that these fibres, which are lightweight, flexible and strong, are suitable for a variety of applications such as energy-harvesting generators, deformable sensing springs and smart textiles.

  20. The Load Capability of Piezoelectric Single Crystal Actuators (United States)

    Xu, Tian-Bing; Su, Ji; Jiang, Xiaoning; Rehrig, Paul W.; Hackenberger, Wesley S.


    Piezoelectric lead magnesium niobate-lead titanate (PMN-PT) single crystal is one of the most promising materials for electromechanical device applications due to its high electrical field induced strain and high electromechanical coupling factor. PMN-PT single crystal-based multilayer stack actuators and multilayer stack-based flextensional actuators have exhibited high stroke and high displacement-voltage ratios. The actuation capabilities of these two actuators were evaluated using a newly developed method based upon a laser vibrometer system under various loading conditions. The measured displacements as a function of mechanical loads at different driving voltages indicate that the displacement response of the actuators is approximately constant under broad ranges of mechanical load. The load capabilities of these PMN-PT single crystal-based actuators and the advantages of the capability for applications will be discussed.