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Sample records for actuator line model

  1. Evaluation of the Actuator Line Model with coarse resolutions

    NASA Astrophysics Data System (ADS)

    Draper, M.; Usera, G.

    2015-06-01

    The aim of the present paper is to evaluate the Actuator Line Model (ALM) in spatial resolutions coarser than what is generally recommended, also using larger time steps. To accomplish this, the ALM has been implemented in the open source code caffa3d.MBRi and validated against experimental measurements of two wind tunnel campaigns (stand alone wind turbine and two wind turbines in line, case A and B respectively), taking into account two spatial resolutions: R/8 and R/15 (R is the rotor radius). A sensitivity analysis in case A was performed in order to get some insight into the influence of the smearing factor (3D Gaussian distribution) and time step size in power and thrust, as well as in the wake, without applying a tip loss correction factor (TLCF), for one tip speed ratio (TSR). It is concluded that as the smearing factor is larger or time step size is smaller the power is increased, but the velocity deficit is not as much affected. From this analysis, a smearing factor was obtained in order to calculate precisely the power coefficient for that TSR without applying TLCF. Results with this approach were compared with another simulation choosing a larger smearing factor and applying Prandtl's TLCF, for three values of TSR. It is found that applying the TLCF improves the power estimation and weakens the influence of the smearing factor. Finally, these 2 alternatives were tested in case B, confirming that conclusion.

  2. The design, hysteresis modeling and control of a novel SMA-fishing-line actuator

    NASA Astrophysics Data System (ADS)

    Xiang, Chaoqun; Yang, Hui; Sun, Zhiyong; Xue, Bangcan; Hao, Lina; Asadur Rahoman, M. D.; Davis, Steve

    2017-03-01

    Fishing line can be combined with shape memory alloy (SMA) to form novel artificial muscle actuators which have low cost, are lightweight and soft. They can be applied in bionic, wearable and rehabilitation robots, and can reduce system weight and cost, increase power-to-weight ratio and offer safer physical human-robot interaction. However, these actuators possess several disadvantages, for example fishing line based actuators possess low strength and are complex to drive, and SMA possesses a low percentage contraction and has high hysteresis. This paper presents a novel artificial actuator (known as an SMA-fishing-line) made of fishing line and SMA twisted then coiled together, which can be driven directly by an electrical voltage. Its output force can reach 2.65 N at 7.4 V drive voltage, and the percentage contraction at 4 V driven voltage with a 3 N load is 7.53%. An antagonistic bionic joint driven by the novel SMA-fishing-line actuators is presented, and based on an extended unparallel Prandtl-Ishlinskii (EUPI) model, its hysteresis behavior is established, and the error ratio of the EUPI model is determined to be 6.3%. A Joule heat model of the SMA-fishing-line is also presented, and the maximum error of the established model is 0.510 mm. Based on this accurate hysteresis model, a composite PID controller consisting of PID and an integral inverse (I-I) compensator is proposed and its performance is compared with a traditional PID controller through simulations and experimentation. These results show that the composite PID controller possesses higher control precision than basic PID, and is feasible for implementation in an SMA-fishing-line driven antagonistic bionic joint.

  3. Modelling one row of Horns Rev wind farm with the Actuator Line Model with coarse resolution

    NASA Astrophysics Data System (ADS)

    Draper, M.; Guggeri, A.; Usera, G.

    2016-09-01

    Actuator models have been used to represent the presence of wind turbines in a simulation in the past few years. The Actuator Line Model (ALM) has shown to reproduce with reasonable accuracy the wind flow through wind turbines under different operational conditions. Nevertheless, there are not many simulations of wind farms performed with the ALM mainly because of its computational cost. The aim of the present paper is to evaluate the ALM in spatial resolutions coarser than what is generally recommended, also using larger time steps, in a simulation of a real wind farm. To accomplish this, simulations of one row of Horns Rev wind farm are performed, for different wind directions. It is concluded that the ALM is able to capture the main features of the interaction between wind turbines relaxing its resolution requirements. A sensitivity analysis is performed to assess the influence of the smearing factor and the spatial resolution.

  4. An actuator line model simulation with optimal body force projection length scales

    NASA Astrophysics Data System (ADS)

    Martinez-Tossas, Luis; Churchfield, Matthew J.; Meneveau, Charles

    2016-11-01

    In recent work (Martínez-Tossas et al. "Optimal smoothing length scale for actuator line models of wind turbine blades", preprint), an optimal body force projection length-scale for an actuator line model has been obtained. This optimization is based on 2-D aerodynamics and is done by comparing an analytical solution of inviscid linearized flow over a Gaussian body force to the potential flow solution of flow over a Joukowski airfoil. The optimization provides a non-dimensional optimal scale ɛ / c for different Joukowski airfoils, where ɛ is the width of the Gaussian kernel and c is the chord. A Gaussian kernel with different widths in the chord and thickness directions can further reduce the error. The 2-D theory developed is extended by simulating a full scale rotor using the optimal body force projection length scales. Using these values, the tip losses are captured by the LES and thus, no additional explicit tip-loss correction is needed for the actuator line model. The simulation with the optimal values provides excellent agreement with Blade Element Momentum Theory. This research is supported by the National Science Foundation (Grant OISE-1243482, the WINDINSPIRE project).

  5. Validation of the Actuator Line Model with coarse resolution in atmospheric sheared and turbulent inflow

    NASA Astrophysics Data System (ADS)

    Draper, M.; Guggeri, A.; Usera, G.

    2016-09-01

    Wind energy has become cost competitive in recent years for several reasons. Among them, wind turbines have become more efficient, increasing its size, both rotor diameter and tower height. This growth in size makes the prediction of the wind flow through wind turbines more challenging. To avoid the computational cost related to resolve the blade boundary layer as well as the atmospheric boundary layer, actuator models have been proposed in the past few years. Among them, the Actuator Line Model (ALM) has shown to reproduce with reasonable accuracy the wind flow in the wake of a wind turbine with moderately computational cost. However, its use to simulate the flow through wind farms requires a spatial resolution and a time step that makes it unaffordable in some cases. The present paper aims to assess the ALM with coarser resolution and larger time step than what is generally recommended, taking into account an atmospheric sheared and turbulent inflow condition and comparing the results with the Actuator Disk Model with Rotation (ADM-R) and experimental data. To accomplish this, a well known wind tunnel campaign is considered as validation case.

  6. Determining the optimal smoothing length scale for actuator line models of wind turbine blades

    NASA Astrophysics Data System (ADS)

    Martinez, Luis; Meneveau, Charles

    2015-11-01

    The actuator line model (ALM) is a widely used tool for simulating wind turbines when performing Large-Eddy Simulations. The ALM uses a smearing kernel ηɛ = 1 /ɛ3π 3 / 2 exp (-r2 /ɛ2) , where r is the distance to an actuator point, and ɛ is the smoothing length scale which establishes the kernel width, to project the lift and drag forces onto the grid. In this work, we develop formulations to establish the optimum value of the smoothing length scale ɛ, based on physical arguments, instead of purely numerical constraints. This parameter has a very important role in the ALM, to provide a length scale, which may, for example, be related to the chord of the airfoil being studied. In the proposed approach, we compare features (such as vertical pressure gradient) of a potential flow solution for flow over a lifting surface with features of the solution of the Euler equations with a body force term. The potential flow solution over a lifting surface is used as a general representation of an airfoil. The method presented aims to minimize the difference between these features of the flow fields as a function of the smearing length scale (ɛ), in order to obtain the optimum value. This work is supported by NSF (IGERT and IIA-1243482) and computations use XSEDE resources.

  7. Large Eddy Simulation of wind turbines using the actuator line model and immersed boundary method

    NASA Astrophysics Data System (ADS)

    Santoni, Christian; Carrasquillo-Solís, Kenneth; Leonardi, Stefano

    2014-11-01

    Despite the growth of the energy extracted from wind turbines, the flow physics is still not fully understood even under ideal operational conditions. Large Eddy Simulations of the turbulent flow past a wind turbine in a channel have been performed. The numerical setup reproduces the experiment performed in a wind tunnel at the Norwegian University of Science and Technology (NUST). The code is based on a finite difference scheme with a fractional step and Runge-Kutta, which couples the actuator line model (ALM) and the Immersed Boundary Method (IBM). Two simulations were performed, one neglecting the tower and nacelle resulting in the rotating blades only, the other modeling both the rotating blades as well as the tower and nacelle with IBM. Results relative to the simulation with tower and nacelle have a very good agreement with experiments. Profiles of turbulent kinetic energy shows that the effect of the tower and nacelle is not confined to the hub region but extend to the entire rotor. In addition we placed the wind turbine over an undulated topography to understand how it affects the performances and wake of a wind turbine. Comparison with the results obtained for the smooth wall show an interaction between the rough wall and the wake. The numerical simulations were performed on XSEDE TACC under Grant No. CTS070066. The present work is supported by the National Science Foundation (NSF), Grant IIA-1243482 (WINDINSPIRE).

  8. Validation of an Actuator Line Model Coupled to a Dynamic Stall Model for Pitching Motions Characteristic to Vertical Axis Turbines

    NASA Astrophysics Data System (ADS)

    Mendoza, Victor; Bachant, Peter; Wosnik, Martin; Goude, Anders

    2016-09-01

    Vertical axis wind turbines (VAWT) can be used to extract renewable energy from wind flows. A simpler design, low cost of maintenance, and the ability to accept flow from all directions perpendicular to the rotor axis are some of the most important advantages over conventional horizontal axis wind turbines (HAWT). However, VAWT encounter complex and unsteady fluid dynamics, which present significant modeling challenges. One of the most relevant phenomena is dynamic stall, which is caused by the unsteady variation of angle of attack throughout the blade rotation, and is the focus of the present study. Dynamic stall is usually used as a passive control for VAWT operating conditions, hence the importance of predicting its effects. In this study, a coupled model is implemented with the open-source CFD toolbox OpenFOAM for solving the Navier-Stokes equations, where an actuator line model and dynamic stall model are used to compute the blade loading and body force. Force coefficients obtained from the model are validated with experimental data of pitching airfoil in similar operating conditions as an H-rotor type VAWT. Numerical results show reasonable agreement with experimental data for pitching motion.

  9. Wind turbine rotor simulation using the actuator disk and actuator line methods

    NASA Astrophysics Data System (ADS)

    Tzimas, M.; Prospathopoulos, J.

    2016-09-01

    The present paper focuses on wind turbine rotor modeling for loads and wake flow prediction. Two steady-state models based on the actuator disk approach are considered, using either a uniform thrust or a blade element momentum calculation of the wind turbine loads. A third model is based on the unsteady-state actuator line approach. Predictions are compared with measurements in wind tunnel experiments and in atmospheric environment and the capabilities and weaknesses of the different models are addressed.

  10. Simulation of wind turbine wakes using the actuator line technique

    PubMed Central

    Sørensen, Jens N.; Mikkelsen, Robert F.; Henningson, Dan S.; Ivanell, Stefan; Sarmast, Sasan; Andersen, Søren J.

    2015-01-01

    The actuator line technique was introduced as a numerical tool to be employed in combination with large eddy simulations to enable the study of wakes and wake interaction in wind farms. The technique is today largely used for studying basic features of wakes as well as for making performance predictions of wind farms. In this paper, we give a short introduction to the wake problem and the actuator line methodology and present a study in which the technique is employed to determine the near-wake properties of wind turbines. The presented results include a comparison of experimental results of the wake characteristics of the flow around a three-bladed model wind turbine, the development of a simple analytical formula for determining the near-wake length behind a wind turbine and a detailed investigation of wake structures based on proper orthogonal decomposition analysis of numerically generated snapshots of the wake. PMID:25583862

  11. Simulation of wind turbine wakes using the actuator line technique.

    PubMed

    Sørensen, Jens N; Mikkelsen, Robert F; Henningson, Dan S; Ivanell, Stefan; Sarmast, Sasan; Andersen, Søren J

    2015-02-28

    The actuator line technique was introduced as a numerical tool to be employed in combination with large eddy simulations to enable the study of wakes and wake interaction in wind farms. The technique is today largely used for studying basic features of wakes as well as for making performance predictions of wind farms. In this paper, we give a short introduction to the wake problem and the actuator line methodology and present a study in which the technique is employed to determine the near-wake properties of wind turbines. The presented results include a comparison of experimental results of the wake characteristics of the flow around a three-bladed model wind turbine, the development of a simple analytical formula for determining the near-wake length behind a wind turbine and a detailed investigation of wake structures based on proper orthogonal decomposition analysis of numerically generated snapshots of the wake.

  12. Characterization and modeling of CNT based actuators

    NASA Astrophysics Data System (ADS)

    Riemenschneider, Johannes

    2009-10-01

    In order to get an understanding of the general characteristics of carbon nanotube (CNT) based actuators, the system response of the actuator was analyzed. Special techniques were developed in order to generate a reproducible characteristic measure for the material: the R-curve. In addition, the dynamic response of the system was evaluated in different states of the actuator. A model was generated to capture the general behavior of the system. Finally an actuator incorporating a solid electrolyte was built and tested, showing similar characteristics to an actuator with an aqueous electrolyte.

  13. Coupling the Actuator Line and Finite Element Methods to Model Fluid Structure Interaction of a Commercial Wind Turbine in the Atmosphere

    NASA Astrophysics Data System (ADS)

    Motta, Javier; Jha, Pankaj; Campbell, Robert; Schmitz, Sven; Brasseur, James

    2013-11-01

    Wind turbine blades deform in response to unsteady loadings from atmospheric turbulence, causing changes in local angle-of-attack and blade loadings. This interaction is modeled by a fluid-structure interaction (FSI) solver that combines a finite element (FE) solver with an actuator line method (ALM) model for aerodynamic blade loads and vorticity shedding developed by Jha et al. (2013). The FSI solver is embedded within an OpenFOAM large-eddy simulation (LES) solver for daytime atmospheric boundary layer (ABL). The flow and structure solvers are tightly coupled to ensure convergence of blade deformation and its impact on the flow field. The structural deformations are computed using a modal summation approach, where the required modal matrix and resonant frequencies are extracted using Abaqus. The ALM and FE algorithms are being optimized to provide a reasonable balance between accuracy of prediction and computation time, particularly due to the sub-iterations required for blade deformation convergence. We also aim to present an analysis of the coupling between blade loading and deformation on the NREL 5MW turbine operating in the ABL. Supported by the DOE. Graduate Research Assistant, Mechanical Engineering.

  14. An Actuator Curve Embedding Method to Model Wind Turbine Wakes

    NASA Astrophysics Data System (ADS)

    Jha, Pankaj; Schmitz, Sven

    2013-11-01

    The Actuator Line Method (ALM) is widely used in the wind energy community to model the complex interactions within large wind farms in large-eddy simulation (LES) of the atmospheric boundary layer (ABL) at various stability states. The state-of-the-art in ALM modeling is rooted in the work of Sorensen and Shen (2002). The major weakness of the ALM still remains in having the actuator line discretized as a superposition of individual spherically-spread body forces. The associated overlap of adjacent spherical force fields leads to a large sensitivity of computed blade loads to the way in which the spherical spreading radius is altered along the actuator line (Jha et al. 2013). An Actuator Curve Embedding (ACE) method is developed that considers a general actuator line in 3-D space where the force distribution along the actuator curve is embedded continuously onto the background mesh and without overlap. The ACE method thus is expected to show improved body-force discretization for wind turbine blades, in particular those subject to aeroelastic deformations. Some preliminary results contrasting the ALM and ACE methods are discussed. Support: DOE. Graduate Research Assistant, Aerospace Engineering.

  15. Position control of fishing line artificial muscles (coiled polymer actuators) from nylon thread

    NASA Astrophysics Data System (ADS)

    Arakawa, Takeshi; Takagi, Kentaro; Tahara, Kenji; Asaka, Kinji

    2016-04-01

    Recently, fishing line artificial muscle has been developed and is paid much attention due to the properties such as large contraction, light weight and extremely low cost. Typical fishing line artificial muscle is made from Nylon thread and made by just twisting the polymer. In this paper, because of the structure of the actuator, such actuators may be named as coiled polymer actuators (CPAs). In this paper, a CPA is fabricated from commercial Nylon fishing line and Ni-Cr alloy (Nichrome) wire is wound around it. The CPA contracts by the Joule heat generated by applied voltage to the Nichrome wire. For designing the control system, a simple model is proposed. According to the physical principle of the actuator, two first-order transfer functions are introduced to represent the actuator model. One is a system from the input power to the temperature and the other is a system from the temperature to the deformation. From the system identification result, it is shown that the dominant dynamics is the system from the input power to the temperature. Using the developed model, position control of the voltage-driven CPA is discussed. Firstly, the static nonlinearity from the voltage to the power is eliminated. Then, a 2-DOF PID controller which includes an inversion-based feed forward controller and a PID controller are designed. In order to demonstrate the proposed controller, experimental verification is shown.

  16. A Model of the THUNDER Actuator

    NASA Technical Reports Server (NTRS)

    Curtis, Alan R. D.

    1997-01-01

    A THUNDER actuator is a composite of three thin layers, a metal base, a piezoelectric wafer and a metal top cover, bonded together under pressure and at high temperature with the LaRC SI polyimid adhesive. When a voltage is applied between the metal layers across the PZT the actuator will bend and can generate a force. This document develops and describes an analytical model the transduction properties of THUNDER actuators. The model development is divided into three sections. First, a static model is described that relates internal stresses and strains and external displacements to the thermal pre-stress and applied voltage. Second, a dynamic energy based model is described that allows calculation of the resonance frequencies, developed force and electrical input impedance. Finally, a fully coupled electro-mechanical transducer model is described. The model development proceeds by assuming that both the thermal pre-stress and the piezoelectric actuation cause the actuator to deform in a pure bend in a single plane. It is useful to think of this as a two step process, the actuator is held flat, differential stresses induce a bending moment, the actuator is released and it bends. The thermal pre-stress is caused by the different amounts that the constituent layers shrink due to their different coefficients of thermal expansion. The adhesive between layers sets at a high temperature and as the actuator cools, the metal layers shrink more than the PZT. The PZT layer is put into compression while the metal layers are in tension. The piezoelectric actuation has a similar effect. An applied voltage causes the PZT layer to strain, which in turn strains the two metal layers. If the PZT layer expands it will put the metal layers into tension and PZT layer into compression. In both cases, if shear force effects are neglected, the actuator assembly will experience a uniform in-plane strain. As the materials each have a different elastic modulus, different stresses will

  17. A Highly Resolved Large-Eddy Simulation of a Wind Turbine using an Actuator Line Model with Optimal Body Force Projection

    SciTech Connect

    Martinez-Tossas, Luis A.; Churchfield, Matthew J.; Meneveau, Charles

    2016-10-03

    When representing the blade aerodynamics with rotating actuator lines, the computed forces have to be projected back to the CFD flow field as a volumetric body force. That has been done in the past with a geometrically simple uniform three-dimensional Gaussian at each point along the blade. Here, we argue that the body force can be shaped in a way that better predicts the blade local flow field, the blade load distribution, and the formation of the tip/root vortices. In previous work, we have determined the optimal scales of circular and elliptical Gaussian kernels that best reproduce the local flow field in two-dimensions. Lastly, in this work we extend the analysis and applications by considering the full three-dimensional blade to test our hypothesis in a highly resolved Large Eddy Simulation.

  18. A Highly Resolved Large-Eddy Simulation of a Wind Turbine using an Actuator Line Model with Optimal Body Force Projection

    NASA Astrophysics Data System (ADS)

    Martínez-Tossas, Luis A.; Churchfield, Matthew J.; Meneveau, Charles

    2016-09-01

    When representing the blade aerodynamics with rotating actuator lines, the computed forces have to be projected back to the CFD flow field as a volumetric body force. That has been done in the past with a geometrically simple uniform three-dimensional Gaussian at each point along the blade. We argue that the body force can be shaped in a way that better predicts the blade local flow field, the blade load distribution, and the formation of the tip/root vortices. In previous work, we have determined the optimal scales of circular and elliptical Gaussian kernels that best reproduce the local flow field in two-dimensions. In this work we extend the analysis and applications by considering the full three-dimensional blade to test our hypothesis in a highly resolved Large Eddy Simulation.

  19. A Highly Resolved Large-Eddy Simulation of a Wind Turbine using an Actuator Line Model with Optimal Body Force Projection

    DOE PAGES

    Martinez-Tossas, Luis A.; Churchfield, Matthew J.; Meneveau, Charles

    2016-10-03

    When representing the blade aerodynamics with rotating actuator lines, the computed forces have to be projected back to the CFD flow field as a volumetric body force. That has been done in the past with a geometrically simple uniform three-dimensional Gaussian at each point along the blade. Here, we argue that the body force can be shaped in a way that better predicts the blade local flow field, the blade load distribution, and the formation of the tip/root vortices. In previous work, we have determined the optimal scales of circular and elliptical Gaussian kernels that best reproduce the local flowmore » field in two-dimensions. Lastly, in this work we extend the analysis and applications by considering the full three-dimensional blade to test our hypothesis in a highly resolved Large Eddy Simulation.« less

  20. A Simple Sensor Model for THUNDER Actuators

    NASA Technical Reports Server (NTRS)

    Campbell, Joel F.; Bryant, Robert G.

    2009-01-01

    A quasi-static (low frequency) model is developed for THUNDER actuators configured as displacement sensors based on a simple Raleigh-Ritz technique. This model is used to calculate charge as a function of displacement. Using this and the calculated capacitance, voltage vs. displacement and voltage vs. electrical load curves are generated and compared with measurements. It is shown this model gives acceptable results and is useful for determining rough estimates of sensor output for various loads, laminate configurations and thicknesses.

  1. Performance oriented packaging report for cutter, cartridge, actuated, reefing line, M21. Final report

    SciTech Connect

    Sniezek, F.

    1992-11-02

    This POP report is for the Cutter, Cartridge, Actuated, Reefing Line, M21 which is packaged 80 cutters/Mil-B-2427 wood box. This report describes the results of testing conducted.... Performance oriented packaging, POP, Cutter, Cartridge, Actuated, Reefing Line, M21.

  2. Design, test and model of a hybrid magnetostrictive hydraulic actuator

    NASA Astrophysics Data System (ADS)

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

    2009-08-01

    The basic operation of hybrid hydraulic actuators involves high frequency bi-directional operation of an active material that is converted to uni-directional motion of hydraulic fluid using valves. A hybrid actuator was developed using magnetostrictive material Terfenol-D as the driving element and hydraulic oil as the working fluid. Two different lengths of Terfenol-D rod, 51 and 102 mm, with the same diameter, 12.7 mm, were used. Tests with no load and with load were carried out to measure the performance for uni-directional motion of the output piston at different pumping frequencies. The maximum no-load flow rates were 24.8 cm3 s-1 and 22.7 cm3 s-1 with the 51 mm and 102 mm long rods respectively, and the peaks were noted around 325 Hz pumping frequency. The blocked force of the actuator was close to 89 N in both cases. A key observation was that, at these high pumping frequencies, the inertial effects of the fluid mass dominate over the viscous effects and the problem becomes unsteady in nature. In this study, we also develop a mathematical model of the hydraulic hybrid actuator in the time domain to show the basic operational principle under varying conditions and to capture phenomena affecting system performance. Governing equations for the pumping piston and output shaft were obtained from force equilibrium considerations, while compressibility of the working fluid was taken into account by incorporating the bulk modulus. Fluid inertia was represented by a lumped parameter approach to the transmission line model, giving rise to strongly coupled ordinary differential equations. The model was then used to calculate the no-load velocities of the actuator at different pumping frequencies and simulation results were compared with experimental data for model validation.

  3. Bucky gel actuator displacement: experiment and model

    NASA Astrophysics Data System (ADS)

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

    2013-02-01

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

  4. Modeling and Adaptive Control of Magnetostrictive Actuators

    DTIC Science & Technology

    1999-01-01

    in using these and other smart actuators is at a high frequency – for producing large displacements with mechanical rectification, producing sonar...effects; and mechanical damping. We show rigorously that the system with the intial state at the origin has a periodic orbit as its Ω limit set. For the...Root locus of example system. . . . . . . . . . . . . . . . . . . . 195 5.18 Mechanical system model at high frequencies. . . . . . . . . . . . 195 F.1

  5. Design and Control of a 1-DOF MRI Compatible Pneumatically Actuated Robot with Long Transmission Lines

    PubMed Central

    Yang, Bo; Tan, U-Xuan; McMillan, Alan; Gullapalli, Rao; Desai, Jaydev P.

    2011-01-01

    This paper presents the design and control of an MRI-compatible 1-DOF needle driver robot and its precise position control using pneumatic actuation with long transmission lines. MRI provides superior image quality compared to other imaging modalities such as CT or ultrasound, but imposes severe limitations on the material and actuator choice (to prevent image distortion) due to its strong magnetic field. We are primarily interested in developing a pneumatically actuated breast biopsy robot with a large force bandwidth and precise targeting capability during radio-frequency ablation (RFA) of breast tumor, and exploring the possibility of using long pneumatic transmission lines from outside the MRI room to the device in the magnet to prevent any image distortion whatsoever. This paper presents a model of the entire pneumatic system. The pneumatic lines are approximated by a first order system with time delay, because its dynamics are governed by the telegraph equation with varying coefficients and boundary conditions, which cannot be solved precisely. The slow response of long pneumatic lines and valve subsystems make position control challenging. This is further compounded by the presence of non-uniform friction in the device. Sliding mode control (SMC) was adopted, where friction was treated as an uncertainty term to drive the system onto the sliding surface. Three different controllers were designed, developed, and evaluated to achieve precise position control of the RFA probe. Experimental results revealed that all SMCs gave satisfactory performance with long transmission lines. We also performed several experiments with a 3-DOF fiber-optic force sensor attached to the needle driver to evaluate the performance of the device in the MRI under continuous imaging. PMID:22058649

  6. Simulating wind and marine hydrokinetic turbines with actuator lines in RANS and LES

    NASA Astrophysics Data System (ADS)

    Bachant, Peter; Wosnik, Martin

    2015-11-01

    As wind and marine hydrokinetic (MHK) turbine designs mature, focus is shifting towards improving turbine array layouts for maximizing overall power output, i.e., minimizing wake interference for axial-flow or horizontal-axis turbines, or taking advantage of constructive wake interaction for cross-flow or vertical-axis turbines. Towards this goal, an actuator line model (ALM) was developed to provide a computationally feasible method for simulating full turbine arrays inside Navier-Stokes models. The ALM predicts turbine loading with the blade element method combined with sub-models for dynamic stall and flow curvature. The open-source software is written as an extension library for the OpenFOAM CFD package, which allows the ALM body force to be applied to their standard RANS and LES solvers. Turbine forcing is also applied to volume of fluid (VOF) models, e.g., for predicting free surface effects on submerged MHK devices. An additional sub-model is considered for injecting turbulence model scalar quantities based on actuator line element loading. Results are presented for the simulation of performance and wake dynamics of axial- and cross-flow turbines and compared with moderate Reynolds number experiments and body-fitted mesh, blade-resolving CFD. Work supported by NSF-CBET grant 1150797.

  7. 49 CFR 393.47 - Brake actuators, slack adjusters, linings/pads and drums/rotors.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ... 49 Transportation 5 2010-10-01 2010-10-01 false Brake actuators, slack adjusters, linings/pads and..., slack adjusters, linings/pads and drums/rotors. (a) General requirements. Brake components must be... be the same. (d) Linings and pads. The thickness of the brake linings or pads shall meet...

  8. Pneumatic Artificial Muscle Actuation and Modeling

    NASA Astrophysics Data System (ADS)

    Leephakpreeda, Thananchai; Wickramatunge, Kanchana C.

    2009-10-01

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

  9. Modeling and control of a dielectric elastomer actuator

    NASA Astrophysics Data System (ADS)

    Gupta, Ujjaval; Gu, Guo-Ying; Zhu, Jian

    2016-04-01

    The emerging field of soft robotics offers the prospect of applying soft actuators as artificial muscles in the robots, replacing traditional actuators based on hard materials, such as electric motors, piezoceramic actuators, etc. Dielectric elastomers are one class of soft actuators, which can deform in response to voltage and can resemble biological muscles in the aspects of large deformation, high energy density and fast response. Recent research into dielectric elastomers has mainly focused on issues regarding mechanics, physics, material designs and mechanical designs, whereas less importance is given to the control of these soft actuators. Strong nonlinearities due to large deformation and electromechanical coupling make control of the dielectric elastomer actuators challenging. This paper investigates feed-forward control of a dielectric elastomer actuator by using a nonlinear dynamic model. The material and physical parameters in the model are identified by quasi-static and dynamic experiments. A feed-forward controller is developed based on this nonlinear dynamic model. Experimental evidence shows that this controller can control the soft actuator to track the desired trajectories effectively. The present study confirms that dielectric elastomer actuators are capable of being precisely controlled with the nonlinear dynamic model despite the presence of material nonlinearity and electromechanical coupling. It is expected that the reported results can promote the applications of dielectric elastomer actuators to soft robots or biomimetic robots.

  10. Line Fluid Actuated Valve Development Program. [for application on the space shuttle

    NASA Technical Reports Server (NTRS)

    Lynch, R. A.

    1975-01-01

    The feasibility of a line-fluid actuated valve design for potential application as a propellant-control valve on the space shuttle was examined. Design and analysis studies of two prototype valve units were conducted and demonstrated performance is reported. It was shown that the line-fluid actuated valve concept offers distinct weight and electrical advantages over alternate valve concepts. Summaries of projected performance and design goals are also included.

  11. Modeling of two-hot-arm horizontal thermal actuator

    NASA Astrophysics Data System (ADS)

    Yan, Dong; Khajepour, Amir; Mansour, Raafat

    2003-03-01

    Electrothermal actuators have a very promising future in MEMS applications since they can generate large deflection and force with low actuating voltages and small device areas. In this study, a lumped model of a two-hot-arm horizontal thermal actuator is presented. In order to prove the accuracy of the lumped model, finite element analysis (FEA) and experimental results are provided. The two-hot-arm thermal actuator has been fabricated using the MUMPs process. Both the experimental and FEA results are in good agreement with the results of lumped modeling.

  12. Modeling actuation forces and strains in nastic structures

    NASA Astrophysics Data System (ADS)

    Matthews, Luke A.; Giurgiutiu, Victor

    2006-03-01

    Nastic structures are capable of three dimensional shape change using biological principles borrowed from plant motion. The plant motor cells increase or decrease in size through a change in osmotic pressure. When nonuniform cell swelling occurs, it causes the plant tissue to warp and change shape, resulting it net movement, known as nastic motion, which is the same phenomena that causes plants to angle their broad leaf and flower surfaces to face light sources. The nastic structures considered in this paper are composed of a bilayer of microactuator arrays with a fluid reservoir in between the two layers. The actuators are housed in a thin plate and expand when water from the fluid reservoir is pumped into the actuation chamber through a phospholipid bilayer with embedded active transport proteins, which move the water from the low pressure fluid reservoir into a high pressure actuation chamber. Increasing water pressure inside the actuator causes lateral expansion and axial bulging, and the non-uniform net volume change of actuators throughout the nastic structure results in twisting or bending shape change. Modifying the actuation displacement allows controlled volume change. This paper presents an analytical model of the driving and blocking forces involved in actuation, as well as stress and strain that occurs due to the pressure changes. Actuation is driven by increasing osmotic pressure, and blocking forces are taken into consideration to plan actuator response so that outside forces do not counteract the displacement of actuation. Nastic structures are designed with use in unmanned aerial vehicles in mind, so blocking forces are modeled to be similar to in-flight conditions. Stress in the system is modeled so that any residual strain or lasting deformation can be determined, as well as a lifespan before failure from repeated actuation. The long-term aim of our work is to determine the power and energy efficiency of nastic structures actuation mechanism.

  13. Piezoelectric Actuator Modeling Using MSC/NASTRAN and MATLAB

    NASA Technical Reports Server (NTRS)

    Reaves, Mercedes C.; Horta, Lucas G.

    2003-01-01

    This paper presents a procedure for modeling structures containing piezoelectric actuators using MSCMASTRAN and MATLAB. The paper describes the utility and functionality of one set of validated modeling tools. The tools described herein use MSCMASTRAN to model the structure with piezoelectric actuators and a thermally induced strain to model straining of the actuators due to an applied voltage field. MATLAB scripts are used to assemble the dynamic equations and to generate frequency response functions. The application of these tools is discussed using a cantilever aluminum beam with a surface mounted piezoelectric actuator as a sample problem. Software in the form of MSCINASTRAN DMAP input commands, MATLAB scripts, and a step-by-step procedure to solve the example problem are provided. Analysis results are generated in terms of frequency response functions from deflection and strain data as a function of input voltage to the actuator.

  14. Modeling Piezoelectric Stack Actuators for Control of Micromanipulation

    NASA Technical Reports Server (NTRS)

    Goldfarb, Michael; Celanovic, Nikola

    1997-01-01

    A nonlinear lumped-parameter model of a piezoelectric stack actuator has been developed to describe actuator behavior for purposes of control system analysis and design, and, in particular, for microrobotic applications requiring accurate position and/or force control. In formulating this model, the authors propose a generalized Maxwell resistive capacitor as a lumped-parameter causal representation of rate-independent hysteresis. Model formulation is validated by comparing results of numerical simulations to experimental data. Validation is followed by a discussion of model implications for purposes of actuator control.

  15. Piezoelectric actuator models for active sound and vibration control of cylinders

    NASA Technical Reports Server (NTRS)

    Lester, Harold C.; Lefebvre, Sylvie

    1993-01-01

    Analytical models for piezoelectric actuators, adapted from flat plate concepts, are developed for noise and vibration control applications associated with vibrating circular cylinders. The loadings applied to the cylinder by the piezoelectric actuators for the bending and in-plane force models are approximated by line moment and line force distributions, respectively, acting on the perimeter of the actuator patch area. Coupling between the cylinder and interior acoustic cavity is examined by studying the modal spectra, particularly for the low-order cylinder modes that couple efficiently with the cavity at low frequencies. Within the scope of this study, the in-plane force model produced a more favorable distribution of low-order modes, necessary for efficient interior noise control, than did the bending model.

  16. Modeling and design of a high-performance hybrid actuator

    NASA Astrophysics Data System (ADS)

    Aloufi, Badr; Behdinan, Kamran; Zu, Jean

    2016-12-01

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

  17. Thrust Production and Wake Structure of an Actuated Lamprey Model

    NASA Astrophysics Data System (ADS)

    Buchholz, James; Smits, Alexander

    2004-11-01

    Thrust generation is studied for a flexible lamprey model which is actuated periodically to produce a streamwise traveling wave. Shape memory alloy actuators are used to achieve this deformation. The flow field is investigated using DPIV and flow visualization for a range of Strouhal numbers based on peak-to-peak amplitude of the trailing edge. The vortex kinematics in the spanwise and streamwise planes are examined, and a three-dimensional unsteady vortex model of the wake will be discussed.

  18. Effective Motion Tracking Using Known and Learned Actuation Models

    DTIC Science & Technology

    2008-06-06

    Tactic-Based Motion Model (TBMM), Play-Based Motion Model (PBMM) and Communication-Based Motion Model ( CBMM ). TBMM is the basic object motion model when...plays. CBMM is an extension of PBMM when robots communicate their actions on the object. • We incorporate a single robot and a team actuation models

  19. Dynamic modeling of brushless dc motors for aerospace actuation

    NASA Astrophysics Data System (ADS)

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

    1980-11-01

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

  20. Dynamic modeling of brushless dc motors for aerospace actuation

    NASA Technical Reports Server (NTRS)

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

    1980-01-01

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

  1. Computational Modeling of Magnetically Actuated Propellant Orientation

    NASA Technical Reports Server (NTRS)

    Hochstein, John I.

    1996-01-01

    sufficient performance to support cryogenic propellant management tasks. In late 1992, NASA MSFC began a new investigation in this technology commencing with the design of the Magnetically-Actuated Propellant Orientation (MAPO) experiment. A mixture of ferrofluid and water is used to simulate the paramagnetic properties of LOX and the experiment is being flown on the KC-135 aircraft to provide a reduced gravity environment. The influence of a 0.4 Tesla ring magnet on flow into and out of a subscale Plexiglas tank is being recorded on video tape. The most efficient approach to evaluating the feasibility of MAPO is to compliment the experimental program with development of a computational tool to model the process of interest. The goal of the present research is to develop such a tool. Once confidence in its fidelity is established by comparison to data from the MAPO experiment, it can be used to assist in the design of future experiments and to study the parameter space of the process. Ultimately, it is hoped that the computational model can serve as a design tool for full-scale spacecraft applications.

  2. Non-Linear Finite Element Modeling of THUNDER Piezoelectric Actuators

    NASA Technical Reports Server (NTRS)

    Taleghani, Barmac K.; Campbell, Joel F.

    1999-01-01

    A NASTRAN non-linear finite element model has been developed for predicting the dome heights of THUNDER (THin Layer UNimorph Ferroelectric DrivER) piezoelectric actuators. To analytically validate the finite element model, a comparison was made with a non-linear plate solution using Von Karmen's approximation. A 500 volt input was used to examine the actuator deformation. The NASTRAN finite element model was also compared with experimental results. Four groups of specimens were fabricated and tested. Four different input voltages, which included 120, 160, 200, and 240 Vp-p with a 0 volts offset, were used for this comparison.

  3. Control of systems with tiered actuators with application to interferometer optical delay line control

    NASA Technical Reports Server (NTRS)

    Lurie, Boris J.; Hadaegh, Fred Y.

    2004-01-01

    High accuracy feedback control systems might employ tiers of actuators with different properties. Such systems performance can be estimated in advance using Bode integrals. The systems can be made globally stable with good transient responses and close to the best possible disturbance rejection when controllers include high-order linear links and multiple nonlinear dynamic links. The design approach is exemplified by designing conb-ol system for an interferometer optical delay line.

  4. Modeling and Synthesis Methods for Retrofit Design of Submarine Actuation Systems. Energy Storage for Electric Actuators

    DTIC Science & Technology

    2011-12-15

    for Retrofit Design of Submarine Actuation Systems 5b. GRANT NUMBER Energy Storage for Electric Actuators NOOO 14-08-1-0424 5c. PROGRAM ELEMENT...are used to derive power and energy storage requirements for control surface actuation during extreme submarine maneuvers, such as emergency...and for initially sizing system components. 15. SUBJECT TERMS Submarines, electromagnetic actuators, energy storage , simulation-based design

  5. Kilohertz scanning all-fiber optical delay line using piezoelectric actuation

    NASA Astrophysics Data System (ADS)

    Henderson, David A.; Hoffman, Conrad; Culhane, Robert; Viggiano, Dan, III

    2004-12-01

    Commercial applications for fiber sensing and low-coherence interferometry are rapidly growing in medical, industrial and aerospace markets. These new instruments must be smaller, more robust and less expensive. An all-fiber optical delay line or "fiber stretcher", using piezoelectric (PZT) actuation, offers a simple solid-state solution that eliminates free space optics. The challenges for PZT fiber stretchers include: reducing non-linearity and hysteresis, achieving sufficient scan range with minimum fiber length, maximizing scan frequency and reducing losses in the drive electronics. PZT actuators are essentially large ceramic capacitors that must be rapidly charged and discharged to achieve fast scanning. The mechanical response of the PZT ceramic is greater than 10 kHz which makes it practical to scan at four kilohertz. A thin-walled piezoelectric disk or cylinder achieves 4.5 millimeters of fiber stretch using 20 meters of coiled fiber. Digitally controlled series resonant electronics produce a 1200 volt sinusoidal drive signal at a fixed frequency of four kilohertz while dissipating only 16 Watts. An all-fiber optical delay line module, using piezoelectric actuators and a series resonant drive, is a miniature, robust and efficient alternative to free-space optics with dithering mirrors or spinning polygons.

  6. Modelling and control of double-cone dielectric elastomer actuator

    NASA Astrophysics Data System (ADS)

    Branz, F.; Francesconi, A.

    2016-09-01

    Among various dielectric elastomer devices, cone actuators are of large interest for their multi-degree-of-freedom design. These objects combine the common advantages of dielectric elastomers (i.e. solid-state actuation, self-sensing capability, high conversion efficiency, light weight and low cost) with the possibility to actuate more than one degree of freedom in a single device. The potential applications of this feature in robotics are huge, making cone actuators very attractive. This work focuses on rotational degrees of freedom to complete existing literature and improve the understanding of such aspect. Simple tools are presented for the performance prediction of the device: finite element method simulations and interpolating relations have been used to assess the actuator steady-state behaviour in terms of torque and rotation as a function of geometric parameters. Results are interpolated by fit relations accounting for all the relevant parameters. The obtained data are validated through comparison with experimental results: steady-state torque and rotation are determined at a given high voltage actuation. In addition, the transient response to step input has been measured and, as a result, the voltage-to-torque and the voltage-to-rotation transfer functions are obtained. Experimental data are collected and used to validate the prediction capability of the transfer function in terms of time response to step input and frequency response. The developed static and dynamic models have been employed to implement a feedback compensator that controls the device motion; the simulated behaviour is compared to experimental data, resulting in a maximum prediction error of 7.5%.

  7. Model For Bending Actuators That Use Electrostrictive Graft Elastomers

    NASA Technical Reports Server (NTRS)

    Costen, Robert C.; Su, Ji; Harrison, Joycelyn S.

    2001-01-01

    Recently, it was reported that an electrostrictive graft elastomer exhibits large electric field-induced strain (4%). Combined with its high mechanical modulus, the elastomer can offer very promising electromechanical properties, in terms of output mechanical energy density, for an electroactive polymeric material. Therefore, it has been considered as one of the candidates that can be used in high performance, low mass actuation devices in many aerospace applications. Various bilayer- based bending actuators have been designed and fabricated. An analytic model based on beam theory in the strength of materials has been derived for the transverse deflection, or curvature, and the longitudinal strain of the bi-layer beam. The curvature and strain are functions of the applied voltage and the thickness, width, and Young s modulus of the active and passive layers. The model can be used to optimize the performance of electrostrictive graft elastomer-based actuators to meet the requirements of various applications. In this presentation, optimization and sensitivity studies are applied to the bending performance of such actuators.

  8. Modelling of a microfluidic device with piezoelectric actuators

    NASA Astrophysics Data System (ADS)

    Seitz, Hermann; Heinzl, Joachim

    2004-08-01

    This paper presents the modelling of a given microfluidic device, that is applied as a drop-on-demand printhead for different printing tasks. Piezoelectric bend mode actuators are used to eject a droplet from the respective nozzle on demand. The device is considered as a coupled system consisting of an electric, a mechanical and a fluidic part. The electric and mechanical parts of the piezoelectric actuator are described by conventional lumped elements, while the complex three-dimensional fluid analysis is performed by a commercial computational fluid dynamics (CFD) free-surface modelling package. The model helps one to understand the fluid dynamics and thus to study different design and operating parameter aspects. The general approach to the problem of modelling a microfluidic device as presented here can also be applied in various other modelling tasks.

  9. Three Dimensional Modeling of an MRI Actuated Steerable Catheter System.

    PubMed

    Liu, Taoming; Cavuşoğlu, M Cenk

    2014-01-01

    This paper presents the three dimensional kinematic modeling of a novel steerable robotic ablation catheter system. The catheter, embedded with a set of current-carrying micro-coils, is actuated by the magnetic forces generated by the magnetic field of the MRI scanner. This paper develops a 3D model of the MRI actuated steerable catheter system by using finite differences approach. For each finite segment, a quasi-static torque-deflection equilibrium equation is calculated using beam theory. By using the deflection displacements and torsion angles, the kinematic modeling of the catheter system is derived. The proposed models are evaluated by comparing the simulation results of the proposed model with the experimental results of a proof-of-concept prototype.

  10. Three Dimensional Modeling of an MRI Actuated Steerable Catheter System

    PubMed Central

    Liu, Taoming; Çavuşoğlu, M. Cenk

    2014-01-01

    This paper presents the three dimensional kinematic modeling of a novel steerable robotic ablation catheter system. The catheter, embedded with a set of current-carrying micro-coils, is actuated by the magnetic forces generated by the magnetic field of the MRI scanner. This paper develops a 3D model of the MRI actuated steerable catheter system by using finite differences approach. For each finite segment, a quasi-static torque-deflection equilibrium equation is calculated using beam theory. By using the deflection displacements and torsion angles, the kinematic modeling of the catheter system is derived. The proposed models are evaluated by comparing the simulation results of the proposed model with the experimental results of a proof-of-concept prototype. PMID:25328804

  11. Analytical model of an Annular Momentum Control Device (AMCD) laboratory test model magnetic bearing actuator

    NASA Technical Reports Server (NTRS)

    Groom, N. J.

    1979-01-01

    An analytical model of an Annular Momentum Control Device (AMCD) laboratory test model magnetic bearing actuator with permanent magnet fluxbiasing is presented. An AMCD consists of a spinning annular rim which is suspended by a noncontacting linear electromagnetic spin motor. The actuator is treated as a lumped-parameter electromechanical system in the development of the model.

  12. Zipping dielectric elastomer actuators: characterization, design and modeling

    NASA Astrophysics Data System (ADS)

    Maffli, L.; Rosset, S.; Shea, H. R.

    2013-10-01

    We report on miniature dielectric elastomer actuators (DEAs) operating in zipping mode with an analytical model that predicts their behavior. Electrostatic zipping is a well-known mechanism in silicon MEMS to obtain large deformations and forces at lower voltages than for parallel plate electrostatic actuation. We extend this concept to DEAs, which allows us to obtain much larger out-of-plane displacements compared to silicon thanks to the softness of the elastomer membrane. We study experimentally the effect of sidewall angles and elastomer prestretch on 2.3 mm diameter actuators with PDMS membranes. With 15° and 22.5° sidewall angles, the devices zip in a bistable manner down 300 μm to the bottom of the chambers. The highly tunable bistable behavior is controllable by both chamber geometry and membrane parameters. Other specific characteristics of zipping DEAs include well-controlled deflected shape, tunable displacement versus voltage characteristics to virtually any shape, including multi-stable modes, sealing of embedded holes or channels for valving action and the reduction of the operating voltage. These properties make zipping DEAs an excellent candidate for applications such as integrated microfluidics actuators or Braille displays.

  13. TVC actuator model. [for the space shuttle main engine

    NASA Technical Reports Server (NTRS)

    Baslock, R. W.

    1977-01-01

    A prototype Space Shuttle Main Engine (SSME) Thrust Vector Control (TVC) Actuator analog model was successfully completed. The prototype, mounted on five printed circuit (PC) boards, was delivered to NASA, checked out and tested using a modular replacement technique on an analog computer. In all cases, the prototype model performed within the recording techniques of the analog computer which is well within the tolerances of the specifications.

  14. Nonlinear dynamic modeling for smart material electro-hydraulic actuator development

    NASA Astrophysics Data System (ADS)

    Larson, John P.; Dapino, Marcelo J.

    2013-03-01

    Smart material electro-hydraulic actuators use hydraulic rectification by one-way check valves to amplify the motion of smart materials, such as magnetostrictives and piezoelectrics, in order to create compact, lightweight actuators. A piston pump driven by a smart material is combined with a hydraulic cylinder to form a self-contained, power-by-wire actuator that can be used in place of a conventional hydraulic system without the need for hydraulic lines and a centralized pump. The performance of an experimental actuator driven by a 12.7 mm diameter, 114 mm length Terfenol-D rod is evaluated over a range of applied input frequencies, loads, and currents. The peak performance achieved is 37 W, moving a 220 N load at a rate of 17 cm/s and producing a blocked pressure of 12.5 MPa. Additional tests are conducted to quantify the dynamic behavior of the one-way reed valves using a scanning laser vibrometer to identify the frequency response of the reeds and the effect of the valve seat and fluid mass loading. A lumped-parameter model is developed for the system that includes valve inertia and fluid response nonlinearities, and the model results are compared with the experimental data.

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

    NASA Astrophysics Data System (ADS)

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

    2004-06-01

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

  16. Characterization and modeling of electrostatically actuated polysilicon micromechanical devices

    NASA Astrophysics Data System (ADS)

    Chan, Edward Keat Leem

    Sensors, actuators, transducers, microsystems and MEMS (MicroElertroMechanical Systems) are some of the terms describing technologies that interface information processing systems with the physical world. Electrostatically actuated micromechanical devices are important building blocks in many of these technologies. Arrays of these devices are used in video projection displays, fluid pumping systems, optical communications systems, tunable lasers and microwave circuits. Well-calibrated simulation tools are essential for propelling ideas from the drawing board into production. This work characterizes a fabrication process---the widely-used polysilicon MUMPs process---to facilitate the design of electrostatically actuated micromechanical devices. The operating principles of a representative device---a capacitive microwave switch---are characterized using a wide range of electrical and optical measurements of test structures along with detailed electromechanical simulations. Consistency in the extraction of material properties from measurements of both pull-in voltage and buckling amplitude is demonstrated. Gold is identified as an area-dependent source of nonuniformity in polysilicon thicknesses and stress. Effects of stress gradients, substrate curvature, and film coverage are examined quantitatively. Using well-characterized beams as in-situ surface probes, capacitance-voltage and surface profile measurements reveal that compressible surface residue modifies the effective electrical gap when the movable electrode contacts an underlying silicon nitride layer. A compressible contact surface model used in simulations improves the fit to measurements. In addition, the electric field across the nitride causes charge to build up in the nitride, increasing the measured capacitance over time. The rate of charging corresponds to charge injection through direct tunneling. A novel actuator that can travel stably beyond one-third of the initial gap (a trademark limitation of

  17. Actuator line simulations of a Joukowsky and Tjæreborg rotor using spectral element and finite volume methods

    NASA Astrophysics Data System (ADS)

    Kleusberg, E.; Sarmast, S.; Schlatter, P.; Ivanell, S.; Henningson, D. S.

    2016-09-01

    The wake structure behind a wind turbine, generated by the spectral element code Nek5000, is compared with that from the finite volume code EllipSys3D. The wind turbine blades are modeled using the actuator line method. We conduct the comparison on two different setups. One is based on an idealized rotor approximation with constant circulation imposed along the blades corresponding to Glauert's optimal operating condition, and the other is the Tjffireborg wind turbine. The focus lies on analyzing the differences in the wake structures entailed by the different codes and corresponding setups. The comparisons show good agreement for the defining parameters of the wake such as the wake expansion, helix pitch and circulation of the helical vortices. Differences can be related to the lower numerical dissipation in Nek5000 and to the domain differences at the rotor center. At comparable resolution Nek5000 yields more accurate results. It is observed that in the spectral element method the helical vortices, both at the tip and root of the actuator lines, retain their initial swirl velocity distribution for a longer distance in the near wake. This results in a lower vortex core growth and larger maximum vorticity along the wake. Additionally, it is observed that the break down process of the spiral tip vortices is significantly different between the two methods, with vortex merging occurring immediately after the onset of instability in the finite volume code, while Nek5000 simulations exhibit a 2-3 radii period of vortex pairing before merging.

  18. Modeling integrated sensor/actuator functions in realistic environments

    NASA Astrophysics Data System (ADS)

    Kim, Jae-Wan; Varadan, Vasundara V.; Varadan, Vijay K.

    1993-07-01

    Smart materials are expected to adapt to their environment and provide a useful response to changes in the environment. Both the sensor and actuator functions with the appropriate feedback mechanism must be integrated and comprise the `brains' of the material. Piezoelectric ceramics have proved to be effective as both sensors and actuators for a wide variety of applications. Thus, realistic simulation models are needed that can predict the performance of smart materials that incorporate piezoceramics. The environment may include the structure on which the transducers are mounted, fluid medium and material damping. In all cases, the smart material should sense the change and make a useful response. A hybrid numerical method involving finite element modeling in the plate structure and transducer region and a plane wave representation in the fluid region is used. The simulation of the performance of smart materials are performed.

  19. Active Flow Control Using Sweeping Jet Actuators on a Semi-Span Wing Model

    NASA Technical Reports Server (NTRS)

    Melton, LaTunia Pack; Koklu, Mehti

    2016-01-01

    Wind tunnel experiments were performed using active flow control on an unswept semispan wing model with a 30% chord trailing edge flap to aid in the selection of actuators for a planned high Reynolds number experiment. Two sweeping jet actuator sizes were investigated to determine the influence of actuator size on the active flow control system efficiency. Sweeping jet actuators with orifice sizes of 1 mm x 2 mm and 2 mm x 4 mm were selected because of the differences in actuator jet sweep angle. The parameters that were varied include actuator momentum, freestream velocity, and trailing edge flap deflection angle. Steady and unsteady pressure data, Particle Image Velocimetry data, and force and moment data were acquired to assess the performance of the two actuators. In addition to the wind tunnel experiments, benchtop studies of the actuators were performed to characterize the jets produced by each actuator. Benchtop investigations of the smaller actuator reveal that the jet exiting the actuator has a reduced sweep angle compared to published data for larger versions of this type of actuator. The larger actuator produces an oscillating jet that attaches to the external di?user walls at low supply pressures and produces the expected sweep angles. The AFC results using the smaller actuators show that while the actuators can control flow separation, the selected spacing of 3.3 cm may be too large due to the reduced sweep angle. In comparison, the spacing for the larger actuators, 6.6 cm, appears to be optimal for the Mach numbers investigated. Particle Image Velocimetry results are presented and show how the wall jets produced by the actuators cause the flow to attach to the flap surface.

  20. Attachment Line Blockage Models

    NASA Technical Reports Server (NTRS)

    1995-01-01

    Photographs shows the attachment-line experiment model with fairing and fence for supersonic attachment-line experiments. The fairing is intended to eliminate the wing/fuselage juncture shock and align the flow for the streamlined fence. The streamlined fence traps the turbulent fuselage boundary layer to prevent turbulent contamination of the leading edge flow.

  1. Test Cases for Modeling and Validation of Structures with Piezoelectric Actuators

    NASA Technical Reports Server (NTRS)

    Reaves, Mercedes C.; Horta, Lucas G.

    2001-01-01

    A set of benchmark test articles were developed to validate techniques for modeling structures containing piezoelectric actuators using commercially available finite element analysis packages. The paper presents the development, modeling, and testing of two structures: an aluminum plate with surface mounted patch actuators and a composite box beam with surface mounted actuators. Three approaches for modeling structures containing piezoelectric actuators using the commercially available packages: MSC/NASTRAN and ANSYS are presented. The approaches, applications, and limitations are discussed. Data for both test articles are compared in terms of frequency response functions from deflection and strain data to input voltage to the actuator. Frequency response function results using the three different analysis approaches provided comparable test/analysis results. It is shown that global versus local behavior of the analytical model and test article must be considered when comparing different approaches. Also, improper bonding of actuators greatly reduces the electrical to mechanical effectiveness of the actuators producing anti-resonance errors.

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

    PubMed

    Zhou, Miaolei; Wang, Shoubin; Gao, Wei

    2013-01-01

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

  3. Validation of the actuator line and disc techniques using the New MEXICO measurements

    NASA Astrophysics Data System (ADS)

    Sarmast, S.; Shen, W. Z.; Zhu, W. J.; Mikkelsen, R. F.; Breton, S. P.; Ivanell, S.

    2016-09-01

    Actuator line and disc techniques are employed to analyse the wake obtained in the New MEXICO wind turbine experiment. The New MEXICO measurement campaign done in 2014 is a follow-up to the MEXICO campaign, which was completed in 2006. Three flow configurations in axial flow condition are simulated and both computed loads and velocity fields around the rotor are compared with detailed PIV measurements. The comparisons show that the computed loadings are generally in agreement with the measurements under the rotor's design condition. Both actuator approaches under-predicted the loading in the inboard part of blade in stall condition as only 2D airfoil data were used in the simulations. The predicted wake velocities generally agree well with the PIV measurements. In the experiment, PIV measurements are also provided close to the hub and nacelle. To study the effect of hub and nacelle, numerical simulations are performed both in the presence and absence of the hub geometry. This study shows that the large hub used in the experiment has only small effects on overall wake behaviour.

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

    PubMed

    Zhou, Miaolei; Zhang, Qi; Wang, Jingyuan

    2014-01-01

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

  5. Analytic model and frequency characteristics of plasma synthetic jet actuator

    NASA Astrophysics Data System (ADS)

    Zong, Hao-hua; Wu, Yun; Li, Ying-hong; Song, Hui-min; Zhang, Zhi-bo; Jia, Min

    2015-02-01

    This paper reports a novel analytic model of a plasma synthetic jet actuator (PSJA), considering both the heat transfer effect and the inertia of the throat gas. Both the whole cycle characteristics and the repetitive working process of PSJA can be predicted with this model. The frequency characteristics of a PSJA with 87 mm3 volume and different orifice diameters are investigated based on the analytic model combined with experiments. In the repetitive working mode, the actuator works initially in the transitional stage with 20 cycles and then in the dynamic balanced stage. During the transitional stage, major performance parameters of PSJA experience stepped growth, while during the dynamic balanced stage, these parameters are characterized by periodic variation. With a constant discharge energy of 6.9 mJ, there exists a saturated frequency of 4 kHz/6 kHz for an orifice diameter of 1 mm/1.5 mm, at which the time-averaged total pressure of the pulsed jet reaches a maximum. Between 0.5 mm and 1.5 mm, a larger orifice diameter leads to a higher saturated frequency due to the reduced jet duration time. As the actuation frequency increases, both the time-averaged cavity temperature and the peak jet velocity initially increase and then remain almost unchanged at 1600 K and 280 m/s, respectively. Besides, with increasing frequency, the mechanical energy incorporated in single pulsed jet, the expelled mass per pulse, and the time-averaged density in the cavity, decline in a stair stepping way, which is caused by the intermittent decrease of refresh stage duration in one period.

  6. Application of geometry based hysteresis modelling in compensation of hysteresis of piezo bender actuator

    NASA Astrophysics Data System (ADS)

    Milecki, Andrzej; Pelic, Marcin

    2016-10-01

    This paper presents results of studies of an application of a new method of piezo bender actuators modelling. A special hysteresis simulation model was developed and is presented. The model is based on a geometrical deformation of main hysteresis loop. The piezoelectric effect is described and the history of the hysteresis modelling is briefly reviewed. Firstly, a simple model for main loop modelling is proposed. Then, a geometrical description of the non-saturated hysteresis is presented and its modelling method is introduced. The modelling makes use of the function describing the geometrical shape of the two hysteresis main curves, which can be defined theoretically or obtained by measurement. These main curves are stored in the memory and transformed geometrically in order to obtain the minor curves. Such model was prepared in the Matlab-Simulink software, but can be easily implemented using any programming language and applied in an on-line controller. In comparison to the other known simulation methods, the one presented in the paper is easy to understand, and uses simple arithmetical equations, allowing to quickly obtain the inversed model of hysteresis. The inversed model was further used for compensation of a non-saturated hysteresis of the piezo bender actuator and results have also been presented in the paper.

  7. Validation of high displacement piezoelectric actuator finite element models

    NASA Astrophysics Data System (ADS)

    Taleghani, Barmac K.

    2000-08-01

    The paper presents the results obtained by using NASTRAN and ANSYS finite element codes to predict doming of the THUNDER piezoelectric actuators during the manufacturing process and subsequent straining due to an applied input voltage. To effectively use such devices in engineering applications, modeling and characterization are essential. Length, width, dome height, and thickness and important parameters for users of such devices. Therefore, finite element models were used to assess the effects of these parameters. NASTRAN and ANSYS used different methods for modeling piezoelectric effects. In NASTRAN, a thermal analogy was used to represent voltage at nodes as equivalent temperatures, while ANSYS processed the voltage directly using piezoelectric finite elements. The results of finite element models were validated by using the experimental results.

  8. Validation of High Displacement Piezoelectric Actuator Finite Element Models

    NASA Technical Reports Server (NTRS)

    Taleghani, B. K.

    2000-01-01

    The paper presents the results obtained by using NASTRAN(Registered Trademark) and ANSYS(Regitered Trademark) finite element codes to predict doming of the THUNDER piezoelectric actuators during the manufacturing process and subsequent straining due to an applied input voltage. To effectively use such devices in engineering applications, modeling and characterization are essential. Length, width, dome height, and thickness are important parameters for users of such devices. Therefore, finite element models were used to assess the effects of these parameters. NASTRAN(Registered Trademark) and ANSYS(Registered Trademark) used different methods for modeling piezoelectric effects. In NASTRAN(Registered Trademark), a thermal analogy was used to represent voltage at nodes as equivalent temperatures, while ANSYS(Registered Trademark) processed the voltage directly using piezoelectric finite elements. The results of finite element models were validated by using the experimental results.

  9. Reachability and Real-Time Actuation Strategies for the Active SLIP Model

    DTIC Science & Technology

    2015-06-01

    reachability space of the actuated SLIP model by acti- vating the series elastic actuator at any possible time during the stance phase. Starting from the...University of California Santa Barbara Reachability and Real- Time Actuation Strategies for the Active SLIP Model A dissertation submitted in partial...Public reporting burden for the collection of information is estimated to average 1 hour per response, including the time for reviewing instructions

  10. Validation of thermal models for a prototypical MEMS thermal actuator.

    SciTech Connect

    Gallis, Michail A.; Torczynski, John Robert; Piekos, Edward Stanley; Serrano, Justin Raymond; Gorby, Allen D.; Phinney, Leslie Mary

    2008-09-01

    This report documents technical work performed to complete the ASC Level 2 Milestone 2841: validation of thermal models for a prototypical MEMS thermal actuator. This effort requires completion of the following task: the comparison between calculated and measured temperature profiles of a heated stationary microbeam in air. Such heated microbeams are prototypical structures in virtually all electrically driven microscale thermal actuators. This task is divided into four major subtasks. (1) Perform validation experiments on prototypical heated stationary microbeams in which material properties such as thermal conductivity and electrical resistivity are measured if not known and temperature profiles along the beams are measured as a function of electrical power and gas pressure. (2) Develop a noncontinuum gas-phase heat-transfer model for typical MEMS situations including effects such as temperature discontinuities at gas-solid interfaces across which heat is flowing, and incorporate this model into the ASC FEM heat-conduction code Calore to enable it to simulate these effects with good accuracy. (3) Develop a noncontinuum solid-phase heat transfer model for typical MEMS situations including an effective thermal conductivity that depends on device geometry and grain size, and incorporate this model into the FEM heat-conduction code Calore to enable it to simulate these effects with good accuracy. (4) Perform combined gas-solid heat-transfer simulations using Calore with these models for the experimentally investigated devices, and compare simulation and experimental temperature profiles to assess model accuracy. These subtasks have been completed successfully, thereby completing the milestone task. Model and experimental temperature profiles are found to be in reasonable agreement for all cases examined. Modest systematic differences appear to be related to uncertainties in the geometric dimensions of the test structures and in the thermal conductivity of the

  11. Bio-syncretic tweezers actuated by microorganisms: modeling and analysis.

    PubMed

    Zhang, C; Xie, S X; Wang, W X; Xi, N; Wang, Y C; Liu, L Q

    2016-09-28

    Advancements in micro-/nano-technology have led to the development of micro-manipulators. However, some challenges remain; for instance, the efficiency, precision and flexibility of micro-manipulators restrain their applications. This paper proposes a bio-tweezer system to flexibly manipulate micro-objects with bio-actuation via local light-induced high-concentration microorganisms in two different manipulation modes: light-spot induced mode and geometric shape-induced mode. Depending on the shape of micro-objects, either 2-dimensional translation or 1-dimensional rotation can be achieved. Based on the Langevin equation, a mathematical model considering both hydrodynamics and mimicked Brownian motion is proposed to analyze the bio-manipulation performance of the microorganisms; the model was validated by experiments to translate micro-particles in a two-dimensional plane and to rotate a micro-gear structure around its axis. This paper will aid in the development of micro-manipulators and the quantitative understanding of micro-/nano-manipulation actuated by microorganisms.

  12. Quantitative modeling of coupled piezo-elastodynamic behavior of piezoelectric actuators bonded to an elastic medium for structural health monitoring: a review.

    PubMed

    Huang, Guoliang; Song, Fei; Wang, Xiaodong

    2010-01-01

    Elastic waves, especially guided waves, generated by a piezoelectric actuator/sensor network, have shown great potential for on-line health monitoring of advanced aerospace, nuclear, and automotive structures in recent decades. Piezoelectric materials can function as both actuators and sensors in these applications due to wide bandwidth, quick response and low costs. One of the most fundamental issues surrounding the effective use of piezoelectric actuators is the quantitative evaluation of the resulting elastic wave propagation by considering the coupled piezo-elastodynamic behavior between the actuator and the host medium. Accurate characterization of the local interfacial stress distribution between the actuator and the host medium is the key issue for the problem. This paper presents a review of the development of analytical, numerical and hybrid approaches for modeling of the coupled piezo-elastodynamic behavior. The resulting elastic wave propagation for structural health monitoring is also summarized.

  13. Long line coupling models.

    SciTech Connect

    Warne, Larry Kevin; Chen, Kenneth C.

    2004-03-01

    This report assembles models for the response of a wire interacting with a conducting ground to an electromagnetic pulse excitation. The cases of an infinite wire above the ground as well as resting on the ground and buried beneath the ground are treated. The focus is on the characteristics and propagation of the transmission line mode. Approximations are used to simplify the description and formulas are obtained for the current. The semi-infinite case, where the short circuit current can be nearly twice that of the infinite line, is also examined.

  14. Model-Based Angular Scan Error Correction of an Electrothermally-Actuated MEMS Mirror.

    PubMed

    Zhang, Hao; Xu, Dacheng; Zhang, Xiaoyang; Chen, Qiao; Xie, Huikai; Li, Suiqiong

    2015-12-10

    In this paper, the actuation behavior of a two-axis electrothermal MEMS (Microelectromechanical Systems) mirror typically used in miniature optical scanning probes and optical switches is investigated. The MEMS mirror consists of four thermal bimorph actuators symmetrically located at the four sides of a central mirror plate. Experiments show that an actuation characteristics difference of as much as 4.0% exists among the four actuators due to process variations, which leads to an average angular scan error of 0.03°. A mathematical model between the actuator input voltage and the mirror-plate position has been developed to predict the actuation behavior of the mirror. It is a four-input, four-output model that takes into account the thermal-mechanical coupling and the differences among the four actuators; the vertical positions of the ends of the four actuators are also monitored. Based on this model, an open-loop control method is established to achieve accurate angular scanning. This model-based open loop control has been experimentally verified and is useful for the accurate control of the mirror. With this control method, the precise actuation of the mirror solely depends on the model prediction and does not need the real-time mirror position monitoring and feedback, greatly simplifying the MEMS control system.

  15. Model-Based Angular Scan Error Correction of an Electrothermally-Actuated MEMS Mirror

    PubMed Central

    Zhang, Hao; Xu, Dacheng; Zhang, Xiaoyang; Chen, Qiao; Xie, Huikai; Li, Suiqiong

    2015-01-01

    In this paper, the actuation behavior of a two-axis electrothermal MEMS (Microelectromechanical Systems) mirror typically used in miniature optical scanning probes and optical switches is investigated. The MEMS mirror consists of four thermal bimorph actuators symmetrically located at the four sides of a central mirror plate. Experiments show that an actuation characteristics difference of as much as 4.0% exists among the four actuators due to process variations, which leads to an average angular scan error of 0.03°. A mathematical model between the actuator input voltage and the mirror-plate position has been developed to predict the actuation behavior of the mirror. It is a four-input, four-output model that takes into account the thermal-mechanical coupling and the differences among the four actuators; the vertical positions of the ends of the four actuators are also monitored. Based on this model, an open-loop control method is established to achieve accurate angular scanning. This model-based open loop control has been experimentally verified and is useful for the accurate control of the mirror. With this control method, the precise actuation of the mirror solely depends on the model prediction and does not need the real-time mirror position monitoring and feedback, greatly simplifying the MEMS control system. PMID:26690432

  16. A reduced order model for dielectric elastomer actuators over a range of frequencies and prestrains

    NASA Astrophysics Data System (ADS)

    Kiser, Jillian; Manning, Michael; Adler, David; Breuer, Kenneth

    2016-09-01

    The actuation strain of an equibiaxially prestrained dielectric elastomer membrane is studied as a function of driving frequency and prestrain. Experimental data are gathered on the membrane's creep and recovery following DC actuation, as well as the steady state amplitude and phase for AC driving voltages ranging from 2 to 40 Hz. The effect of prestretch on steady state actuation was also investigated, using membranes of both 250% and 300% prestretch. A three-element generalized Kelvin-Voigt model is developed to capture the transient and steady-state actuation responses as a function of frequency and prestrain. We show that, despite its relative simplicity, this model captures the relevant timescales for the membrane behavior with good fidelity and can be used to accurately predict the actuation magnitude and phase as a function of time over a range of actuation configurations and driving conditions.

  17. Mathematical model and characteristic analysis of hybrid photovoltaic/piezoelectric actuation mechanism

    NASA Astrophysics Data System (ADS)

    Jiang, Jing; Li, Xiaonan; Ding, Jincheng; Yue, Honghao; Deng, Zongquan

    2016-12-01

    Photovoltaic materials can turn light energy into electric energy directly, and thus have the advantages of high electrical output voltages and the ability to realize remote or non-contact control. When high-energy ultraviolet light illuminates polarized PbLaZrTi (PLZT) materials, high photovoltages will be generated along the spontaneous polarization direction due to the photovoltaic effect. In this paper, a novel hybrid photovoltaic/piezoelectric actuation mechanism is proposed. PLZT ceramics are used as a photovoltaic generator to drive a piezoelectric actuator. A mathematical model is established to define the time history of the actuation voltage between two electrodes of the piezoelectric actuator, which is experimentally validated by the test results of a piezoelectric actuator with different geometrical parameters under irradiation at different light intensities. Some important characteristics of this novel actuation mechanism are analyzed and it can be concluded that (1) it is experimentally validated that there is no hysteresis between voltage and deformation which exists in a PLZT actuator; (2) the saturated voltage and response speed can be improved by using a multi-patch PLZT generator to drive the piezoelectric actuator; and (3) the initial voltage of the piezoelectric actuator can be acquired by controlling the logical switch between the PLZT and the piezoelectric actuator while the initial voltages increase with the rise of light intensity.

  18. Modeling of thermo-mechanical fatigue and damage in shape memory alloy axial actuators

    NASA Astrophysics Data System (ADS)

    Wheeler, Robert W.; Hartl, Darren J.; Chemisky, Yves; Lagoudas, Dimitris C.

    2015-04-01

    The aerospace, automotive, and energy industries have seen the potential benefits of using shape memory alloys (SMAs) as solid state actuators. Thus far, however, these actuators are generally limited to non-critical components or over-designed due to a lack of understanding regarding how SMAs undergo thermomechanical or actuation fatigue and the inability to accurately predict failure in an actuator during use. The purpose of this study was to characterize the actuation fatigue response of Nickel-Titanium-Hafnium (NiTiHf) axial actuators and, in turn, use this characterization to predict failure and monitor damage in dogbone actuators undergoing various thermomechanical loading paths. Calibration data was collected from constant load, full cycle tests ranging from 200-600MPa. Subsequently, actuator lifetimes were predicted for four additional loading paths. These loading paths consisted of linearly varying load with full transformation (300-500MPa) and step loads which transition from zero stress to 300-400MPa at various martensitic volume fractions. Thermal cycling was achieved via resistive heating and convective cooling and was controlled via a state machine developed in LabVIEW. A previously developed fatigue damage model, which is formulated such that the damage accumulation rate is general in terms of its dependence on current and local stress and actuation strain states, was utilized. This form allows the model to be utilized for specimens undergoing complex loading paths. Agreement between experiments and simulations is discussed.

  19. Hysteresis modelling and experimental verification of a Fe–Ga alloy magnetostrictive actuator

    NASA Astrophysics Data System (ADS)

    Wei, Zhu; Lei Xiang, Bian; Gangli, Chen; Shuxin, Liu; Qinbo, Zhou; Xiaoting, Rui

    2017-03-01

    In order to accurately describe the asymmetric rate-bias-dependent hysteresis of a Fe–Ga alloy magnetostrictive actuator, a comprehensive model, which is composed of a phenomenon model, describing hysteresis by the modified Bouc–Wen hysteresis operator, and a theoretical model, representing the dynamics characteristics, is put forward. The experimental system is setup to verify the performance of the comprehensive model. Results show that the modified Bouc–Wen model can effectively describe the dynamics and hysteresis characteristics of the Fe–Ga alloy magnetostrictive actuator. The results highlight significantly improved accuracy in the modelling of the magnetostrictive actuator.

  20. A Reduced-Order Model For Zero-Mass Synthetic Jet Actuators

    NASA Technical Reports Server (NTRS)

    Yamaleev, Nail K.; Carpenter, Mark H.; Vatsa, Veer S.

    2007-01-01

    Accurate details of the general performance of fluid actuators is desirable over a range of flow conditions, within some predetermined error tolerance. Designers typically model actuators with different levels of fidelity depending on the acceptable level of error in each circumstance. Crude properties of the actuator (e.g., peak mass rate and frequency) may be sufficient for some designs, while detailed information is needed for other applications (e.g., multiple actuator interactions). This work attempts to address two primary objectives. The first objective is to develop a systematic methodology for approximating realistic 3-D fluid actuators, using quasi-1-D reduced-order models. Near full fidelity can be achieved with this approach at a fraction of the cost of full simulation and only a modest increase in cost relative to most actuator models used today. The second objective, which is a direct consequence of the first, is to determine the approximate magnitude of errors committed by actuator model approximations of various fidelities. This objective attempts to identify which model (ranging from simple orifice exit boundary conditions to full numerical simulations of the actuator) is appropriate for a given error tolerance.

  1. Actuator and aerodynamic modeling for high-angle-of-attack aeroservoelasticity

    NASA Technical Reports Server (NTRS)

    Brenner, Martin J.

    1993-01-01

    Accurate prediction of airframe/actuation coupling is required by the imposing demands of modern flight control systems. In particular, for agility enhancement at high angle of attack and low dynamic pressure, structural integration characteristics such as hinge moments, effective actuator stiffness, and airframe/control surface damping can have a significant effect on stability predictions. Actuator responses are customarily represented with low-order transfer functions matched to actuator test data, and control surface stiffness is often modeled as a linear spring. The inclusion of the physical properties of actuation and its installation on the airframe is therefore addressed using detailed actuator models which consider the physical, electrical, and mechanical elements of actuation. The aeroservoelastic analysis procedure is described in which the actuators are modeled as detailed high-order transfer functions and as approximate low-order transfer functions. The impacts of unsteady aerodynamic modeling on aeroservoelastic stability are also investigated by varying the order of approximation, or number of aerodynamic lag states, in the analysis. Test data from a thrust-vectoring configuration of an F/A-l8 aircraft are compared to predictions to determine the effects on accuracy as a function of modeling complexity.

  2. Controller modeling and evaluation for PCV electro-mechanical actuator

    NASA Technical Reports Server (NTRS)

    Parker, Joey K.

    1993-01-01

    Hydraulic actuators are currently used to operate the propellant control valves (PCV) for the space shuttle main engine (SSME) and other rocket engines. These actuators are characterized by large power to weight ratios, large force capabilities, and rapid accelerations, which favor their use in control valve applications. However, hydraulic systems are also characterized by susceptibility to contamination, which leads to frequent maintenance requirements. The Control Mechanisms Branch (EP34) of the Component Development Division of the Propulsion Laboratory at the Marshall Space Flight Center (MSFC) has been investigating the application of electromechanical actuators as replacements for the hydraulic units in PCV's over the last few years. This report deals with some testing and analysis of a PCV electromechanical actuator (EMA) designed and fabricated by HR Textron, Inc. This prototype actuator has undergone extensive testing by EP34 personnel since early 1993. At this time, the performance of the HR Textron PCV EMA does not meet requirements for position tracking.

  3. Modeling of a three degrees of freedom piezo-actuated mechanism

    NASA Astrophysics Data System (ADS)

    Zhu, Wei; Rui, Xiao Ting

    2017-01-01

    This paper presents the modeling and experimentation of a three degrees of freedom (3-DOF) piezo-actuated mechanism. The displacements of the piezoelectric stack actuators are amplified with lever mechanisms to achieve large displacement output. In order to accurately model the mechanism, a comprehensive model, which uses the transfer matrix method to describe the dynamics characteristics and the modified Bouc-Wen hysteresis operator to represent the hysteresis, is presented. Ultimately, the proposed comprehensive model of the mechanism is experimentally investigated for its performance. Experimental results show that the proposed comprehensive model can accurately portray the hysteresis and dynamics characteristics of the 3-DOF piezo-actuated mechanism.

  4. A simple model for clock-actuated legged locomotion

    NASA Astrophysics Data System (ADS)

    Seipel, J.; Holmes, P.

    2007-10-01

    The spring-loaded inverted pendulum (SLIP) model describes well the steady-state center-of-mass motions of a diverse range of walking and running animals and robots. Here we ask whether the SLIP model can also explain the dynamic stability of these gaits, and we find that it cannot do so in many physically-relevant parameter ranges. We develop an actuated, lossy, clock-torqued SLIP, or CT-SLIP, with more realistic hip-motor torque inputs, that can capture the robust stability properties observed in most animals and some legged robots. Variations of CT-SLIP at a similar level of detail and complexity may also be appropriate for capturing the whole-system center-of-mass dynamics of locomotion of legged animals and robots varying widely in size and morphology. This paper contributes to a broader program to develop mathematical models, at varied levels of detail, that capture the dynamics of integrated organismal systems exhibiting integrated whole-body motion.

  5. Hydrogel core flexible matrix composite (H-FMC) actuators: theory and preliminary modelling

    NASA Astrophysics Data System (ADS)

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

    2014-09-01

    The underlying theory of a new actuator concept based on hydrogel core flexible matrix composites (H-FMC) is presented. The key principle that underlines the H-FMC actuator operation is that the three-dimensional swelling of a hydrogel is partially constrained in order to improve the amount of useful work done. The partial constraint is applied to the hydrogel by a flexible matrix composite (FMC) that minimizes the hydrogel's volume expansion while swelling. This constraint serves to maximize the fixed charge density and resulting osmotic pressure, the driving force behind actuation. In addition, for certain FMC fibre orientations the Poisson's ratio of the anisotropic FMC laminate converts previously unused hydrogel swelling in the radial and circumferential directions into useful axial strains. The potential benefit of the H-FMC concept to hydrogel actuator performance is shown through comparison of force-stroke curves and evaluation of improvements in useful actuation work. The model used to achieve this couples chemical and electrical components, represented with the Nernst-Plank and Poisson equations, as well as a linear elastic mechanical material model, encompassing limited geometric nonlinearities. It is found that improvements in useful actuation work in the order of 1500% over bare hydrogel performance are achieved by the H-FMC concept. A parametric study is also undertaken to determine the effect of various FMC design parameters on actuator free strain and blocking stress. A comparison to other actuator concepts is also included.

  6. Enhanced Actuator Line Simulation of a Wind Turbine by including the Conservative Load at the Blade Tip

    NASA Astrophysics Data System (ADS)

    Herraez, Ivan; Micallef, Daniel; van Kuik, Gijs A. M.; Peinke, Joachim

    2015-11-01

    At the tip of wind turbine blades, the radial bound circulation is transformed into chordwise circulation just before being released as trailing vorticity, giving rise to the tip vortex. The force acting on the chordwise circulation contains a radial and a normal component with respect to the blade axis. This load does not contribute to the torque, so it is a conservative load. Due to this, it is disregarded in the engineering tools used for the design of wind turbines. However, as we demonstrated in a previous work, the conservative load might influence the trajectory of the tip vortex. In order to see how this affects the blade loads, in this research we perform large eddy simulations with an actuator line model where the conservative load has been included. The conservative load reduces the angle of attack in the tip region as a consequence of the modified tip vortex trajectory. This has a negative influence on the lift and the power output. We conclude that the accuracy of engineering design tools of wind turbines can be improved if the conservative load acting at the tip is considered.

  7. Modeling of a corrugated dielectric elastomer actuator for artificial muscle applications

    NASA Astrophysics Data System (ADS)

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

    2015-04-01

    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.

  8. Displacement Models for THUNDER Actuators having General Loads and Boundary Conditions

    NASA Technical Reports Server (NTRS)

    Wieman, Robert; Smith, Ralph C.; Kackley, Tyson; Ounaies, Zoubeida; Bernd, Jeff; Bushnell, Dennis M. (Technical Monitor)

    2001-01-01

    This paper summarizes techniques for quantifying the displacements generated in THUNDER actuators in response to applied voltages for a variety of boundary conditions and exogenous loads. The PDE (partial differential equations) models for the actuators are constructed in two steps. In the first, previously developed theory quantifying thermal and electrostatic strains is employed to model the actuator shapes which result from the manufacturing process and subsequent repoling. Newtonian principles are then employed to develop PDE models which quantify displacements in the actuator due to voltage inputs to the piezoceramic patch. For this analysis, drive levels are assumed to be moderate so that linear piezoelectric relations can be employed. Finite element methods for discretizing the models are developed and the performance of the discretized models are illustrated through comparison with experimental data.

  9. Hip actuations can be used to control bifurcations and chaos in a passive dynamic walking model.

    PubMed

    Kurz, Max J; Stergiou, Nicholas

    2007-04-01

    We explored how hip joint actuation can be used to control locomotive bifurcations and chaos in a passive dynamic walking model that negotiated a slightly sloped surface (gamma<0.019 rad). With no hip actuation, our passive dynamic walking model was capable of producing a chaotic locomotive pattern when the ramp angle was 0.01839 radactuation resulted in rapid transition to any locomotive pattern available in the chaotic attractor and induced stability at ramp angles that were previously considered unstable. Our results detail how chaos can be used as a control scheme for locomotion.

  10. Modelling of plasma aerodynamic actuation driven by nanosecond SDBD discharge

    NASA Astrophysics Data System (ADS)

    Zhu, Yifei; Wu, Yun; Cui, Wei; Li, Yinghong; Jia, Min

    2013-09-01

    A two-dimensional air plasma kinetics model (16 species and 44 processes) for nanosecond discharge under atmospheric pressure was developed to reveal the spatial and temporal distribution of discharge characteristics of a surface dielectric barrier discharge (SDBD) actuator. An energy transfer model, including two channels for energy release from external power source to gas, was developed to couple plasma with hydrodynamics directly in the same dimension. The governing equations included the Poisson equation for the electric potential, continuity equations for each species, electron energy equations for electrons taking part in reactions, and Navier-Stokes equations for non-isothermal fluid. The model was validated through current-voltage profile and electron temperature obtained from experiments. Calculations for discharge characteristics as well as the responses of fluid field from tens of nanoseconds to tens of seconds were performed. Results have shown that local air is heated to 1170 K within tens of nanoseconds and then decreases to 310 K at the end of a discharge period. 30% of the total power is transferred from electric field to electrons while only 20% of this energy is then released to gas through quenching processes. 9% of the total energy is released through ion collision. A micro-shock wave is formed and propagates at the speed of sound. High local density gradient and dynamic viscosity induces vortexes which whirl the heated air downstream. The combined effects of heating convection and vortexes in repetitive pulse discharges lead to the formation of a steady jet, in agreement with experimental results.

  11. Modelling the nonlinear response of fibre-reinforced bending fluidic actuators

    NASA Astrophysics Data System (ADS)

    Cacucciolo, Vito; Renda, Federico; Poccia, Ernesto; Laschi, Cecilia; Cianchetti, Matteo

    2016-10-01

    Soft actuators are receiving increasing attention from the engineering community, not only in research but even for industrial applications. Among soft actuators, fibre-reinforced bending fluidic actuators (BFAs) became very popular thanks to features such as robustness and easy design and fabrication. However, an accurate modelling of these smart structures, taking into account all the nonlinearities involved, is a challenging task. In this effort, we propose an analytical mechanical model to capture the quasi-static response of fibre-reinforced BFAs. The model is fully 3D and for the first time includes the effect of the pressure on the lateral surface of the chamber as well as the non-constant torque produced by the pressure at the tip. The presented model can be used for design and control, while providing information about the mechanics of these complex actuators.

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

    NASA Astrophysics Data System (ADS)

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

    2017-03-01

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

  13. The effect of plasma actuator on the depreciation of the aerodynamic drag on box model

    NASA Astrophysics Data System (ADS)

    Harinaldi, Budiarso, Julian, James; Rabbani M., N.

    2016-06-01

    Recent active control research advances have provided many benefits some of which in the field of transportation by land, sea as well as by air. Flow engineering by using active control has proven advantages in energy saving significantly. One of the active control equipment that is being developed, especially in the 21st century, is a plasma actuator, with the ability to modify the flow of fluid by the approach of ion particles makes these actuators a very powerful and promising tool. This actuator can be said to be better to the previously active control such as suction, blowing and synthetic jets because it is easier to control, more flexible because it has no moving parts, easy to be manufactured and installed, and consumes a small amount of energy with maximum capability. Plasma actuator itself is the composition of a material composed of copper and a dielectric sheet, where the copper sheets act as an electricity conductor and the dielectric sheet as electricity insulator. Products from the plasma actuators are ion wind which is the result of the suction of free air around the actuator to the plasma zone. This study investigates the ability of plasma actuators in lowering aerodynamic drag which is commonly formed in the models of vehicles by varying the shape of geometry models and the flow speed.

  14. Computed torque control of an under-actuated service robot platform modeled by natural coordinates

    NASA Astrophysics Data System (ADS)

    Zelei, Ambrus; Kovács, László L.; Stépán, Gábor

    2011-05-01

    The paper investigates the motion planning of a suspended service robot platform equipped with ducted fan actuators. The platform consists of an RRT robot and a cable suspended swinging actuator that form a subsequent parallel kinematic chain and it is equipped with ducted fan actuators. In spite of the complementary ducted fan actuators, the system is under-actuated. The method of computed torques is applied to control the motion of the robot. The under-actuated systems have less control inputs than degrees of freedom. We assume that the investigated under-actuated system has desired outputs of the same number as inputs. In spite of the fact that the inverse dynamical calculation leads to the solution of a system of differential-algebraic equations (DAE), the desired control inputs can be determined uniquely by the method of computed torques. We use natural (Cartesian) coordinates to describe the configuration of the robot, while a set of algebraic equations represents the geometric constraints. In this modeling approach the mathematical model of the dynamical system itself is also a DAE. The paper discusses the inverse dynamics problem of the complex hybrid robotic system. The results include the desired actuator forces as well as the nominal coordinates corresponding to the desired motion of the carried payload. The method of computed torque control with a PD controller is applied to under-actuated systems described by natural coordinates, while the inverse dynamics is solved via the backward Euler discretization of the DAE system for which a general formalism is proposed. The results are compared with the closed form results obtained by simplified models of the system. Numerical simulation and experiments demonstrate the applicability of the presented concepts.

  15. Implementation of a model based fault detection and diagnosis technique for actuation faults of the SSME

    NASA Technical Reports Server (NTRS)

    Duyar, A.; Guo, T.-H.; Merrill, W.; Musgrave, J.

    1991-01-01

    In a previous study, Guo, Merrill and Duyar, 1990, reported a conceptual development of a fault detection and diagnosis system for actuation faults of the Space Shuttle main engine. This study, which is a continuation of the previous work, implements the developed fault detection and diagnosis scheme for the real time actuation fault diagnosis of the Space Shuttle Main Engine. The scheme will be used as an integral part of an intelligent control system demonstration experiment at NASA Lewis. The diagnosis system utilizes a model based method with real time identification and hypothesis testing for actuation, sensor, and performance degradation faults.

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

    SciTech Connect

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

    1996-12-01

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

  17. Modeling of a flexible beam actuated by shape memory alloy wires

    NASA Astrophysics Data System (ADS)

    Shu, Steven G.; Lagoudas, Dimitris C.; Hughes, Declan; Wen, John T.

    1997-06-01

    A thermomechanical model is developed to predict the structural response of a flexible beam with shape memory alloy (SMA) wire actuators. A geometrically nonlinear static analysis is first carried out to investigate the deformed shape of a flexible cantilever beam caused by an externally-attached SMA wire actuated electrically. The actuation force applied by the SMA actuator to the beam is evaluated by solving a coupled problem that combines a thermodynamic constitutive model of SMAs with the heat conduction equation in the SMA and the structural model of the beam. To calculate the temperature history of the SMA actuator for given electrical current input, the heat transfer equation is solved with the electrical resistive heating being modeled as a distributed heat source along the SMA wire. The steps in the formulation are connected together through an iterative scheme that takes into account the static equilibrium of the beam and the constitutive relation of SMAs, thus translating an electrical current history input into beam strain output. The proposed model is used to simulate the experimental results, thus demonstrating the feasibility of using SMA actuators for shape control of active flexible structural systems.

  18. Orthotropic deflection model for corner-supported plates with segmented in-plane actuators.

    SciTech Connect

    Sumali, Hartono; Washington, Gregory N.; Massad, Jordan Elias

    2005-02-01

    The shape control of thin, flexible structures has been studied primarily for edge-supported thin plates. For applications involving reconfigurable apertures such as membrane optics and active RF surfaces, corner-supported configurations may prove more applicable. Corner-supported adaptive structures allow for parabolic geometries, greater flexibility, and larger achievable deflections when compared to edge-supported geometries under similar actuation conditions. Preliminary models have been developed for corner-supported thin plates actuated by isotropic piezoelectric actuators. However, typical piezoelectric materials are known to be orthotropic. This paper extends a previously-developed isotropic model for a corner-supported, thin, rectangular bimorph to a more general orthotropic model for a bimorph actuated by a two-dimensional array of segmented PVDF laminates. First, a model determining the deflected shape of an orthotropic laminate for a given distribution of voltages over the actuator array is derived. Second, symmetric actuation of a bimorph consisting of orthotropic material is simulated using orthogonally-oriented laminae. Finally, the results of the model are shown to agree well with layered-shell finite element simulations for simple and complex voltage distributions.

  19. Design Optimization Tool for Synthetic Jet Actuators Using Lumped Element Modeling

    NASA Technical Reports Server (NTRS)

    Gallas, Quentin; Sheplak, Mark; Cattafesta, Louis N., III; Gorton, Susan A. (Technical Monitor)

    2005-01-01

    The performance specifications of any actuator are quantified in terms of an exhaustive list of parameters such as bandwidth, output control authority, etc. Flow-control applications benefit from a known actuator frequency response function that relates the input voltage to the output property of interest (e.g., maximum velocity, volumetric flow rate, momentum flux, etc.). Clearly, the required performance metrics are application specific, and methods are needed to achieve the optimal design of these devices. Design and optimization studies have been conducted for piezoelectric cantilever-type flow control actuators, but the modeling issues are simpler compared to synthetic jets. Here, lumped element modeling (LEM) is combined with equivalent circuit representations to estimate the nonlinear dynamic response of a synthetic jet as a function of device dimensions, material properties, and external flow conditions. These models provide reasonable agreement between predicted and measured frequency response functions and thus are suitable for use as design tools. In this work, we have developed a Matlab-based design optimization tool for piezoelectric synthetic jet actuators based on the lumped element models mentioned above. Significant improvements were achieved by optimizing the piezoceramic diaphragm dimensions. Synthetic-jet actuators were fabricated and benchtop tested to fully document their behavior and validate a companion optimization effort. It is hoped that the tool developed from this investigation will assist in the design and deployment of these actuators.

  20. Research on Hysteresis of Piezoceramic Actuator Based on the Duhem Model

    PubMed Central

    Wang, Jingyuan

    2013-01-01

    To improve the modeling accuracy of piezoceramic actuator in the precision positioning system, the Duhem hysteretic model of the piezoceramic actuator was proposed. The paper used the polynomial function to approach the piecewise continuous function and f(v) and g(v) in the Duhem model, adopted recursive least squares algorithm and gradient correction algorithm to identify parameter α, polynomial coefficients of f and g in the Duhem model, and established the nonlinear parametric model of the piezoceramic actuator. Contrasting the simulation results of recursive least squares algorithm and gradient correction algorithm, the modeling accuracy is 0.24% when adopting the recursive least squares algorithm, and the modeling accuracy is 0.11% when adopting the gradient correction method. The result showed that the gradient correction algorithm could meet the modeling accuracy better, and the structure of the algorithm is simple, adaptable, and easy to implement. PMID:23861658

  1. Design and modeling of a self-sufficient shape-memory-actuator

    NASA Astrophysics Data System (ADS)

    Bucht, André; Junker, Tom; Pagel, Kenny; Drossel, Welf-Guntram; Neugebauer, Reimund

    2011-03-01

    In machine tools several time and position varying heat sources causes complex temperature distributions. The resulting problems are varying thermal deformations which cause a loss of accuracy as well as non optimal drive conditions. An option to deal with that issue is to use structure integrated SM-actuators which use the thermal energy accumulated by machining processes to yield an actuator displacement. That creates a structure inherent control loop. There the shape-memory- elements work as sensing element as well as actuation element. The plant is defined by the thermal and mechanical behaviour of the surrounding structure. Because of the closed loop operation mode, the mechanical design has to deal with questions of stability and parameter adjustment in a control sense. In contrast to common control arrangements this issues can only be influenced by designing the actuator and the structure. To investigate this approach a test bench has been designed. The heat is yielded by a clutch and directed through the structure to the shape memory element. The force and displacement of the actuator are therefore driven directly by process heat. This paper presents a broad mechanical design approach of the test bench as well as the design of the SM-actuator. To investigate the thermo-mechanical behaviour of the structure-integrated actuator, a model of the test bench has been developed. The model covers the thermal behaviour of the test bench as well as the thermo-mechanical couplings of the shape memory actuator. The model has been validated by comprehensive measurements.

  2. A Reduced-Order Model for Efficient Simulation of Synthetic Jet Actuators

    NASA Technical Reports Server (NTRS)

    Yamaleev, Nail K.; Carpenter, Mark H.

    2003-01-01

    A new reduced-order model of multidimensional synthetic jet actuators that combines the accuracy and conservation properties of full numerical simulation methods with the efficiency of simplified zero-order models is proposed. The multidimensional actuator is simulated by solving the time-dependent compressible quasi-1-D Euler equations, while the diaphragm is modeled as a moving boundary. The governing equations are approximated with a fourth-order finite difference scheme on a moving mesh such that one of the mesh boundaries coincides with the diaphragm. The reduced-order model of the actuator has several advantages. In contrast to the 3-D models, this approach provides conservation of mass, momentum, and energy. Furthermore, the new method is computationally much more efficient than the multidimensional Navier-Stokes simulation of the actuator cavity flow, while providing practically the same accuracy in the exterior flowfield. The most distinctive feature of the present model is its ability to predict the resonance characteristics of synthetic jet actuators; this is not practical when using the 3-D models because of the computational cost involved. Numerical results demonstrating the accuracy of the new reduced-order model and its limitations are presented.

  3. One-equation modeling and validation of dielectric barrier discharge plasma actuator thrust

    NASA Astrophysics Data System (ADS)

    Yoon, Jae-San; Han, Jae-Hung

    2014-10-01

    Dielectric barrier discharge (DBD) plasma actuators with an asymmetric electrode configuration can generate a wall-bounded jet without mechanical moving parts, which require considerable modifications of existing aeronautical objects and which incur high maintenance costs. Despite this potential, one factor preventing the wider application of such actuators is the lack of a reliable actuator model. It is difficult to develop such a model because calculating the ion-electric field and fluid interaction consume a high amount calculation effort during the numerical analysis. Thus, the authors proposed a semi-empirical model which predicted the thrust of plasma actuators with a simple equation. It gave a numeric thrust value, and we implemented the value on a computational fluid dynamics (CFD) solver to describe the two-dimensional flow field induced by the actuator. However, the model had a narrow validation range, depending on the empirical formula, and it did not fully consider environment variables. This study presents an improved model by replacing the empirical formulae in the previous model with physical equations that take into account physical phenomena and environmental variables. During this process, additional operation parameters, such as pressure, temperature and ac waveforms, are newly taken to predict the thrust performance of the actuators with a wider range of existing parameters, the thickness of the dielectric barrier, the exposed electrode, the dielectric constant, the ac frequency and the voltage amplitude. Thrust prediction curves from the model are compared to those of earlier experimental results, showing that the average error is less than 5% for more than one hundred instances of data. As in the earlier work, the predicted thrust value is implemented on a CFD solver, and two-dimensional wall-jet velocity profiles induced by the actuator are compared to the previous experimental results.

  4. Evaluation of implantable actuators by means of a middle ear simulation model.

    PubMed

    Bornitz, Matthias; Hardtke, Hans-Jürgen; Zahnert, Thomas

    2010-05-01

    The extension of indication of implantable hearing aids to cases of conductive hearing loss pushed the development of these devices. There is now a great variety of devices available with different actuator concepts and different attachment points to the middle ear or inner ear fluid. But there is little comparative data available about the devices to provide an insight into advantages and disadvantages of different types of actuators and attachment points at the ossicular chain. This paper investigates two principle (idealized) types of actuators in respect of attachments points at the ossicular chain and direction of excitation. Other parts of implantable hearing aids like microphone, amplifier and signal processing electronics were not incorporated into this study. Investigations were performed by means of a mathematical simulation model of the middle ear (finite element model). Actuator performance and theoretical gain were calculated by harmonic analysis in the frequency range of 100-6000 Hz and were compared for the different situations. The stapes head proofed to be an ideal attachment point for actuators of both types as this position is very insensitive to changes in the direction of excitation. The implantable actuators showed higher ratio of equivalent sound pressure to radiated sound pressure compared to an open hearing aid transducer and should therefore allow for more functional gain.

  5. Finite element modeling of electromechanical behavior of a dielectric electroactive polymer actuator

    NASA Astrophysics Data System (ADS)

    Deodhar, Aseem; York, Alexander; Hodgins, Micah; Seelecke, Stefan

    2011-04-01

    Dielectric Electroactive Polymers (DEAP) will undergo large deformations when subject to an electric field making them an attractive material for use in novel actuator systems. There are many challenges with successful application and design of DEAP actuators resulting from their inherent electromechanical coupling and non-linear material behavior. FE modeling of the material behavior is a useful tool to better understand such systems and aid in the optimal design of prototypes. These modeling efforts must account for the electromechanical coupling in order to accurately predict their response to multiple loading conditions expected during real operating conditions. This paper presents a Finite Element model of a dielectric elastomer undergoing out-of-plane, axisymmetric deformation. The response of the elastomer was investigated while it was subjected to mechanical and electric fields and combined electro-mechanical actuation. The compliant electrodes have a large effect on the mechanical behavior of the EAP which needs to be taken into consideration while modeling the EAP as a system. The model is adapted to include the effect of electrode stiffness on the mechanical response of the actuator. The model was developed using the commercial Finite Element Modeling software, COMSOL. The results from the mechanical simulations are presented in the form of forcedisplacement curves and are validated with comparisons to experimental results. Electromechanical simulations are carried out and the stroke of the actuator for different electrode stiffness values is compared with experimental values when the EAP is biased with a constant force.

  6. Dynamic Heat Generation Modeling and Thermal Management of Electromechanical Actuators

    DTIC Science & Technology

    2012-07-01

    and current to the motor through an insulated-gate bipolar transistor (IGBT) module. Most of the power loss on EU comes from the IGBTs in the power...Field-oriented Control High Performance Electric Actuation Systems Insulated-gate Bipolar Transistor Integrated Vehicle and Energy Technology...status of a transistor , in electrical degrees. 80 Approved for public release; distribution unlimited. • Transistor Drop: The voltage drop across

  7. Tests and Techniques for Characterizing and Modeling X-43A Electromechanical Actuators

    NASA Technical Reports Server (NTRS)

    Lin, Yohan; Baumann, Ethan; Bose, David M.; Beck, Roger; Jenney, Gavin

    2008-01-01

    A series of tests were conducted on the electromechanical actuators of the X-43A research vehicle in preparation for the Mach 7 and 10 hypersonic flights. The tests were required to help validate the actuator models in the simulation and acquire a better understanding of the installed system characteristics. Static and dynamic threshold, multichannel crosstalk, command-to-surface timing, free play, voltage regeneration, calibration, frequency response, compliance, hysteretic damping, and aircraft-in-the-loop tests were performed as part of this effort. This report describes the objectives, configurations, and methods for those tests, as well as the techniques used for developing second-order actuator models from the test results. When the first flight attempt failed because of actuator problems with the launch vehicle, further analysis and model enhancements were performed as part of the return-to-flight activities. High-fidelity models are described, along with the modifications that were required to match measurements taken from the research vehicle. Problems involving the implementation of these models into the X-43A simulation are also discussed. This report emphasizes lessons learned from the actuator testing, simulation modeling, and integration efforts for the X-43A hypersonic research vehicle.

  8. Design and modeling of new suspension system using direct drive servo-valve system actuated by piezostack actuator

    NASA Astrophysics Data System (ADS)

    Han, Chulhee; Kim, Wan Ho; Choi, Seung-Bok

    2016-04-01

    This paper proposes a new type of a direct-drive valve (DDV) suspension system for vehicle controlled by the piezostack actuator associated with displacement amplifier. In order to achieve this goal, a new type of controllable piezostack DDV damper is designed and its performance evaluation of damping force is undertaken. Next, a full vehicle suspension system consisting of sprung mass, spring, tire and the piezostack DDV damper is constructed. After deriving the governing equations of the motion for the proposed the piezostack DDV suspension system, the skyhook controller is implemented for the realization of the full vehicle. Analytical model of the whole suspension system is then derived and performance characteristics are analyzed through numerical simulation. Finally, vibration control responses of the vehicle suspension system such as vertical acceleration are evaluated under both bump and sine road conditions.

  9. Improvement in sodium cromoglycate delivery from a spacer device by use of an antistatic lining, immediate inhalation, and avoiding multiple actuations of drug.

    PubMed Central

    O'Callaghan, C; Lynch, J; Cant, M; Robertson, C

    1993-01-01

    BACKGROUND--Aerosols generated from metered dose inhalers may be highly charged. The aim of this study was to determine whether lining the walls of a polycarbonate spacer device with an antistatic agent would result in an increase in drug output. The effects of multiple actuations of drug into the spacer device and increasing residence time of drug within the spacer were also determined. METHODS--The amount of sodium cromoglycate contained in particles of various size available for inhalation (per 5 mg actuation) from a 750 ml polycarbonate spacer was determined by impinger measurement and spectrophotometric assay. RESULTS--Lining the spacer with an antistatic agent increased the mean (SD) amount of sodium cromoglycate in particles < 5 microns available for inhalation (per 5 mg actuation) by 244% from (0.59 (0.03) to 1.44 (0.2) mg). When there was a 20 second interval between actuation into the spacer device and inhalation, sodium cromoglycate available for inhalation in particles < 5 micrograms decreased by 67% (from 0.59 (0.03) mg to 0.2 (0.01) mg). Use of the spacer device increased sodium cromoglycate available for inhalation in respirable particles (< 5 microns) by 18% compared with direct delivery by metered dose inhaler. Multiple actuations into the spacer decreased the amount of sodium cromoglycate available for inhalation in particles < 5 microns by 31% after two actuations and 56% after three acutations. CONCLUSIONS--Multiple actuations of sodium cromoglycate into a spacer device before inhalation should be avoided, and inhalation from spacer devices should take place immediately after actuation to ensure maximum dose. Lining of a standard spacer device with an antistatic agent significantly increased output of sodium cromoglycate. This may have implications for improved therapeutic response and drug cost. Images PMID:8346488

  10. A voice-actuated wind tunnel model leak checking system

    NASA Technical Reports Server (NTRS)

    Larson, William E.

    1989-01-01

    A computer program has been developed that improves the efficiency of wind tunnel model leak checking. The program uses a voice recognition unit to relay a technician's commands to the computer. The computer, after receiving a command, can respond to the technician via a voice response unit. Information about the model pressure orifice being checked is displayed on a gas-plasma terminal. On command, the program records up to 30 seconds of pressure data. After the recording is complete, the raw data and a straight line fit of the data are plotted on the terminal. This allows the technician to make a decision on the integrity of the orifice being checked. All results of the leak check program are stored in a database file that can be listed on the line printer for record keeping purposes or displayed on the terminal to help the technician find unchecked orifices. This program allows one technician to check a model for leaks instead of the two or three previously required.

  11. One-dimensional analytical model development of a plasma-based actuator

    NASA Astrophysics Data System (ADS)

    Popkin, Sarah Haack

    This dissertation provides a method for modeling the complex, multi-physics, multi-dimensional processes associated with a plasma-based flow control actuator, also known as the SparkJet, by using a one-dimensional analytical model derived from the Euler and thermodynamic equations, under varying assumptions. This model is compared to CFD simulations and experimental data to verify and/or modify the model where simplifying assumptions poorly represent the real actuator. The model was exercised to explore high-frequency actuation and methods of improving actuator performance. Using peak jet momentum as a performance metric, the model shows that a typical SparkJet design (1 mm orifice diameter, 84.8 mm3 cavity volume, and 0.5 J energy input) operated over a range of frequencies from 1 Hz to 10 kHz shows a decrease in peak momentum corresponding to an actuation cutoff frequency of 800 Hz. The model results show that the cutoff frequency is primarily a function of orifice diameter and cavity volume. To further verify model accuracy, experimental testing was performed involving time-dependent, cavity pressure and arc power measurements as a function of orifice diameter, cavity volume, input energy, and electrode gap. The cavity pressure measurements showed that pressure-based efficiency ranges from 20% to 40%. The arc power measurements exposed the deficiency in assuming instantaneous energy deposition and a calorically perfect gas and also showed that arc efficiency was approximately 80%. Additional comparisons between the pressure-based modeling and experimental results show that the model captures the actuator dependence on orifice diameter, cavity volume, and input energy but over-estimates the duration of the jet flow during Stage 2. The likely cause of the disagreement is an inaccurate representation of thermal heat transfer related to convective heat transfer or heat loss to the electrodes.

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

    PubMed

    Muniraj, Murali; Arulmozhiyal, Ramaswamy

    2015-01-01

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

  13. Electromechanical model for actuating liquids in a two-plate droplet microfluidic device.

    PubMed

    Chatterjee, Debalina; Shepherd, Heather; Garrell, Robin L

    2009-05-07

    Both conducting and insulating liquids can be actuated in two-plate droplet ("digital") microfluidic devices. Droplet movement is accomplished by applying a voltage across electrodes patterned beneath the dielectric-coated top and bottom plates. This report presents a general electromechanical model for calculating the forces on insulating and conducting liquids in two-plate devices. The devices are modeled as an equivalent circuit in which the dielectric layers and ambient medium (air or oil) are described as capacitors, while the liquid being actuated is described as a resistor and capacitor in parallel. The experimental variables are the thickness and dielectric constant of each layer in the device, the gap between plates, the applied voltage and frequency, and the conductivity of the liquid. The model has been used to calculate the total force acting on droplets of liquids that have been studied experimentally, and to explain the relative ease with which liquids of different conductivities can be actuated. The contributions of the electrowetting (EW) and dielectrophoretic (DEP) forces to droplet actuation have also been calculated. While for conductive liquids the EW force dominates, for dielectric liquids, both DEP and EW contribute, and the DEP force may dominate. The general utility of the model is that it can be used to predict the operating conditions needed to actuate particular liquids in devices of known geometry, and to optimize the design and operating conditions to enable movement of virtually any liquid.

  14. Development of a dc Motor Model and an Actuator Efficiency Model

    SciTech Connect

    Watkins, John Clifford; Mc Kellar, Michael George; DeWall, Kevin George

    2001-07-01

    For the past several years, researchers at the Idaho National Engineering and Environmental Laboratory, under the sponsorship of the U.S. Nuclear Regulatory Commission, have been investigating the ability of motor-operated valves (MOVs) used in Nuclear Power Plants to close or open when subjected to design basis flow and pressure loads. Part of this research addresses the response of a dcpowered motor-operated gate valve to assess whether it will achieve flow isolation and to evaluate whether it will slow down excessively under design-basis conditions and thus fail to achieve the required stroke time. As part of this research, we have developed a model of a dc motor operating under load and a model of actuator efficiency under load based on a first principle evaluation of the equipment. These models include the effect that reduced voltage at the Motor Control Center and elevated containment temperatures have on the performance of a dc powered MOV. The model also accounts for motor torque and speed changes that result from the heatup of the motor during the stroke. These models are part of the Motor- Operated Valve In Site Test Assessment (MISTA) software which is capable of independently evaluating the ability of dc-powered motoroperated gate valves to achieve flow isolation and to meet required stroke times under design-basis conditions. This paper presents an overview of the dc motor model and the actuator efficiency under load model. The paper then compares the analytical results from the models with the results of actual dc motor and actuator testing, including comparisons of the effect reduced voltage, elevated containment temperature, and motor heating during the stroke have on an MOV.

  15. Development of piezoelectric-based membranes for synthetic jet actuators: experiments and modeling

    NASA Astrophysics Data System (ADS)

    Housley, Kevin W.; Clingman, Dan J.; Amitay, Michael

    2016-04-01

    A mathematical model was developed to represent the behavior of circular piezoelectric bimorphs in a synthetic jet actuator. Synthetic jet actuators are popular active flow control devices whose application is being widely explored in aerodynamics. The material properties were matched to those of PZT-5A mounted on a substrate. The actuator's geometry consisted of a cylindrical cavity of low height to diameter aspect ratio. A bimorph formed one of the cylinder's bases. The ingestion/expulsion orifice for the synthetic jet actuator was placed in the edge of the cavity so as to allow for either the present single bimorph or future dual bimorph configurations. Simply supported and rigidly supported boundary conditions were assessed around the circumference of the bimorph. The potential of alternate mode shapes occurring in the bimorphs during operation of the synthetic jet was evaluated. A limited parametric study was conducted varying the thickness of the piezoelectric wafers used in the bimorphs and the geometry of the cavity and orifice. Results were obtained for the displacement of the center of the bimorph's surface and the peak velocity of the air being ingested and expulsed through the orifice. These results were compared to values obtained through a mathematical model. Experimental data present in literature were also compared. The mathematical model was seen to have considerable potential for predicting the performance of synthetic jet actuators and their resonant frequencies but failed to capture the effects of acoustic coupling with the cavity, which is a topic of future research.

  16. Propagation Modeling and Defending of a Mobile Sensor Worm in Wireless Sensor and Actuator Networks.

    PubMed

    Wang, Tian; Wu, Qun; Wen, Sheng; Cai, Yiqiao; Tian, Hui; Chen, Yonghong; Wang, Baowei

    2017-01-13

    WSANs (Wireless Sensor and Actuator Networks) are derived from traditional wireless sensor networks by introducing mobile actuator elements. Previous studies indicated that mobile actuators can improve network performance in terms of data collection, energy supplementation, etc. However, according to our experimental simulations, the actuator's mobility also causes the sensor worm to spread faster if an attacker launches worm attacks on an actuator and compromises it successfully. Traditional worm propagation models and defense strategies did not consider the diffusion with a mobile worm carrier. To address this new problem, we first propose a microscopic mathematical model to describe the propagation dynamics of the sensor worm. Then, a two-step local defending strategy (LDS) with a mobile patcher (a mobile element which can distribute patches) is designed to recover the network. In LDS, all recovering operations are only taken in a restricted region to minimize the cost. Extensive experimental results demonstrate that our model estimations are rather accurate and consistent with the actual spreading scenario of the mobile sensor worm. Moreover, on average, the LDS outperforms other algorithms by approximately 50% in terms of the cost.

  17. A comprehensive physics-based model encompassing variable surface resistance and underlying physics of ionic polymer-metal composite actuators

    NASA Astrophysics Data System (ADS)

    Shen, Qi; Palmre, Viljar; Stalbaum, Tyler; Kim, Kwang J.

    2015-09-01

    The ionic polymer-metal composite (IPMC) is an emerging smart material in actuation and sensing applications, such as artificial muscles, underwater actuators, and advanced medical devices. However, the effect of the change in surface electrode properties on the actuating of IPMC has not been well studied. To address this problem, we theoretically predict and experimentally investigate the dynamic electro-mechanical response of the IPMC thin-strip actuator. A model of the IPMC actuator is proposed based on the Poisson-Nernst-Planck equations for ion transport and charge dynamics in the polymer membrane, while a physical model for the change of surface resistance of the electrodes of the IPMC due to deformation is also incorporated. By incorporating these two models, a complete, dynamic, physics-based model for IPMC actuators is presented. To verify the model, IPMC samples were prepared and experiments were conducted. The results show that the theoretical model can accurately predict the actuating performance of IPMC actuators over a range of dynamic conditions. Additionally, the charge dynamics inside the polymer during the oscillation of the IPMC is presented. It is also shown that the charge at the boundary mainly affects the induced stress of the IPMC. The current study is beneficial for the comprehensive understanding of the surface electrode effect on the performance of IPMC actuators.

  18. Continuum damage model for ferroelectric materials and its application to multilayer actuators

    NASA Astrophysics Data System (ADS)

    Gellmann, Roman; Ricoeur, Andreas

    2016-05-01

    In this paper a micromechanical continuum damage model for ferroelectric materials is presented. As a constitutive law it is implemented into a finite element (FE) code. The model is based on micromechanical considerations of domain switching and its interaction with microcrack growth and coalescence. A FE analysis of a multilayer actuator is performed, showing the initiation of damage zones at the electrode tips during the poling process. Further, the influence of mechanical pre-stressing on damage evolution and actuating properties is investigated. The results provided in this work give useful information on the damage of advanced piezoelectric devices and their optimization.

  19. Modeling and analysis of bio-syncretic micro-swimmers for cardiomyocyte-based actuation.

    PubMed

    Zhang, Chuang; Wang, Jingyi; Wang, Wenxue; Xi, Ning; Wang, Yuechao; Liu, Lianqing

    2016-08-22

    Along with sensation and intelligence, actuation is one of the most important factors in the development of conventional robots. Many novel achievements have been made regarding bio-based actuators to solve the challenges of conventional actuation. However, few studies have focused on methods for controlling the movement performance of bio-syncretic robots by designing robotic structures and programming actuation bio-entities. In this paper, a theoretical model was derived considering kinematics and hydromechanics to describe the dynamics of a dolphin-shaped microstructure and to control the bio-syncretic swimmer movement by establishing the relationships between the swimming velocity of the bio-swimmer, the cell seeding concentration and the cell contractility. The proposed theoretical model was then verified with the fabricated biomimetic swimmer prototype actuated by equivalent external magnetism replacing the bio-entity force based on the study of living, beating cardiomyocyte contractility. This work can improve the development of bio-syncretic robots with an approach to preplanning the seeding concentration of cells for controlling the movement velocity of microstructures, and is also meaningful for biomimetic robots, medical treatments and interventional therapy applications.

  20. Feedforward deformation control of a dielectric elastomer actuator based on a nonlinear dynamic model

    NASA Astrophysics Data System (ADS)

    Gu, Guo-Ying; Gupta, Ujjaval; Zhu, Jian; Zhu, Li-Min; Zhu, Xiang-Yang

    2015-07-01

    In the practical applications of actuators, the control of their deformation or driving force is a key issue. Most of recent studies on dielectric elastomer actuators (DEAs) focus on issues of mechanics, physics, and material science, whereas less importance is given to the control of these soft actuators. In this paper, we underline the importance of a nonlinear dynamic model as the basis for a feedforward deformation control approach of a rubber-based DEA. Experimental evidence shows the effectiveness of the feedforward controller. The present study confirms that a DEA's trajectory can be finely controlled with a solid nonlinear dynamic model despite the presence of material nonlinearities and electromechanical coupling. The effective control of DEAs may pave the way for extensive emerging applications to soft robots.

  1. Modeling line emission in PDRs

    NASA Astrophysics Data System (ADS)

    Le Bourlot, J.

    2000-11-01

    The formation of emission lines in a diluted medium results from a large number of conspiring physical processes. When trying to compute a line intensity or (harder) a line profile from first principles, one has to take into account at least three different kind of processes: Atomic or molecular physics data. An accurate knowledge of radiative and collisional transition probabilities is required to determine the population of excited levels which rules the formation of emission lines. Thermodynamical equilibrium is almost never established, so that detailed balance equations need to be solved. Unfortunately many important data are still badly known. Structure and dynamics of the emitting medium. Local emissivities at a specific point depend at least on the local temperature and density of the gas, but often also on other less accessible parameters such as the turbulence state of the gas, a magnetic field or the existence of rapidly evolving transients such as shocks. Self consistent models which would include all relevant processes are out of reach numerically, and choices must be made among the more relevant physical processes to include. Radiative transfer effects. For a few relevant interstellar lines, the opacity is small enough that the emergent emissivity is just the sum of all local emissivities along the line of sight. Unfortunately, most lines are not so easy to cope with and a minimal radiative transfer formalism must be included. Various degrees of sophistication are possible, from a simple escape probability theory to full wavelength dependent line transfer. On the whole, line modelling is still more an art than a science. One should be well aware of the various assumptions made in a model before applying it to some particular observational result.

  2. A multiscale approach for modeling actuation response of polymeric artificial muscles.

    PubMed

    Sharafi, Soodabeh; Li, Guoqiang

    2015-05-21

    Artificial muscles are emerging materials in the field of smart materials with applications in aerospace, robotic, and biomedical industries. Despite extensive experimental investigations in this field, there is a need for numerical modeling techniques that facilitate cutting edge research and development. This work aims at studying an artificial muscle made of twisted Nylon 6.6 fibers that are highly cold-drawn. A computationally efficient phenomenological thermo-mechanical constitutive model is developed in which several physical properties of the artificial muscles are incorporated to minimize the trial-and-error numerical curve fitting processes. Two types of molecular chains are considered at the micro-scale level that control training and actuation processes viz. (a) helically oriented chains which are structural switches that store a twisted shape in their low temperature phase and restore their random configuration during the thermal actuation process, and (b) entropic chains which are highly drawn chains that could actuate as soon as the muscle heats up, and saturates when coil contact temperature is reached. The thermal actuation response of the muscle over working temperatures has been elaborated in the Modeling section. The performance of the model is validated by available experiments in the literature. The model may provide a design platform for future artificial muscle developments.

  3. Eversion of bistable shells under magnetic actuation: a model of nonlinear shapes

    NASA Astrophysics Data System (ADS)

    Seffen, Keith A.; Vidoli, Stefano

    2016-06-01

    We model in closed form a proven bistable shell made from a magnetic rubber composite material. In particular, we incorporate a non-axisymmetrical displacement field, and we capture the nonlinear coupling between the actuated shape and the magnetic flux distribution around the shell. We are able to verify the bistable nature of the shell and we explore its eversion during magnetic actuation. We show that axisymmetrical eversion is natural for a perfect shell but that non-axisymmetrical eversion rapidly emerges under very small initial imperfections, as observed in experiments and in a computational analysis. We confirm the non-uniform shapes of shell and we study the stability of eversion by considering how the landscape of total potential and magnetic energies of the system changes during actuation.

  4. On Identifiability of Bias-Type Actuator-Sensor Faults in Multiple-Model-Based Fault Detection and Identification

    NASA Technical Reports Server (NTRS)

    Joshi, Suresh M.

    2012-01-01

    This paper explores a class of multiple-model-based fault detection and identification (FDI) methods for bias-type faults in actuators and sensors. These methods employ banks of Kalman-Bucy filters to detect the faults, determine the fault pattern, and estimate the fault values, wherein each Kalman-Bucy filter is tuned to a different failure pattern. Necessary and sufficient conditions are presented for identifiability of actuator faults, sensor faults, and simultaneous actuator and sensor faults. It is shown that FDI of simultaneous actuator and sensor faults is not possible using these methods when all sensors have biases.

  5. A validated model for induction heating of shape memory alloy actuators

    NASA Astrophysics Data System (ADS)

    Saunders, Robert N.; Boyd, James G.; Hartl, Darren J.; Brown, Jonathan K.; Calkins, Frederick T.; Lagoudas, Dimitris C.

    2016-04-01

    Shape memory alloy (SMA) actuators deliver high forces while being compact and reliable, making them ideal for consideration in aerospace applications. One disadvantage of these thermally driven actuators is their slow cyclic time response compared to conventional actuators. Induction heating has recently been proposed to quickly heat SMA components. However efforts to date have been purely empirical. The present work approachs this problem in a computational manner by developing a finite element model of induction heating in which the time-harmonic electromagnetic equations are solved for the Joule heat power field, the energy equation is solved for the temperature field, and the linear momentum equations are solved to find the stress, displacement, and internal state variable fields. The combined model was implemented in Abaqus using a Python script approach and applied to SMA torque tube and beam actuators. The model has also been used to examine magnetic flux concentrators to improve the induction systems performance. Induction heating experiments were performed using the SMA torque tube, and the model agreed well with the experiments.

  6. Design, modelling and control of a micro-positioning actuator based on magnetic shape memory alloys

    NASA Astrophysics Data System (ADS)

    Minorowicz, Bartosz; Leonetti, Giuseppe; Stefanski, Frederik; Binetti, Giulio; Naso, David

    2016-07-01

    This paper presents an actuator based on magnetic shape memory alloys (MSMAs) suitable for precise positioning in a wide range (up to 1 mm). The actuator is based on the spring returned operating mode and uses a Smalley wave spring to maintain the same operating parameters of a classical coil spring, while being characterized by a smaller dimension. The MSMA element inside the actuator provides a deformation when excited by an external magnetic field, but its behavior is characterized by an asymmetric and saturated hysteresis. Thus, two models are exploited in this work to represent such a non-linear behavior, i.e., the modified and generalized Prandtl-Ishlinskii models. These models are particularly suitable for control purposes due to the existence of their analytical inversion that can be easily exploited in real time control systems. To this aim, this paper investigates three closed-loop control strategies, namely a classical PID regulator, a PID regulator with direct hysteresis compensation, and a combined PID and feedforward compensation strategy. The effectiveness of both modelling and control strategies applied to the designed MSMA-based actuator is illustrated by means of experimental results.

  7. Propagation Modeling and Defending of a Mobile Sensor Worm in Wireless Sensor and Actuator Networks

    PubMed Central

    Wang, Tian; Wu, Qun; Wen, Sheng; Cai, Yiqiao; Tian, Hui; Chen, Yonghong; Wang, Baowei

    2017-01-01

    WSANs (Wireless Sensor and Actuator Networks) are derived from traditional wireless sensor networks by introducing mobile actuator elements. Previous studies indicated that mobile actuators can improve network performance in terms of data collection, energy supplementation, etc. However, according to our experimental simulations, the actuator’s mobility also causes the sensor worm to spread faster if an attacker launches worm attacks on an actuator and compromises it successfully. Traditional worm propagation models and defense strategies did not consider the diffusion with a mobile worm carrier. To address this new problem, we first propose a microscopic mathematical model to describe the propagation dynamics of the sensor worm. Then, a two-step local defending strategy (LDS) with a mobile patcher (a mobile element which can distribute patches) is designed to recover the network. In LDS, all recovering operations are only taken in a restricted region to minimize the cost. Extensive experimental results demonstrate that our model estimations are rather accurate and consistent with the actual spreading scenario of the mobile sensor worm. Moreover, on average, the LDS outperforms other algorithms by approximately 50% in terms of the cost. PMID:28098748

  8. Modeling and open-loop control of IPMC actuators under changing ambient temperature

    NASA Astrophysics Data System (ADS)

    Dong, Roy; Tan, Xiaobo

    2012-06-01

    Because of the cost and complexity associated with sensory feedback, open-loop control of ionic polymer-metal composite (IPMC) actuators is of interest in many biomedical and robotic applications. However, the performance of an open-loop controller is sensitive to the change in IPMC dynamics, which is influenced heavily by ambient environmental conditions including the temperature. In this paper we propose a novel approach to the modeling and open-loop control of temperature-dependent IPMC actuation dynamics. An IPMC actuator is modeled empirically with a transfer function, the zeros and poles of which are functions of the temperature. With auxiliary temperature measurement, open-loop control is realized by inverting the model at the current ambient temperature. We use a stable but noncausal algorithm to deal with non-minimum-phase zeros in the system that would prevent directly inverting the dynamics. Experimental results are presented to show the effectiveness of the proposed approach in open-loop tracking control of IPMC actuators.

  9. 49 CFR 393.47 - Brake actuators, slack adjusters, linings/pads and drums/rotors.

    Code of Federal Regulations, 2013 CFR

    2013-10-01

    ... steering axle of a truck, truck-tractor or bus shall not be less than 4.8 mm (3/16 inch) at the shoe center for a shoe with a continuous strip of lining; less than 6.4 mm (1/4 inch) at the shoe center for a shoe with two pads; or worn to the wear indicator if the lining is so marked, for air drum brakes....

  10. 49 CFR 393.47 - Brake actuators, slack adjusters, linings/pads and drums/rotors.

    Code of Federal Regulations, 2014 CFR

    2014-10-01

    ... steering axle of a truck, truck-tractor or bus shall not be less than 4.8 mm (3/16 inch) at the shoe center for a shoe with a continuous strip of lining; less than 6.4 mm (1/4 inch) at the shoe center for a shoe with two pads; or worn to the wear indicator if the lining is so marked, for air drum brakes....

  11. 49 CFR 393.47 - Brake actuators, slack adjusters, linings/pads and drums/rotors.

    Code of Federal Regulations, 2012 CFR

    2012-10-01

    ... steering axle of a truck, truck-tractor or bus shall not be less than 4.8 mm (3/16 inch) at the shoe center for a shoe with a continuous strip of lining; less than 6.4 mm (1/4 inch) at the shoe center for a shoe with two pads; or worn to the wear indicator if the lining is so marked, for air drum brakes....

  12. 49 CFR 393.47 - Brake actuators, slack adjusters, linings/pads and drums/rotors.

    Code of Federal Regulations, 2011 CFR

    2011-10-01

    ... steering axle of a truck, truck-tractor or bus shall not be less than 4.8 mm (3/16 inch) at the shoe center for a shoe with a continuous strip of lining; less than 6.4 mm (1/4 inch) at the shoe center for a shoe with two pads; or worn to the wear indicator if the lining is so marked, for air drum brakes....

  13. Real-time inverse hysteresis compensation of piezoelectric actuators with a modified Prandtl-Ishlinskii model.

    PubMed

    Gu, Guo-Ying; Yang, Mei-Ju; Zhu, Li-Min

    2012-06-01

    This paper presents a novel real-time inverse hysteresis compensation method for piezoelectric actuators exhibiting asymmetric hysteresis effect. The proposed method directly utilizes a modified Prandtl-Ishlinskii hysteresis model to characterize the inverse hysteresis effect of piezoelectric actuators. The hysteresis model is then cascaded in the feedforward path for hysteresis cancellation. It avoids the complex and difficult mathematical procedure for constructing an inversion of the hysteresis model. For the purpose of validation, an experimental platform is established. To identify the model parameters, an adaptive particle swarm optimization algorithm is adopted. Based on the identified model parameters, a real-time feedforward controller is implemented for fast hysteresis compensation. Finally, tests are conducted with various kinds of trajectories. The experimental results show that the tracking errors caused by the hysteresis effect are reduced by about 90%, which clearly demonstrates the effectiveness of the proposed inverse compensation method with the modified Prandtl-Ishlinskii model.

  14. Tracking Control of a Magnetic Shape Memory Actuator Using an Inverse Preisach Model with Modified Fuzzy Sliding Mode Control

    PubMed Central

    Lin, Jhih-Hong; Chiang, Mao-Hsiung

    2016-01-01

    Magnetic shape memory (MSM) alloys are a new class of smart materials with extraordinary strains up to 12% and frequencies in the range of 1 to 2 kHz. The MSM actuator is a potential device which can achieve high performance electromagnetic actuation by using the properties of MSM alloys. However, significant non-linear hysteresis behavior is a significant barrier to control the MSM actuator. In this paper, the Preisach model was used, by capturing experiments from different input signals and output responses, to model the hysteresis of MSM actuator, and the inverse Preisach model, as a feedforward control, provided compensational signals to the MSM actuator to linearize the hysteresis non-linearity. The control strategy for path tracking combined the hysteresis compensator and the modified fuzzy sliding mode control (MFSMC) which served as a path controller. Based on the experimental results, it was verified that a tracking error in the order of micrometers was achieved. PMID:27571081

  15. Tracking Control of a Magnetic Shape Memory Actuator Using an Inverse Preisach Model with Modified Fuzzy Sliding Mode Control.

    PubMed

    Lin, Jhih-Hong; Chiang, Mao-Hsiung

    2016-08-25

    Magnetic shape memory (MSM) alloys are a new class of smart materials with extraordinary strains up to 12% and frequencies in the range of 1 to 2 kHz. The MSM actuator is a potential device which can achieve high performance electromagnetic actuation by using the properties of MSM alloys. However, significant non-linear hysteresis behavior is a significant barrier to control the MSM actuator. In this paper, the Preisach model was used, by capturing experiments from different input signals and output responses, to model the hysteresis of MSM actuator, and the inverse Preisach model, as a feedforward control, provided compensational signals to the MSM actuator to linearize the hysteresis non-linearity. The control strategy for path tracking combined the hysteresis compensator and the modified fuzzy sliding mode control (MFSMC) which served as a path controller. Based on the experimental results, it was verified that a tracking error in the order of micrometers was achieved.

  16. A multi-physical model of actuation response in dielectric gels

    NASA Astrophysics Data System (ADS)

    Li, Bo; Chang, LongFei; Asaka, Kinji; Chen, Hualing; Li, Dichen

    2016-12-01

    Actuation deformation of a dielectric gel is attributed to: the solvent diffusion, the electrical polarization and material hyperelasticity. A multi-physical model, coupling electrical and mechanical quantities, is established, based on the thermodynamics. A set of constitutive relations is derived as an equation of state for characterization. The model is applied to specific cases as effective validations. Physical and chemical parameters affect the performance of the gel, showing nonlinear deformation and instability. This model offers guidance for engineering application.

  17. An integrated electroactive polymer sensor-actuator: design, model-based control, and performance characterization

    NASA Astrophysics Data System (ADS)

    Hunt, A.; Chen, Z.; Tan, X.; Kruusmaa, M.

    2016-03-01

    Ionic electroactive polymers (IEAPs), particularly ionic polymer-metal composites (IPMCs) and carbon-polymer composites (CPCs), bend when a voltage is applied on their electrodes, and conversely, they generate an electrical signal when subjected to a mechanical bending. In this work we study and compare the capabilities of IPMC and CPC actuators and sensors in closed-loop control applications. We propose and realize an integrated IEAP sensor-actuator design, characterize its performance using three different materials, and compare the results. The design consists of two short IEAP actuators and one sensor mechanically coupled together in a parallel configuration, and an attached rigid extension significantly longer than the IEAPs. This allows the device to be compliant, simple to construct, lightweight, easy to miniaturize, and functionally similar to a one-degree-of-freedom rotational joint. For control design and accurate position sensing in feedback experiments, we adapt physics-based and control-oriented models of actuation and sensing dynamics, and perform experiments to identify their parameters. In performance characterization, both model-based {H}∞ control and proportional-integral control are explored. System responses to step inputs, sinusoids, and random references are measured, and long-duration sinusoidal tracking experiments are performed. The results show that, while IEAP position sensing is stable for only a limited time-span, H ∞ control significantly improves the performance of the device.

  18. MODELING MOLECULAR HYPERFINE LINE EMISSION

    SciTech Connect

    Keto, Eric; Rybicki, George

    2010-06-20

    In this paper, we discuss two approximate methods previously suggested for modeling hyperfine spectral line emission for molecules whose collisional transition rates between hyperfine levels are unknown. Hyperfine structure is seen in the rotational spectra of many commonly observed molecules such as HCN, HNC, NH{sub 3}, N{sub 2}H{sup +}, and C{sup 17}O. The intensities of these spectral lines can be modeled by numerical techniques such as {Lambda}-iteration that alternately solve the equations of statistical equilibrium and the equation of radiative transfer. However, these calculations require knowledge of both the radiative and collisional rates for all transitions. For most commonly observed radio frequency spectral lines, only the net collisional rates between rotational levels are known. For such cases, two approximate methods have been suggested. The first method, hyperfine statistical equilibrium, distributes the hyperfine level populations according to their statistical weight, but allows the population of the rotational states to depart from local thermal equilibrium (LTE). The second method, the proportional method, approximates the collision rates between the hyperfine levels as fractions of the net rotational rates apportioned according to the statistical degeneracy of the final hyperfine levels. The second method is able to model non-LTE hyperfine emission. We compare simulations of N{sub 2}H{sup +} hyperfine lines made with approximate and more exact rates and find that satisfactory results are obtained.

  19. Phenomenological modeling of induced transformation anisotropy in shape memory alloy actuators

    NASA Astrophysics Data System (ADS)

    Hartl, Darren J.; Solomou, Alexandros; Lagoudas, Dimitris C.; Saravanos, Dimitris

    2012-04-01

    This paper considers new extensions to a three-dimensional constitutive model originally developed by Lagoudas and co-workers. The proposed model accurately and robustly captures the highly anisotropic transformation strain generation and recovery observed in actuator components that have been subjected to common material processing and training methods. A constant back stress tensor is introduced into the model, which is implemented in an exact form for simple tension/torsion loading as well as into a commercial finite element code to perform a 3-D analysis of a Shape Memory Alloy (SMA) torque tube actuator subjected to different loading schemes. Numerical correlations between predicted and available experimental results demonstrate the accuracy of the model.

  20. Flexible system model reduction and control system design based upon actuator and sensor influence functions

    NASA Technical Reports Server (NTRS)

    Yam, Yeung; Johnson, Timothy L.; Lang, Jeffrey H.

    1987-01-01

    A model reduction technique based on aggregation with respect to sensor and actuator influence functions rather than modes is presented for large systems of coupled second-order differential equations. Perturbation expressions which can predict the effects of spillover on both the reduced-order plant model and the neglected plant model are derived. For the special case of collocated actuators and sensors, these expressions lead to the derivation of constraints on the controller gains that are, given the validity of the perturbation technique, sufficient to guarantee the stability of the closed-loop system. A case study demonstrates the derivation of stabilizing controllers based on the present technique. The use of control and observation synthesis in modifying the dimension of the reduced-order plant model is also discussed. A numerical example is provided for illustration.

  1. SMA actuators for vibration control and experimental determination of model parameters dependent on ambient airflow velocity

    NASA Astrophysics Data System (ADS)

    Suzuki, Y.

    2016-05-01

    This article demonstrates the practical applicability of a method of modelling shape memory alloys (SMAs) as actuators. For this study, a pair of SMA wires was installed in an antagonistic manner to form an actuator, and a linear differential equation that describes the behaviour of the actuator’s generated force relative to its input voltage was derived for the limited range below the austenite onset temperature. In this range, hysteresis need not be considered, and the proposed SMA actuator can therefore be practically applied in linear control systems, which is significant because large deformations accompanied by hysteresis do not necessarily occur in most vibration control cases. When specific values of the parameters used in the differential equation were identified experimentally, it became clear that one of the parameters was dependent on ambient airflow velocity. The values of this dependent parameter were obtained using an additional SMA wire as a sensor. In these experiments, while the airflow distribution around the SMA wires was varied by changing the rotational speed of the fans in the wind tunnels, an input voltage was conveyed to the SMA actuator circuit, and the generated force was measured. In this way, the parameter dependent on airflow velocity was estimated in real time, and it was validated that the calculated force was consistent with the measured one.

  2. Flow Separation Control on A Full-Scale Vertical Tail Model Using Sweeping Jet Actuators

    NASA Technical Reports Server (NTRS)

    Andino, Marlyn Y.; Lin, John C.; Washburn, Anthony E.; Whalen, Edward A.; Graff, Emilio C.; Wygnanski, Israel J.

    2015-01-01

    This paper describes test results of a joint NASA/Boeing research effort to advance Active Flow Control (AFC) technology to enhance aerodynamic efficiency. A full-scale Boeing 757 vertical tail model equipped with sweeping jets AFC was tested at the National Full-Scale Aerodynamics Complex 40- by 80-Foot Wind Tunnel at NASA Ames Research Center. The flow separation control optimization was performed at 100 knots, a maximum rudder deflection of 30deg, and sideslip angles of 0deg and -7.5deg. Greater than 20% increments in side force were achieved at the two sideslip angles with a 31-actuator AFC configuration. Flow physics and flow separation control associated with the AFC are presented in detail. AFC caused significant increases in suction pressure on the actuator side and associated side force enhancement. The momentum coefficient (C sub mu) is shown to be a useful parameter to use for scaling-up sweeping jet AFC from sub-scale tests to full-scale applications. Reducing the number of actuators at a constant total C(sub mu) of approximately 0.5% and tripling the actuator spacing did not significantly affect the flow separation control effectiveness.

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

    NASA Technical Reports Server (NTRS)

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

    1979-01-01

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

  4. A dynamic model for generating actuator specifications for small arms barrel active stabilization

    NASA Astrophysics Data System (ADS)

    Pathak, Anupam; Brei, Diann; Luntz, Jonathan; Lavigna, Chris

    2006-03-01

    Due to stresses encountered in combat, it is known that soldier marksmanship noticeably decreases regardless of prior training. Active stabilization systems in small arms have potential to address this problem to increase soldier survivability and mission effectiveness. The key to success is proper actuator design, but this is highly dependent on proper specification which is challenging due to the human/weapon interaction. This paper presents a generic analytical dynamic model which is capable of defining the necessary actuation specifications for a wide range of small arms platforms. The model is unique because it captures the human interface--shoulder and arm--that introduces the jitter disturbance in addition to the geometry, inertial properties and active stabilization stiffness of the small arms platform. Because no data to date is available for actual shooter-induced disturbance in field conditions, a method is given using the model to back-solve from measured shooting range variability data the disturbance amplitude information relative to the input source (arm or shoulder). As examples of the applicability of the model to various small arms systems, two different weapon systems were investigated: the M24 sniper weapon and the M16 assault rifle. In both cases, model based simulations provided valuable insight into impact on the actuation specifications (force, displacement, phase, frequency) due to the interplay of the human-weapon-active stabilization interface including the effect of shooter-disturbance frequency, disturbance location (shoulder vs. arm), and system parameters (stiffness, barrel rotation).

  5. Theoretical modelling and experimental results of electromechanical actuation of an elastomer

    NASA Astrophysics Data System (ADS)

    Díaz-Calleja, Ricardo; Llovera-Segovia, Pedro; Dominguez, José Jorge; Carsí Rosique, Marta; Quijano Lopez, Alfredo

    2013-06-01

    Electromechanical actuation is a growing field of research today both for applications or theoretical modelling. The interaction between electric and mechanical constraints has been used for electromechanic actuators or generators based on elastomers. From a theoretical point of view, many recent works have been focused on uniaxial or biaxial stretching of elastomer plates with compliant electrodes. Free stretching or pre-strained samples have been theoretically modelled, mainly by neo-Hookean equations. In this work, we present theoretical and experimental results of electromechanic actuation of an elastomer (the widely used 3M VHB4910, an acrylic foam) in a pre-strained case and a free case. Experimental characterization of the material shows that the Ogden model gives the best accurate fitting of mechanical properties. Thus, a theoretical development based on this model is carried out in order to obtain the curves describing the electromechanical behaviour of the material. The mechanical instability related to wrinkling of the material is theoretically calculated and experimentally verified.

  6. Non-collinear valve actuator

    NASA Technical Reports Server (NTRS)

    Richard, James A. (Inventor)

    2012-01-01

    A non-collinear valve actuator includes a primary actuating system and a return spring system with each applying forces to a linkage system in order to regulate the flow of a quarter-turn valve. The primary actuating system and return spring system are positioned non-collinearly, which simply means the primary actuating system and return spring system are not in line with each other. By positioning the primary actuating system and return spring system in this manner, the primary actuating system can undergo a larger stroke while the return spring system experiences significantly less displacement. This allows the length of the return spring to be reduced due to the minimization of displacement thereby reducing the weight of the return spring system. By allowing the primary actuating system to undergo longer strokes, the weight of the primary actuating system may also be reduced. Accordingly, the weight of the non-collinear valve actuator is reduced.

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

    NASA Astrophysics Data System (ADS)

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

    2013-07-01

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

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

    PubMed

    Bradley, Stuart

    2015-11-20

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

  9. An implicit method for the nonlinear modelling and simulation of piezoceramic actuators displaying hysteresis

    NASA Technical Reports Server (NTRS)

    Leigh, Timothy D.; Zimmerman, David C.

    1991-01-01

    Experiments have shown that piezoceramic materials display a nonlinear relationship between the applied electric field and the actuation strain. This relationship also displays a substantial hysteresis upon reversal of the applied field. In this paper, piezoceramic actuator models are incorporated into the structural equations of motion to arrive at a set of nonlinear actively controlled structural equations of motion. A new implicit algorithm for determining the time history of the actively controlled structure is presented. The algorithm employs the trapezoidal rule for stepping the equations forward in time. The algorithm is compared to an explicit algorithm and is shown to provide greater numerical accuracy. In addition, the numerical stability and convergence characteristics are presented via example. The new algorithm displays convergence and stability properties that are comparable to the standard trapezoidal rule used for dynamic systems without hysteresis.

  10. Active aeroelastic control aspects of an aircraft wing by using synthetic jet actuators: modeling, simulations, experiments

    NASA Astrophysics Data System (ADS)

    O'Donnell, K.; Schober, S.; Stolk, M.; Marzocca, P.; De Breuker, R.; Abdalla, M.; Nicolini, E.; Gürdal, Z.

    2007-04-01

    This paper discusses modeling, simulations and experimental aspects of active aeroelastic control on aircraft wings by using Synthetic Jet Actuators (SJAs). SJAs, a particular class of zero-net mass-flux actuators, have shown very promising results in numerous aeronautical applications, such as boundary layer control and delay of flow separation. A less recognized effect resulting from the SJAs is a momentum exchange that occurs with the flow, leading to a rearrangement of the streamlines around the airfoil modifying the aerodynamic loads. Discussions pertinent to the use of SJAs for flow and aeroelastic control and how these devices can be exploited for flutter suppression and for aerodynamic performances improvement are presented and conclusions are outlined.

  11. Finite element modeling and fabrication of an SMA-SMP shape memory composite actuator

    NASA Astrophysics Data System (ADS)

    Souri, Mohammad

    Shape memory alloys and polymers have been extensively researched recently because of their unique ability to recover large deformations. Shape memory polymers (SMPs) are able to recover large deformations compared to shape memory alloys (SMAs), although SMAs have higher strength and are able to generate more stress during recovery. This project focuses on procedure for fabrication and Finite Element Modeling (FEM) of a shape memory composite actuator. First, SMP was characterized to reveal its mechanical properties. Specifically, glass transition temperature, the effects of temperature and strain rate on compressive response and recovery properties of shape memory polymer were studied. Then, shape memory properties of a NiTi wire, including transformation temperatures and stress generation, were investigated. SMC actuator was fabricated by using epoxy based SMP and NiTi SMA wire. Experimental tests confirmed the reversible behavior of fabricated shape memory composites. (Abstract shortened by ProQuest.).

  12. Implementation of a model based fault detection and diagnosis for actuation faults of the Space Shuttle main engine

    NASA Technical Reports Server (NTRS)

    Duyar, A.; Guo, T.-H.; Merrill, W.; Musgrave, J.

    1992-01-01

    In a previous study, Guo, Merrill and Duyar, 1990, reported a conceptual development of a fault detection and diagnosis system for actuation faults of the space shuttle main engine. This study, which is a continuation of the previous work, implements the developed fault detection and diagnosis scheme for the real time actuation fault diagnosis of the space shuttle main engine. The scheme will be used as an integral part of an intelligent control system demonstration experiment at NASA Lewis. The diagnosis system utilizes a model based method with real time identification and hypothesis testing for actuation, sensor, and performance degradation faults.

  13. Modelling of piezoelectric actuator dynamics for active structural control

    NASA Technical Reports Server (NTRS)

    Hagood, Nesbitt W.; Chung, Walter H.; Von Flotow, Andreas

    1990-01-01

    The paper models the effects of dynamic coupling between a structure and an electrical network through the piezoelectric effect. The coupled equations of motion of an arbitrary elastic structure with piezoelectric elements and passive electronics are derived. State space models are developed for three important cases: direct voltage driven electrodes, direct charge driven electrodes, and an indirect drive case where the piezoelectric electrodes are connected to an arbitrary electrical circuit with embedded voltage and current sources. The equations are applied to the case of a cantilevered beam with surface mounted piezoceramics and indirect voltage and current drive. The theoretical derivations are validated experimentally on an actively controlled cantilevered beam test article with indirect voltage drive.

  14. Decentralized Adaptive Control of Systems with Uncertain Interconnections, Plant-Model Mismatch and Actuator Failures

    NASA Technical Reports Server (NTRS)

    Patre, Parag; Joshi, Suresh M.

    2011-01-01

    Decentralized adaptive control is considered for systems consisting of multiple interconnected subsystems. It is assumed that each subsystem s parameters are uncertain and the interconnection parameters are not known. In addition, mismatch can exist between each subsystem and its reference model. A strictly decentralized adaptive control scheme is developed, wherein each subsystem has access only to its own state but has the knowledge of all reference model states. The mismatch is estimated online for each subsystem and the mismatch estimates are used to adaptively modify the corresponding reference models. The adaptive control scheme is extended to the case with actuator failures in addition to mismatch.

  15. Improved Electrohydraulic Linear Actuators

    NASA Technical Reports Server (NTRS)

    Hamtil, James

    2004-01-01

    A product line of improved electrohydraulic linear actuators has been developed. These actuators are designed especially for use in actuating valves in rocket-engine test facilities. They are also adaptable to many industrial uses, such as steam turbines, process control valves, dampers, motion control, etc. The advantageous features of the improved electrohydraulic linear actuators are best described with respect to shortcomings of prior electrohydraulic linear actuators that the improved ones are intended to supplant. The flow of hydraulic fluid to the two ports of the actuator cylinder is controlled by a servo valve that is controlled by a signal from a servo amplifier that, in turn, receives an analog position-command signal (a current having a value between 4 and 20 mA) from a supervisory control system of the facility. As the position command changes, the servo valve shifts, causing a greater flow of hydraulic fluid to one side of the cylinder and thereby causing the actuator piston to move to extend or retract a piston rod from the actuator body. A linear variable differential transformer (LVDT) directly linked to the piston provides a position-feedback signal, which is compared with the position-command signal in the servo amplifier. When the position-feedback and position-command signals match, the servo valve moves to its null position, in which it holds the actuator piston at a steady position.

  16. Modeling and Characterization of Geometric Effects on the Performance of Rainbow and Thunder Actuators

    NASA Technical Reports Server (NTRS)

    Schwartz, Robert W.; Ballato, J.; Northwang, W. D.; Laoratanakul, P.

    2000-01-01

    Dome formation in Rainbow and Thunder actuators occurs to relieve thermal expansion mismatch stress between the metallic and piezoelectric layers during cooling from device fabrication temperatures. Accompanying this process is the generation of an internal stress profile within the devices and the development of significant tensile stresses within the surface region of the piezoelectric. These tensile stresses affect the domain configuration (ratio of c-to-a domains), and improve the 90 deg. domain wall movement response of the device in this region of the piezoelectric. This results in improved electromechanical performance compared to standard direct extensional and flextensional devices, presumably because of the contributions of stress to the non-linearity of the piezoelectric d-coefficients. 1 Interestingly, this improvement in response seems counterintuitive; a stress perpendicular to the direction of the applied electric field should impede, not contribute to 90' domain switching. Further consideration of the lower region of the piezoelectric that is under compressive stress thus appears warranted. The specified objectives of the research were to: 1. Conduct finite element and equivalent circuit simulation-based investigations to understand the effects of actuator geometry on internal stress distribution and actuator performance (displacement and load-bearing capabilities). 2. Use the results of the modeling studies to predict the processing conditions (geometry and thickness ratio) required for the fabrication of Rainbow ceramics with optimized performance.

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

    PubMed Central

    Muniraj, Murali; Arulmozhiyal, Ramaswamy

    2015-01-01

    A control actuation system has been used extensively in automotive, aerospace, and defense applications. The major challenges in modeling control actuation system are rise time, maximum peak to peak overshoot, and response to nonlinear system with percentage error. This paper addresses the challenges in modeling and real time implementation of control actuation system for missiles glider applications. As an alternative fuzzy-PID controller is proposed in BLDC motor drive followed by linkage mechanism to actuate fins in missiles and gliders. The proposed system will realize better rise time and less overshoot while operating in extreme nonlinear dynamic system conditions. A mathematical model of BLDC motor is derived in state space form. The complete control actuation system is modeled in MATLAB/Simulink environment and verified by performing simulation studies. A real time prototype of the control actuation is developed with dSPACE-1104 hardware controller and a detailed analysis is carried out to confirm the viability of the proposed system. PMID:26613102

  18. Application-oriented simplification of actuation mechanism and physical model for ionic polymer-metal composites

    NASA Astrophysics Data System (ADS)

    Zhu, Zicai; Wang, Yanjie; Liu, Yanfa; Asaka, Kinji; Sun, Xiaofei; Chang, Longfei; Lu, Pin

    2016-07-01

    Water containing ionic polymer-metal composites (IPMCs) show complex deformation properties with water content. In order to develop a simple application-oriented model for engineering application, actuation mechanisms and model equations should be simplified as necessary. Beginning from our previous comprehensive multi-physical model of IPMC actuator, numerical analysis was performed to obtain the main factors influencing the bending deformation and the corresponding simplified model. In this paper, three aspects are mainly concerned. (1) Regarding mass transport process, the diffusion caused by concentration gradient mainly influences the concentrations of cation and water at the two electrode boundaries. (2) By specifying the transport components as hydrated cation and free water in the model, at the cathode, the hydrated cation concentration profile is more flat, whereas the concentrations of both free water and the total water show drastic changes. In general, the two influence the redistribution of cation and water but have little impact on deformation prediction. Thus, they can be ignored in the simplification. (3) An extended osmotic pressure is proposed to cover all eigen stresses simply with an effective osmotic coefficient. Combining with a few other linearized methods, a simplified model has been obtained by sacrificing the prediction precision on the transport process. Furthermore, the improved model has been verified by fitting with IPMC deformation evolved with water content. It shows that the simplified model has the ability to predict the complex deformations of IPMCs.

  19. A two-dimensional analytical model and experimental validation of garter stitch knitted shape memory alloy actuator architecture

    NASA Astrophysics Data System (ADS)

    Abel, Julianna; Luntz, Jonathan; Brei, Diann

    2012-08-01

    Active knits are a unique architectural approach to meeting emerging smart structure needs for distributed high strain actuation with simultaneous force generation. This paper presents an analytical state-based model for predicting the actuation response of a shape memory alloy (SMA) garter knit textile. Garter knits generate significant contraction against moderate to large loads when heated, due to the continuous interlocked network of loops of SMA wire. For this knit architecture, the states of operation are defined on the basis of the thermal and mechanical loading of the textile, the resulting phase change of the SMA, and the load path followed to that state. Transitions between these operational states induce either stick or slip frictional forces depending upon the state and path, which affect the actuation response. A load-extension model of the textile is derived for each operational state using elastica theory and Euler-Bernoulli beam bending for the large deformations within a loop of wire based on the stress-strain behavior of the SMA material. This provides kinematic and kinetic relations which scale to form analytical transcendental expressions for the net actuation motion against an external load. This model was validated experimentally for an SMA garter knit textile over a range of applied forces with good correlation for both the load-extension behavior in each state as well as the net motion produced during the actuation cycle (250% recoverable strain and over 50% actuation). The two-dimensional analytical model of the garter stitch active knit provides the ability to predict the kinetic actuation performance, providing the basis for the design and synthesis of large stroke, large force distributed actuators that employ this novel architecture.

  20. Optimization of an electromagnetic linear actuator using a network and a finite element model

    NASA Astrophysics Data System (ADS)

    Neubert, Holger; Kamusella, Alfred; Lienig, Jens

    2011-03-01

    Model based design optimization leads to robust solutions only if the statistical deviations of design, load and ambient parameters from nominal values are considered. We describe an optimization methodology that involves these deviations as stochastic variables for an exemplary electromagnetic actuator used to drive a Braille printer. A combined model simulates the dynamic behavior of the actuator and its non-linear load. It consists of a dynamic network model and a stationary magnetic finite element (FE) model. The network model utilizes lookup tables of the magnetic force and the flux linkage computed by the FE model. After a sensitivity analysis using design of experiment (DoE) methods and a nominal optimization based on gradient methods, a robust design optimization is performed. Selected design variables are involved in form of their density functions. In order to reduce the computational effort we use response surfaces instead of the combined system model obtained in all stochastic analysis steps. Thus, Monte-Carlo simulations can be applied. As a result we found an optimum system design meeting our requirements with regard to function and reliability.

  1. Torsional fatigue model for limitorque type SMB/SB/SBD actuators for motor-operated valves

    SciTech Connect

    Somogyi, D.; Alvarez, P.D.; Kalsi, M.S.

    1996-12-01

    Kalsi Engineering, Inc. has recently developed a computer program to predict the torsional fatigue life of Limitorque Type SMB/SB/SBD actuators for motor-operated valves under given loading levels, including those that exceed the ratings. The development effort was an outgrowth of the {open_quote}Thrust Rating Increase{close_quote} test program. The fatigue model computes all pertinent stress components and their variations as a function of the loading ramp. The cumulative damage and fatigue life due to stress cycling is computed by use of a modification of Miner`s rule. Model predictions were validated against actual cyclic loading test results.

  2. Large space structure model reduction and control system design based upon actuator and sensor influence functions

    NASA Technical Reports Server (NTRS)

    Yam, Y.; Lang, J. H.; Johnson, T. L.; Shih, S.; Staelin, D. H.

    1983-01-01

    A model reduction procedure based on aggregation with respect to sensor and actuator influences rather than modes is presented for large systems of coupled second-order differential equations. Perturbation expressions which can predict the effects of spillover on both the aggregated and residual states are derived. These expressions lead to the development of control system design constraints which are sufficient to guarantee, to within the validity of the perturbations, that the residual states are not destabilized by control systems designed from the reduced model. A numerical example is provided to illustrate the application of the aggregation and control system design method.

  3. Two-Dimensional Scramjet Inlet Unstart Model: Wind-Tunnel Blockage and Actuation Systems Test

    NASA Technical Reports Server (NTRS)

    Holland, Scott D.

    1994-01-01

    This supplement to NASA TM 109152 shows the Schlieren video (10 min. 52 sec., color, Beta and VHS) of the external flow field and a portion of the internal flow field of a two-dimensional scramjet inlet model in the NASA Langley 20-Inch Mach 6 Tunnel. The intent of the overall test program is to study (both experimentally and computationally) the dynamics of the inlet unstart; this (phase I) effort examines potential wind-tunnel blockage issues related to model sizing and the adequacy of the actuation systems in accomplishing the start and unstart. The model is equipped with both a moveable cowl and aft plug. Windows in the inlet sidewalls allow limited optical access to the internal shock structure. In the video, flow is from right to left, and the inlet is oriented inverted with respect to flight, i.e., with the cowl on top. The plug motion is obvious because the plug is visible in the aft window. The cowl motion, however, is not as obvious because the cowl is hidden from view by the inlet sidewall. The end of the cowl actuator arm, however, becomes visible above the inlet sidewalls between the windows when the cowl is up (see figure 1b of the primary document). The model is injected into the tunnel and observed though several actuation sequences with two plug configurations over a range of unit freestream Reynolds number at a nominal freestream Mach number of 6. The framing rate and shutter speed of the camera were too slow to fully capture the dynamics of the unstart but did prove sufficient to identify inlet start and unstart. This series of tests indicated that the model was appropriately sized for this facility and identified operability limits required first to allow the inlet to start and second to force the unstart.

  4. Modeling, fabrication and testing of MEMS tunable inductors varied with piezoelectric actuators

    NASA Astrophysics Data System (ADS)

    Bedair, S. S.; Pulskamp, J. S.; Meyer, C. D.; Polcawich, R. G.; Kierzewski, I. M.

    2014-09-01

    Modeling, fabrication and measurements of tunable inductors are presented where inductance tuning is achieved through mechanical displacement, by piezoelectric actuation, of mutually-coupled coils. The modified Greenhouse method is utilized as a modeling tool to predict the inductance variations as a function of both translation and angular displacement, where coils and traces which are arbitrarily oriented with respect to one another are considered. The use of this modeling approach is verified through experimental results where electrical measurements of inductances are compared with the modeled inductances. The inductance model compares well with the measurements and within 10% of the measured inductance with a 3% mean error. In addition, the impact of the interconnect widths on tunable inductor performances is assessed for both negatively and positively coupled tunable inductor cases, where devices with interconnect widths ranging between 10 and 40 µm are considered. Tuning ratios as high as ~3.9:1 were measured for the negatively-coupled coil designs with 18 V actuation; this corresponds to minimum and maximum quality factors of 5.72 (at 4.05 GHz with a 2.80 nH inductance) and 14.91 (at 2.25 GHz with 10.86 nH inductance), respectively. For the positively coupled inductors, tuning ratios of ~1.2:1 resulted with inductance and peak quality factors of 7.70 nH and ~18 (3.69 GHz), respectively. With 18 V actuation, these values tune to 6.57 nH with a Q ~18 (4.46 GHz). Residual poling stress was found to limit the practical tuning ratio to ~1.8:1 for the negatively coupled coils.

  5. Smart patch piezoceramic actuator issues

    NASA Technical Reports Server (NTRS)

    Griffin, Steven F.; Denoyer, Keith K.; Yost, Brad

    1993-01-01

    The Phillips Laboratory is undertaking the challenge of finding new and innovative ways to integrate sensing, actuation, and the supporting control and power electronics into a compact self-contained unit to provide vibration suppression for a host structure. This self-contained unit is commonly referred to as a smart patch. The interfaces to the smart patch will be limited to standard spacecraft power and possibly a communications line. The effort to develop a smart patch involves both contractual and inhouse programs which are currently focused on miniaturization of the electronics associated with vibrational control using piezoceramic sensors and actuators. This paper is comprised of two distinct parts. The first part examines issues associated with bonding piezoceramic actuators to a host structure. Experimental data from several specimens with varying flexural stiffness are compared to predictions from two piezoelectric/substructure coupling models, the Blocked Force Model and the Uniform Strain Model with Perfect Bonding. The second part of the paper highlights a demonstration article smart patch created using the insights gained from inhouse efforts at the Phillips Laboratory. This demonstration article has self contained electronics on the same order of size as the actuator powered by a voltage differential of approximately 32 volts. This voltage is provided by four rechargeable 8 volt batteries.

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

    PubMed

    Gu, Guoying; Zhu, Limin

    2010-08-01

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

  7. Design and modeling of a novel fibrous shape memory alloy (SMA) actuator

    NASA Astrophysics Data System (ADS)

    Shahinpoor, Mohsen; Wang, Guoping

    1994-05-01

    Presented is a novel design of a composite linear actuator utilizing a parallel array of contractile shape-memory alloy (SMA) wires. The fiber bundle of SMA wires is either circumscribed inside a helical compression spring with flat heads or are in parallel with a number of helical compression springs, end-capped by two parallel circular plates with embedded electrodes to which the ends of the SMA wires are secured. Thus, the wires can be electrically heated and subsequently contracted to compress the helical compression spring. Upon cooling the SMA wires expand and allow the helical compression spring to tightly stretch them to their initial length. Design details are first fully described. Steps involved in the fabrication of a number of these composite SMA actuators are then elaborated on. A number of interesting heat transfer phenomena are observed. In essence the dynamic behavior of the actuator depends on the interaction between the current supplied to the wires and the rate of heat transfer from the wires due to convection and radiation. A design model is finally presented for the dynamic response of contractile fiber bundles embedded in or around elastic springs that are either linear helical compression springs, hyperelastic springs such as rubberlike materials, or nonlinear springs such as air. The fiber bundle is assumed to consist of a parallel array of contractile fibers made from contractile shape-memory alloy (SMA) wires. The proposed model considers the temperature- induced contraction of the fibers due to resistive heating of the shape-memory wires. Results of both dynamic computer simulation and dynamics of a prototype model built in our laboratory indicate a fairly good comparison.

  8. A description of model 3B of the multipurpose ventricular actuating system. [providing controlled driving pressures

    NASA Technical Reports Server (NTRS)

    Webb, J. A., Jr.

    1974-01-01

    The multipurpose ventricular actuating system is a pneumatic signal generating device that provides controlled driving pressures for actuating pulsatile blood pumps. Overall system capabilities, the timing circuitry, and calibration instruction are included.

  9. Stroke maximizing and high efficient hysteresis hybrid modeling for a rhombic piezoelectric actuator

    NASA Astrophysics Data System (ADS)

    Shao, Shubao; Xu, Minglong; Zhang, Shuwen; Xie, Shilin

    2016-06-01

    Rhombic piezoelectric actuator (RPA), which employs a rhombic mechanism to amplify the small stroke of PZT stack, has been widely used in many micro-positioning machineries due to its remarkable properties such as high displacement resolution and compact structure. In order to achieve large actuation range along with high accuracy, the stroke maximizing and compensation for the hysteresis are two concerns in the use of RPA. However, existing maximization methods based on theoretical model can hardly accurately predict the maximum stroke of RPA because of approximation errors that are caused by the simplifications that must be made in the analysis. Moreover, despite the high hysteresis modeling accuracy of Preisach model, its modeling procedure is trivial and time-consuming since a large set of experimental data is required to determine the model parameters. In our research, to improve the accuracy of theoretical model of RPA, the approximation theory is employed in which the approximation errors can be compensated by two dimensionless coefficients. To simplify the hysteresis modeling procedure, a hybrid modeling method is proposed in which the parameters of Preisach model can be identified from only a small set of experimental data by using the combination of discrete Preisach model (DPM) with particle swarm optimization (PSO) algorithm. The proposed novel hybrid modeling method can not only model the hysteresis with considerable accuracy but also significantly simplified the modeling procedure. Finally, the inversion of hysteresis is introduced to compensate for the hysteresis non-linearity of RPA, and consequently a pseudo-linear system can be obtained.

  10. LES of wind farm response to transient scenarios using a high fidelity actuator disk model

    NASA Astrophysics Data System (ADS)

    Moens, M.; Duponcheel, M.; Winckelmans, G.; Chatelain, P.

    2016-09-01

    Large eddy simulations coupled to Actuator Disks are used to investigate wake effects in wind farms. An effort is made on the wind turbine model: it uses the prevailing velocities at each point of the disk to estimate the aerodynamic loads and is improved using a tip-loss correction and realistic control schemes. This accurate and efficient tool is used to study the wind farm response in terms of flow and power production during an unsteady scenario: this work focuses on an emergency shutdown of one rotor inside a wind farm.

  11. Modeling of galfenol bending actuator considering nonlinear hysteresis and dynamic real-time control strategy

    NASA Astrophysics Data System (ADS)

    Shu, Liang; Wu, Guichu; Chen, Dingfang; Dapino, Marcelo J.

    2016-03-01

    On active bending structures, the actuation direction and the excitation field direction are not the same. Simple lumped parameter models are inadequate to describe the relationship between output displacement and input field. In this paper, a dynamic distributed parameter model is presented to describe the system dynamics of a galfenol bending actuator. To consider nonlinearities and hysteresis in bending, a nonlinear magnetomechanical model is developed to characterize the hysteretic magnetostriction generated by the galfenol layer. A dynamic real-time control strategy is proposed to compensate for hysteresis. A nonlinear inverse filter is constructed to linearize the hysteresis based on the proposed distributed parameter model. In order to increase the calculation efficiency, a new iteration method is proposed to calculate the filter. The iteration stepsize of the input field can be adaptively updated according to the inverting error. Simulation results show that significant enhancement of convergence efficiency can be achieved by using the proposed method compared with the existing fixed step size method. Experiments have been conducted to verify the real-time control strategy.

  12. A fully coupled model for actuation of higher order modes of Lamb waves

    NASA Astrophysics Data System (ADS)

    Ren, Baiyang; Lissenden, Cliff J.

    2017-02-01

    Lamb waves have proven to be a valuable tool for structural health monitoring (SHM) of plate-like structures susceptible to degradation and failure. It is well-known that their multi-modal propagation characteristic could be both a challenge and an opportunity. Piezoelectric transducers are widely used in SHM applications because of their low cost, small profile and high electromechanical coupling. Properly designing a piezoelectric transducer to excite a particular mode is of great importance to successful SHM practice. Mode tuning capability of piezoelectric transducers has been studied both theoretically and experimentally in the literature for exciting A0 and S0 modes. However, the higher order Lamb waves are not fully studied for their tuning capability. Also, the transducer is usually modeled separately from the waveguide and their coupling is through the in-plane surface traction. This assumption may induce inaccuracy if the dynamics of the actuator are not negligible. Additionally, the driving circuit is not usually included in the current actuator-waveguide models such that the power of excited wave could not be evaluated. In this work, a fully coupled finite element model created for general Lamb wave excitation using piezoelectric transducers is developed. The model comprises three components, electrical driving circuit, piezoelectric element and linear elastic waveguide. The preferential excitation of higher order Lamb wave modes using a single piezoelectric element has been studied and demonstrated experimentally on aluminum plates.

  13. Wayward Field Lines Challenge Solar Radiation Models

    NASA Video Gallery

    This video compares the two models for particle distribution over the course of just three hours after an SEP event. The white line represents a magnetic field line, the general path that the SEPs ...

  14. Rhombic micro-displacement amplifier for piezoelectric actuator and its linear and hybrid model

    NASA Astrophysics Data System (ADS)

    Chen, Jinglong; Zhang, Chunlin; Xu, Minglong; Zi, Yanyang; Zhang, Xinong

    2015-01-01

    This paper proposes rhombic micro-displacement amplifier (RMDA) for piezoelectric actuator (PA). First, the geometric amplification relations are analyzed and linear model is built to analyze the mechanical and electrical properties of this amplifier. Next, the accurate modeling method of amplifier is studied for important application of precise servo control. The classical Preisach model (CPM) is generally implemented using a numerical technique based on the first-order reversal curves (FORCs). The accuracy of CPM mainly depends on the number of FORCs. However, it is generally difficult to achieve enough number of FORCs in practice. So, Support Vector Machine (SVM) is employed in the work to circumvent the deficiency of the CPM. Then the hybrid model, which is based on discrete CPM and SVM is developed to account for hysteresis and dynamic effects. Finally, experimental validation is carried out. The analyzed result shows that this amplifier with the hybrid model is suitable for control application.

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

    PubMed Central

    Bradley, Stuart

    2015-01-01

    Autonomous robotic systems are increasingly being used in a wide range of applications such as precision agriculture, medicine, and the military. These systems have common features which often includes an action by an “actuator” interacting with a target. While simulations and measurements exist for the success rate of hitting targets by some systems, there is a dearth of analytic models which can give insight into, and guidance on optimization, of new robotic systems. The present paper develops a simple model for estimation of the success rate for hitting random targets from a moving platform. The model has two main dimensionless parameters: the ratio of actuator spacing to target diameter; and the ratio of platform distance moved (between actuator “firings”) to the target diameter. It is found that regions of parameter space having specified high success are described by simple equations, providing guidance on design. The role of a “cost function” is introduced which, when minimized, provides optimization of design, operating, and risk mitigation costs. PMID:26610500

  16. A Reduced Order Model of the Linearized Incompressible Navier-Strokes Equations for the Sensor/Actuator Placement Problem

    NASA Technical Reports Server (NTRS)

    Allan, Brian G.

    2000-01-01

    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.

  17. Large eddy simulation of unsteady wind farm behavior using advanced actuator disk models

    NASA Astrophysics Data System (ADS)

    Moens, Maud; Duponcheel, Matthieu; Winckelmans, Gregoire; Chatelain, Philippe

    2014-11-01

    The present project aims at improving the level of fidelity of unsteady wind farm scale simulations through an effort on the representation and the modeling of the rotors. The chosen tool for the simulations is a Fourth Order Finite Difference code, developed at Universite catholique de Louvain; this solver implements Large Eddy Simulation (LES) approaches. The wind turbines are modeled as advanced actuator disks: these disks are coupled with the Blade Element Momentum method (BEM method) and also take into account the turbine dynamics and controller. A special effort is made here to reproduce the specific wake behaviors. Wake decay and expansion are indeed initially governed by vortex instabilities. This is an information that cannot be obtained from the BEM calculations. We thus aim at achieving this by matching the large scales of the actuator disk flow to high fidelity wake simulations produced using a Vortex Particle-Mesh method. It is obtained by adding a controlled excitation at the disk. We apply this tool to the investigation of atmospheric turbulence effects on the power production and on the wake behavior at a wind farm level. A turbulent velocity field is then used as inflow boundary condition for the simulations. We gratefully acknowledge the support of GDF Suez for the fellowship of Mrs Maud Moens.

  18. A Flight Dynamics Model for a Multi-Actuated Flexible Rocket Vehicle

    NASA Technical Reports Server (NTRS)

    Orr, Jeb S.

    2011-01-01

    A comprehensive set of motion equations for a multi-actuated flight vehicle is presented. The dynamics are derived from a vector approach that generalizes the classical linear perturbation equations for flexible launch vehicles into a coupled three-dimensional model. The effects of nozzle and aerosurface inertial coupling, sloshing propellant, and elasticity are incorporated without restrictions on the position, orientation, or number of model elements. The present formulation is well suited to matrix implementation for large-scale linear stability and sensitivity analysis and is also shown to be extensible to nonlinear time-domain simulation through the application of a special form of Lagrange s equations in quasi-coordinates. The model is validated through frequency-domain response comparison with a high-fidelity planar implementation.

  19. On the dynamic model and motion planning for a spherical rolling robot actuated by orthogonal internal rotors

    NASA Astrophysics Data System (ADS)

    Svinin, Mikhail; Morinaga, Akihiro; Yamamoto, Motoji

    2013-01-01

    The paper deals with the dynamics of a spherical rolling robot actuated by internal rotors that are placed on orthogonal axes. The driving principle for such a robot exploits nonholonomic constraints to propel the rolling carrier. A full mathematical model as well as its reduced version are derived, and the inverse dynamics are addressed. It is shown that if the rotors are mounted on three orthogonal axes, any feasible kinematic trajectory of the rolling robot is dynamically realizable. For the case of only two rotors the conditions of controllability and dynamic realizability are established. It is shown that in moving the robot by tracing straight lines and circles in the contact plane the dynamically realizable trajectories are not represented by the circles on the sphere, which is a feature of the kinematic model of pure rolling. The implication of this fact to motion planning is explored under a case study. It is shown there that in maneuvering the robot by tracing circles on the sphere the dynamically realizable trajectories are essentially different from those resulted from kinematic models. The dynamic motion planning problem is then formulated in the optimal control settings, and properties of the optimal trajectories are illustrated under simulation.

  20. Development of an advanced actuator disk model for Large-Eddy Simulation of wind farms

    NASA Astrophysics Data System (ADS)

    Moens, Maud; Duponcheel, Matthieu; Winckelmans, Gregoire; Chatelain, Philippe

    2015-11-01

    This work aims at improving the fidelity of the wind turbine modelling for Large-Eddy Simulation (LES) of wind farms, in order to accurately predict the loads, the production, and the wake dynamics. In those simulations, the wind turbines are accounted for through actuator disks. i.e. a body-force term acting over the regularised disk swept by the rotor. These forces are computed using the Blade Element theory to estimate the normal and tangential components (based on the local simulated flow and the blade characteristics). The local velocities are modified using the Glauert tip-loss factor in order to account for the finite number of blades; the computation of this correction is here improved thanks to a local estimation of the effective upstream velocity at every point of the disk. These advanced actuator disks are implemented in a 4th order finite difference LES solver and are compared to a classical Blade Element Momentum method and to high fidelity wake simulations performed using a Vortex Particle-Mesh method in uniform and turbulent flows.

  1. Two-spring model for active compression textiles with integrated NiTi coil actuators

    NASA Astrophysics Data System (ADS)

    Holschuh, B.; Newman, D.

    2015-03-01

    This paper describes the development and implementation of a two-spring model to predict the performance of hybrid compression textiles combining passive elastic fabrics and integrated NiTi shape memory alloy (SMA) coil actuators. An analytic model that treats passive fabric-SMA coil systems as conjoined linear springs is presented to predict garment passive and active counter-pressure as a function of 11 design variables. For a fixed SMA coil design (encompassing five design variables), the model predicts that passive fabric material modulus, initial length, width and thickness determine both passive counter-pressure magnitude and activation stroke length, and that passive and active pressures are highly dependent on the relative unstretched lengths of the conjoined SMA-fabric system compared to the total limb circumference. Several passive fabrics were tested to determine their moduli and to generally assess the fabric linearity model assumption: two fabrics (spandex and neoprene) were found to behave linearly up to 200% strain, while two other fabrics (flat polyester elastic and a tri-laminate Lycra) were found to be nonlinear in the same strain envelope. Five hypothetical compression tourniquet designs are presented using experimentally determined fabric characteristics and previously studied SMA actuators developed at MIT. The performance of each tourniquet design is discussed with a specific focus on mechanical counter-pressure (MCP) space suit design requirements, with designs presented that achieve the full MCP design specification (\\gt 29.6 kPa) while minimizing (\\lt 5 mm) garment thickness. The modeling framework developed in this effort enables compression garment designers to tailor counter-pressure and activation stroke properties of active compression garments based on a variety of design parameters to meet a wide range of performance specifications.

  2. Assembly line performance and modeling

    NASA Astrophysics Data System (ADS)

    Rane, Arun B.; Sunnapwar, Vivek K.

    2017-03-01

    Automobile sector forms the backbone of manufacturing sector. Vehicle assembly line is important section in automobile plant where repetitive tasks are performed one after another at different workstations. In this thesis, a methodology is proposed to reduce cycle time and time loss due to important factors like equipment failure, shortage of inventory, absenteeism, set-up, material handling, rejection and fatigue to improve output within given cost constraints. Various relationships between these factors, corresponding cost and output are established by scientific approach. This methodology is validated in three different vehicle assembly plants. Proposed methodology may help practitioners to optimize the assembly line using lean techniques.

  3. Wind-tunnel blockage and actuation systems test of a two-dimensional scramjet inlet unstart model at Mach 6

    NASA Technical Reports Server (NTRS)

    Holland, Scott D.

    1994-01-01

    The present study examines the wind-tunnel blockage and actuation systems effectiveness in starting and forcibly unstarting a two-dimensional scramjet inlet in the NASA Langley 20-Inch Mach 6 Tunnel. The intent of the overall test program is to study (both experimentally and computationally) the dynamics of the inlet unstart; however, prior to the design and fabrication of an expensive, instrumented wind-tunnel model, it was deemed necessary first to examine potential wind-tunnel blockage issues related to model sizing and to examine the adequacy of the actuation systems in accomplishing the start and unstart. The model is equipped with both a moveable cowl and aft plug. Windows in the inlet sidewalls allow limited optical access to the internal shock structure; schlieren video was used to identify inlet start and unstart. A chronology of each actuation sequence is provided in tabular form along with still frames from the schlieren video. A pitot probe monitored the freestream conditions throughout the start/unstart process to determine if there was a blockage effect due to the model start or unstart. Because the purpose of this report is to make the phase I (blockage and actuation systems) data rapidly available to the community, the data is presented largely without analysis of the internal shock interactions or the unstart process. This series of tests indicated that the model was appropriately sized for this facility and identified operability limits required first to allow the inlet to start and second to force the unstart.

  4. Modeling and design of a tendon actuated soft robotic exoskeleton for hemiparetic upper limb rehabilitation.

    PubMed

    Nycz, Christopher J; Delph, Michael A; Fischer, Gregory S

    2015-01-01

    Robotic technology has recently been explored as a means to rehabilitate and assist individuals suffering from hemiparesis of their upper limbs. Robotic approaches allow for targeted rehabilitation routines which are more personalized and adaptable while providing quantitative measurements of patient outcomes. Development of these technologies into inherently safe and portable devices has the potential to extend the therapy outside of the clinical setting and into the patient's home with benefits to the cost and accessibility of care. To this end, a soft, cable actuated robotic glove and sleeve was designed, modeled, and constructed to provide assistance of finger and elbow movements in a way that mimics the biological function of the tendons. The resulting design increases safety through greater compliance as well as greater tolerance for misalignment with the user's skeletal frame over traditional rigid exoskeletons. Overall this design provides a platform to expand and study the concepts around soft robotic rehabilitation.

  5. Fluid-line math model

    NASA Technical Reports Server (NTRS)

    Kandelman, A.; Nelson, D. J.

    1977-01-01

    Simplified mathematical model simulates large hydraulic systems on either analog or digital computers. Models of pumps, servoactuators, reservoirs, accumulators, and valves are connected generating systems containing six hundred elements.

  6. Digital Model of Railway Electric Traction Lines

    NASA Astrophysics Data System (ADS)

    Garg, Rachana; Mahajan, Priya; Kumar, Parmod

    2016-08-01

    The characteristic impedance and propagation constant define the behavior of signal propagation over the transmission lines. The digital model for railway traction lines which includes railway tracks is developed, using curve fitting technique in MATLAB. The sensitivity of this model has been computed with respect to frequency. The digital sensitivity values are compared with the values of analog sensitivity. The developed model is useful for digital protection, integrated operation, control and planning of the system.

  7. Effect of Synthetic Jet Actuator Spacing on the Performance Enhancement of a Vertical Tail Model

    NASA Astrophysics Data System (ADS)

    Monastero, Marianne; Rathay, Nicholas; Whalen, Edward; Amitay, Michael

    2014-11-01

    The use of synthetic-jet-based active flow control to augment the side force produced by vertical tail models through rudder separation control was experimentally investigated in the Rensselaer Polytechnic Institute Subsonic Wind Tunnel. Increasing the side force generated by the vertical tail may lead to a reduction in tail size and, therefore, less drag and fuel consumption. Stereo particle image velocimetry and aerodynamic load data were acquired with a focus on the effect of non-dimensional spacing between jets on the resulting flowfield and forces for a 1/19th scale model based on a Boeing 767 commercial airplane. For some rudder deflections, differing results with active flow control were found when force data for the 1/19th scale model were compared to force data obtained on a larger, 1/9th scale model. Actuator spacing was varied and individual jet momentum coefficient was held constant for these experiments. These results show the need for more fundamental testing to understand why jets are beneficial or detrimental to the augmented side force and how those effects scale-up. A new model was designed to enable a fundamental study of the effect on the flowfield of various jet and model parameters such as sweep angle, jets spacing, rudder chord extent, and rudder deflection.

  8. Finite difference time domain electroacoustic model for synthetic jet actuators including nonlinear flow resistance.

    PubMed

    Kooijman, Gerben; Ouweltjes, Okke

    2009-04-01

    A lumped element electroacoustic model for a synthetic jet actuator is presented. The model includes the nonlinear flow resistance associated with flow separation and employs a finite difference scheme in the time domain. As opposed to more common analytical frequency domain electroacoustic models, in which the nonlinear resistance can only be considered as a constant, it allows the calculation of higher harmonics, i.e., distortion components, generated as a result of this nonlinear resistance. Model calculations for the time-averaged momentum flux of the synthetic jet as well as the radiated sound power spectrum are compared to experimental results for various configurations. It is shown that a significantly improved prediction of the momentum flux-and thus flow velocity-of the jet is obtained when including the nonlinear resistance. Here, the current model performs slightly better than an analytical model. For the power spectrum of radiated sound, a reasonable agreement is obtained when assuming a plausible slight asymmetry in the nonlinear resistance. However, results suggest that loudspeaker nonlinearities play a significant role as well in the generation of the first few higher harmonics.

  9. High-fidelity simulation and reduced-order modelling of integrally-actuated membrane wings with feedback control

    NASA Astrophysics Data System (ADS)

    Buoso, Stefano; Palacios, Rafael

    2016-04-01

    This work presents a numerical framework for the simulation and design of integrally actuated membrane wings with feedback control. The performance of the aeroelastic system are evaluated using a high-fidelity model. It consists in a fluid solver based on the direct numerical integration of the unsteady Navier-Stokes equations implicitly coupled with a geometrically non-linear dynamic structural model which has been calibrated using experimental data. The rate-dependent constitutive law for the dielectric elastomer considered for the integral wing actuation is based on a non-linear formulation. The framework also includes a methodology for the model reduction of the fully-coupled system. The resulting low-order description showed to retain the main system dynamics, and can therefore be used for the design of the control scheme for the wing. Results highlights the potential to achieve on-demand aerodynamics using the actuation concept proposed. In particular, it is shown that the wing aerodynamic performance is noticeably enhanced through the actuation and the disturbances on the lift in case of gusts can be reduced up to 60%.

  10. Non-linear modelling and optimal control of a hydraulically actuated seismic isolator test rig

    NASA Astrophysics Data System (ADS)

    Pagano, Stefano; Russo, Riccardo; Strano, Salvatore; Terzo, Mario

    2013-02-01

    This paper investigates the modelling, parameter identification and control of an unidirectional hydraulically actuated seismic isolator test rig. The plant is characterized by non-linearities such as the valve dead zone and frictions. A non-linear model is derived and then employed for parameter identification. The results concerning the model validation are illustrated and they fully confirm the effectiveness of the proposed model. The testing procedure of the isolation systems is based on the definition of a target displacement time history of the sliding table and, consequently, the precision of the table positioning is of primary importance. In order to minimize the test rig tracking error, a suitable control system has to be adopted. The system non-linearities highly limit the performances of the classical linear control and a non-linear one is therefore adopted. The test rig mathematical model is employed for a non-linear control design that minimizes the error between the target table position and the current one. The controller synthesis is made by taking no specimen into account. The proposed approach consists of a non-linear optimal control based on the state-dependent Riccati equation (SDRE). Numerical simulations have been performed in order to evaluate the soundness of the designed control with and without the specimen under test. The results confirm that the performances of the proposed non-linear controller are not invalidated because of the presence of the specimen.

  11. Transmission line circuit model of a PPy based trilayer mechanical sensor

    NASA Astrophysics Data System (ADS)

    Khalili, Nazanin; Naguib, Hani E.; Kwon, Roy H.

    2015-04-01

    Many efforts have been devoted to modeling the diffusive impedance of conjugated polymer (CP) based actuators using their equivalent electrical circuits. Employing the same methodology, CP based mechanical sensors can also be treated by an equivalent transmission line circuit and their overall impedance can be modeled, correspondingly. Due to the large number of resources to study the electrical circuits, this technique is a practical tool. Therefore, in this study, an equivalent RC-circuit model including electrochemical parameters is determined to obtain a better perception of the sensing mechanism of these mechanical sensors. Conjugated polymers are capable of generating an output current or voltage upon an induced mechanical deformation or force. This observed behavior in polymer based mechanical sensors is considered as the reverse actuation process. Many outstanding properties of the conjugated polymer actuators including their light weight and biocompatibility are still retained by these sensors. Sensors with a trilayer configuration are capable of operating in air in response to a mechanically induced bending deformation. However, due to their nonlinear behavior and multivariable characteristics, it is required to propose a systematic approach in order to optimize their performance and gain the optimal values of their constituent decision variable. Therefore, the proposed mathematical model is used to define the output voltage of the PPy based mechanical sensor along with the sensitivity of the model to the applied frequency of the induced deformation. Applying a multiobjective optimization algorithm, the optimization problem was solved and the tracking ability of the proposed model was then verified.

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

    PubMed Central

    Zhang, Xingwu; Wang, Chenxi; Gao, Robert X.; Yan, Ruqiang; Chen, Xuefeng; Wang, Shibin

    2016-01-01

    Milling vibration is one of the most serious factors affecting machining quality and precision. In this paper a novel hybrid error criterion-based frequency-domain LMS active control method is constructed and used for vibration suppression of milling processes by piezoelectric actuators and sensors, in which only one Fast Fourier Transform (FFT) is used and no Inverse Fast Fourier Transform (IFFT) is involved. The correction formulas are derived by a steepest descent procedure and the control parameters are analyzed and optimized. Then, a novel hybrid error criterion is constructed to improve the adaptability, reliability and anti-interference ability of the constructed control algorithm. Finally, based on piezoelectric actuators and acceleration sensors, a simulation of a spindle and a milling process experiment are presented to verify the proposed method. Besides, a protection program is added in the control flow to enhance the reliability of the control method in applications. The simulation and experiment results indicate that the proposed method is an effective and reliable way for on-line vibration suppression, and the machining quality can be obviously improved. PMID:26751448

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

    PubMed

    Zhang, Xingwu; Wang, Chenxi; Gao, Robert X; Yan, Ruqiang; Chen, Xuefeng; Wang, Shibin

    2016-01-06

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

  14. Complete modeling of rotary ultrasonic motors actuated by traveling flexural waves

    NASA Astrophysics Data System (ADS)

    Bao, Xiaoqi; Bar-Cohen, Yoseph

    2000-06-01

    Ultrasonic rotary motors have the potential to meet this NASA need and they are developed as actuators for miniature telerobotic applications. These motors are being adapted for operation at the harsh space environments that include cryogenic temperatures and vacuum and analytical tools for the design of efficient motors are being developed. A hybrid analytical model was developed to address a complete ultrasonic motor as a system. Included in this model is the influence of the rotor dynamics, which was determined experimentally to be important to the motor performance. The analysis employs a 3D finite element model to express the dynamic characteristics of the stator with piezoelectric elements and the rotor. The details of the stator including the teeth, piezoelectric ceramic, geometry, bonding layer, etc. are included to support practical USM designs. A brush model is used for the interface layer and Coulomb's law for the friction between the stator and the rotor. The theoretical predictions were corroborated experimentally for the motor. In parallel, efforts have been made to determine the thermal and vacuum performance of these motors. To explore telerobotic applications for USMs a robotic arm was constructed with such motors.

  15. IIR filtering based adaptive active vibration control methodology with online secondary path modeling using PZT actuators

    NASA Astrophysics Data System (ADS)

    Boz, Utku; Basdogan, Ipek

    2015-12-01

    Structural vibrations is a major cause for noise problems, discomfort and mechanical failures in aerospace, automotive and marine systems, which are mainly composed of plate-like structures. In order to reduce structural vibrations on these structures, active vibration control (AVC) is an effective approach. Adaptive filtering methodologies are preferred in AVC due to their ability to adjust themselves for varying dynamics of the structure during the operation. The filtered-X LMS (FXLMS) algorithm is a simple adaptive filtering algorithm widely implemented in active control applications. Proper implementation of FXLMS requires availability of a reference signal to mimic the disturbance and model of the dynamics between the control actuator and the error sensor, namely the secondary path. However, the controller output could interfere with the reference signal and the secondary path dynamics may change during the operation. This interference problem can be resolved by using an infinite impulse response (IIR) filter which considers feedback of the one or more previous control signals to the controller output and the changing secondary path dynamics can be updated using an online modeling technique. In this paper, IIR filtering based filtered-U LMS (FULMS) controller is combined with online secondary path modeling algorithm to suppress the vibrations of a plate-like structure. The results are validated through numerical and experimental studies. The results show that the FULMS with online secondary path modeling approach has more vibration rejection capabilities with higher convergence rate than the FXLMS counterpart.

  16. Combining Model-Based and Feature-Driven Diagnosis Approaches - A Case Study on Electromechanical Actuators

    NASA Technical Reports Server (NTRS)

    Narasimhan, Sriram; Roychoudhury, Indranil; Balaban, Edward; Saxena, Abhinav

    2010-01-01

    Model-based diagnosis typically uses analytical redundancy to compare predictions from a model against observations from the system being diagnosed. However this approach does not work very well when it is not feasible to create analytic relations describing all the observed data, e.g., for vibration data which is usually sampled at very high rates and requires very detailed finite element models to describe its behavior. In such cases, features (in time and frequency domains) that contain diagnostic information are extracted from the data. Since this is a computationally intensive process, it is not efficient to extract all the features all the time. In this paper we present an approach that combines the analytic model-based and feature-driven diagnosis approaches. The analytic approach is used to reduce the set of possible faults and then features are chosen to best distinguish among the remaining faults. We describe an implementation of this approach on the Flyable Electro-mechanical Actuator (FLEA) test bed.

  17. On reliable control system designs. Ph.D. Thesis; [actuators

    NASA Technical Reports Server (NTRS)

    Birdwell, J. D.

    1978-01-01

    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.

  18. Research on giant magnetostrictive actuator online nonlinear modeling based on data driven principle with grating sensing technique

    NASA Astrophysics Data System (ADS)

    Han, Ping

    2017-01-01

    A novel Giant Magnetostrictive Actuator (GMA) experimental system with Fiber Bragg Grating (FBG) sensing technique and its modeling method based on data driven principle are proposed. The FBG sensors are adopted to gather the multi-physics fields' status data of GMA considering the strong nonlinearity of the Giant Magnetostrictive Material and GMA micro-actuated structure. The feedback features are obtained from the raw dynamic status data, which are preprocessed by data fill and abnormal value detection algorithms. Correspondingly the Least Squares Support Vector Machine method is utilized to realize GMA online nonlinear modeling with data driven principle. The model performance and its relative algorithms are experimentally evaluated. The model can regularly run in the frequency range from 10 to 1000 Hz and temperature range from 20 to 100 °C with the minimum prediction error stable in the range from -1.2% to 1.1%.

  19. Control-focused, nonlinear and time-varying modelling of dielectric elastomer actuators with frequency response analysis

    NASA Astrophysics Data System (ADS)

    Jacobs, William R.; Wilson, Emma D.; Assaf, Tareq; Rossiter, Jonathan; Dodd, Tony J.; Porrill, John; Anderson, Sean R.

    2015-05-01

    Current models of dielectric elastomer actuators (DEAs) are mostly constrained to first principal descriptions that are not well suited to the application of control design due to their computational complexity. In this work we describe an integrated framework for the identification of control focused, data driven and time-varying DEA models that allow advanced analysis of nonlinear system dynamics in the frequency-domain. Experimentally generated input-output data (voltage-displacement) was used to identify control-focused, nonlinear and time-varying dynamic models of a set of film-type DEAs. The model description used was the nonlinear autoregressive with exogenous input structure. Frequency response analysis of the DEA dynamics was performed using generalized frequency response functions, providing insight and a comparison into the time-varying dynamics across a set of DEA actuators. The results demonstrated that models identified within the presented framework provide a compact and accurate description of the system dynamics. The frequency response analysis revealed variation in the time-varying dynamic behaviour of DEAs fabricated to the same specifications. These results suggest that the modelling and analysis framework presented here is a potentially useful tool for future work in guiding DEA actuator design and fabrication for application domains such as soft robotics.

  20. Linear Proof Mass Actuator

    NASA Technical Reports Server (NTRS)

    Holloway, Sidney E., III

    1994-01-01

    This paper describes the mechanical design, analysis, fabrication, testing, and lessons learned by developing a uniquely designed spaceflight-like actuator. The linear proof mass actuator (LPMA) was designed to attach to both a large space structure and a ground test model without modification. Previous designs lacked the power to perform in a terrestrial environment while other designs failed to produce the desired accelerations or frequency range for spaceflight applications. Thus, the design for a unique actuator was conceived and developed at NASA Langley Research Center. The basic design consists of four large mechanical parts (mass, upper housing, lower housing, and center support) and numerous smaller supporting components including an accelerometer, encoder, and four drive motors. Fabrication personnel were included early in the design phase of the LPMA as part of an integrated manufacturing process to alleviate potential difficulties in machining an already challenging design. Operating testing of the LPMA demonstrated that the actuator is capable of various types of load functions.

  1. Linear Proof Mass Actuator

    NASA Technical Reports Server (NTRS)

    Holloway, S. E., III

    1995-01-01

    This paper describes the mechanical design, analysis, fabrication, testing, and lessons learned by developing a uniquely designed spaceflight-like actuator. The Linear Proof Mass Actuator (LPMA) was designed to attach to both a large space structure and a ground test model without modification. Previous designs lacked the power to perform in a terrestrial environment while other designs failed to produce the desired accelerations or frequency range for spaceflight applications. Thus, the design for a unique actuator was conceived and developed at NASA Langley Research Center. The basic design consists of four large mechanical parts (Mass, Upper Housing, Lower Housing, and Center Support) and numerous smaller supporting components including an accelerometer, encoder, and four drive motors. Fabrication personnel were included early in the design phase of the LPMA as part of an integrated manufacturing process to alleviate potential difficulties in machining an already challenging design. Operational testing of the LPMA demonstrated that the actuator is capable of various types of load functions.

  2. Single actuator wave-like robot (SAW): design, modeling, and experiments.

    PubMed

    Zarrouk, David; Mann, Moshe; Degani, Nir; Yehuda, Tal; Jarbi, Nissan; Hess, Amotz

    2016-07-01

    In this paper, we present a single actuator wave-like robot, a novel bioinspired robot which can move forward or backward by producing a continuously advancing wave. The robot has a unique minimalistic mechanical design and produces an advancing sine wave, with a large amplitude, using only a single motor but with no internal straight spine. Over horizontal surfaces, the robot does not slide relative to the surface and its direction of locomotion is determined by the direction of rotation of the motor. We developed a kinematic model of the robot that accounts for the two-dimensional mechanics of motion and yields the speed of the links relative to the motor. Based on the optimization of the kinematic model, and accounting for the mechanical constraints, we have designed and built multiple versions of the robot with different sizes and experimentally tested them (see movie). The experimental results were within a few percentages of the expectations. The larger version attained a top speed of 57 cm s(-1) over a horizontal surface and is capable of climbing vertically when placed between two walls. By optimizing the parameters, we succeeded in making the robot travel by 13% faster than its own wave speed.

  3. SMA actuator material model with self-sensing and sliding-mode control; experiment and multibody dynamics model

    NASA Astrophysics Data System (ADS)

    Lambert, Tyler Ross; Gurley, Austin; Beale, David

    2017-03-01

    Shape memory alloys (SMA) can be used to create actuators that are simple, high strength, and inexpensive. These benefits come at the cost of low electrical efficiency, moderate lifetime, and complex mechanical behavior that makes them difficult to design into new applications and products. To improve the integration of SMA actuators—in particular thin SMA wires heated by passing electric current through them—into modern mechanical applications, we have created tools for modeling SMA mechanical and thermal behavior in dynamic systems and under feedback controls. Thermo-electro-mechanical constitutive models are implemented in a multibody dynamics software where they are easily applied to an actuator emplaced in a multibody dynamic system. Mechanical behavior is modeled with 1D constitutive equations. The material state determines the electrical resistivity of the material which drives ohmic heating, while thermal cooling is based on a heat transfer analysis of thin cylinders. These models contain states which are very difficult to measure experimentally (such as crystal phase fraction) and thus provide insight into the material behavior and design that experimental results cannot offer. This thermomechanical model is used in conjunction with sliding mode control—historically difficult to simulate in numerically integrated models—to develop a working ball-on-a-beam setup in which the ball position is controlled via current passed through an SMA wire and with application of an original self-sensing method. The constitutive model is developed in the multibody dynamics software MSC ADAMS and validated through the simulation of the same system.

  4. Modelling and characterization of inflated dielectric elastomer actuators with tubular configuration

    NASA Astrophysics Data System (ADS)

    Zhang, Chi; Chen, Hualing; Liu, Lei; Li, Dichen

    2015-06-01

    A dielectric elastomer undergoes large and fast deformation subject to external electric stimuli, making it a promising artificial muscle for various kinds of actuators, sensors and energy generators. This paper presents an actuator fabricated by (1) rolling a dielectric elastomer membrane, (2) pre-stretching the membrane along the radial direction and fixing the edges with rigid cylindrical plastic ends, and (3) applying a force to the end along the longitudinal direction and pumping air into the tube for inflation. Subject to a voltage, the structure works as an actuator with a large linear stroke. Governing equations of this actuator are established and simulation results are found to agree well with experimental results. We examine four modes of failure, namely loss of tension, electrical breakdown, snap-through instability and tensile rupture, with a variation in applied pressure. The actuating voltage is greatly reduced by applying pressure, providing the possibility of low-voltage driving. By regulating the applied pressure, large actuation strain and displacement are obtained simultaneously and the distributions of stretch, true stress and the true electric field become more homogeneous.

  5. Electromechanical actuators

    NASA Technical Reports Server (NTRS)

    Bigham, J.

    1982-01-01

    Materials illustrating a presentation on the development of electromechanical actuators (EMA) for electric flight systems are presented. Technology issues are identified, and major steps relative to EMA development, NASA's role, and a technology procurement plan are outlined.

  6. Dynamics of droplet motion under electrowetting actuation.

    PubMed

    Annapragada, S Ravi; Dash, Susmita; Garimella, Suresh V; Murthy, Jayathi Y

    2011-07-05

    The static shape of droplets under electrowetting actuation is well understood. The steady-state shape of the droplet is obtained on the basis of the balance of surface tension and electrowetting forces, and the change in the apparent contact angle is well characterized by the Young-Lippmann equation. However, the transient droplet shape behavior when a voltage is suddenly applied across a droplet has received less attention. Additional dynamic frictional forces are at play during this transient process. We present a model to predict this transient behavior of the droplet shape under electrowetting actuation. The droplet shape is modeled using the volume of fluid method. The electrowetting and dynamic frictional forces are included as an effective dynamic contact angle through a force balance at the contact line. The model is used to predict the transient behavior of water droplets on smooth hydrophobic surfaces under electrowetting actuation. The predictions of the transient behavior of droplet shape and contact radius are in excellent agreement with our experimental measurements. The internal fluid motion is explained, and the droplet motion is shown to initiate from the contact line. An approximate mathematical model is also developed to understand the physics of the droplet motion and to describe the overall droplet motion and the contact line velocities.

  7. Dynamic modelling and active vibration controller design for a cylindrical shell equipped with piezoelectric sensors and actuators

    NASA Astrophysics Data System (ADS)

    Kwak, Moon K.; Heo, Seok; Jeong, Moonsan

    2009-04-01

    This paper is concerned with the dynamic modelling, active vibration controller design and experiments for a cylindrical shell equipped with piezoelectric sensors and actuators. The dynamic model was derived by using Rayleigh-Ritz method based on the Donnel-Mushtari shell theory. The actuator equations which relate the applied voltages to the generalized force and sensor equations which relate the generalized displacements to the sensor output voltages for the piezoelectric wafer were derived based on the pin-force model. The equations of motion along with the piezoelectric sensor equations were then reduced to modal forms considering the modes of interest. An aluminium shell was fabricated to demonstrate the effectiveness of the modelling and control techniques. The boundary conditions at both ends of the shell were assumed to be a shear diaphragm in the numerical analysis. Theoretical natural frequencies of the aluminium shell were then calculated and compared to experimental result. They were in good agreement with experimental result for the first two free-vibration modes. The multi-input and multi-output positive position feedback controller, which can cope with the first two vibration modes, was designed based on the block-inverse theory and was implemented digitally using the DSP board. The experimental results showed that vibrations of the cylindrical shell can be successfully suppressed by the piezoelectric actuator and the proposed controller.

  8. Model identification of terfenol-D magnetostrictive actuator for precise positioning control

    NASA Astrophysics Data System (ADS)

    Saleem, Ashraf; Ghodsi, Mojtaba; Mesbah, Mostefa; Ozer, Abdullah

    2016-04-01

    Feedback control strategies are desirable for disturbance rejection of human-induced vibrations in civil engineering structures as human walking forces cannot easily be measured. In relation to human-induced vibration control studies, most past researches have focused on floors and footbridges and the widely used linear controller implemented in the trials has been the direct velocity feedback (DVF) scheme. With appropriate compensation to enhance its robustness, it has been shown to be effective at damping out the problematic modes of vibration of the structures in which the active vibration control systems have been implemented. The work presented here introduces a disturbance observer (DOB) that is used with an outer-loop DVF controller. Results of analytical studies presented in this work based on the dynamic properties of a walkway bridge structure demonstrate the potential of this approach for enhancing the vibration mitigation performance offered by a purely DVF controller. For example, estimates of controlled frequency response functions indicate improved attenuation of vibration around the dominant frequency of the walkway bridge structure as well as at higher resonant frequencies. Controlled responses from three synthesized walking excitation forces on a walkway bridge structure model show that the inclusion of the disturbance observer with an outer loop DVF has potential to improve on the vibration mitigation performance by about 3.5% at resonance and 6-10% off-resonance. These are realised with hard constraints being imposed on the low frequency actuator displacements.

  9. Model to Design Drip Hose Lateral Line

    NASA Astrophysics Data System (ADS)

    Ludwig, Rafael; Cury Saad, João Carlos

    2014-05-01

    Introduction The design criterion for non-pressure compensating drip hose is normally to have 10% of flow variation (Δq) in the lateral line, corresponding to 20% of head pressure variation (ΔH). Longer lateral lines in drip irrigation systems using conventional drippers provide cost reduction, but it is necessary to obtain to the uniformity of irrigation [1]. The use of Δq higher levels can provide longer lateral lines. [4] proposes the use of a 30% Δq and he found that this value resulted in distribution uniformity over 80%. [1] considered it is possible to extend the lateral line length using two emitters spacing in different section. He assumed that the spacing changing point would be at 40% of the total length, because this is approximately the location of the average flow according with [2]. [3] found that, for practical purposes, the average pressure is located at 40% of the length of the lateral line and that until this point it has already consumed 75% of total pressure head loss (hf ). In this case, the challenge for designers is getting longer lateral lines with high values of uniformity. Objective The objective of this study was to develop a model to design longer lateral lines using non-pressure compensating drip hose. Using the developed model, the hypotheses to be evaluated were: a) the use of two different spacing between emitters in the same lateral line allows longer length; b) it is possible to get longer lateral lines using high values of pressure variation in the lateral lines since the distribution uniformity stays below allowable limits. Methodology A computer program was developed in Delphi® based on the model developed and it is able to design lateral lines in level using non-pressure compensating drip hose. The input data are: desired distribution uniformity (DU); initial and final pressure in the lateral line; coefficients of relationship between emitter discharge and pressure head; hose internal diameter; pipe cross-sectional area

  10. Quasi-static characterization and modeling of the bending behavior of single crystal galfenol for magnetostrictive sensors and actuators

    NASA Astrophysics Data System (ADS)

    Datta, Supratik

    2009-12-01

    Iron-gallium alloys (Galfenol) are structural magnetostrictive materials that exhibit high free-strain at low magnetic fields, high stress-sensitivity and useful thermo-mechanical properties. Galfenol, like smart materials in general, is attractive for use as a dynamic actuator and/or sensor material and can hence find use in active shape and vibration control, real-time structural health monitoring and energy harvesting applications. Galfenol possesses significantly higher yield strength and greater ductility than most smart materials, which are generally limited to use under compressive loads. The unique structural attributes of Galfenol introduce opportunities for use of a smart material in applications that involve tension, bending, shear or torsion. A principal motivation for the research presented in this dissertation is that bending and shear loads lead to development of non-uniform stress and magnetic fields in Galfenol which introduce significantly more complexity to the considerations to be modeled, compared to modeling of purely axial loads. This dissertation investigates the magnetostrictive response of Galfenol under different stress and magnetic field conditions which is essential for understanding and modeling Galfenol's behavior under bending, shear or torsion. Experimental data are used to calculate actuator and sensor figures of merit which can aid in design of adaptive structures. The research focuses on the bending behavior of Galfenol alloys as well as of laminated composites having Galfenol attached to other structural materials. A four-point bending test under magnetic field is designed, built and conducted on a Galfenol beam to understand its performance as a bending sensor. An extensive experimental study is conducted on Galfenol-Aluminum laminated composites to evaluate the effect of magnetic field, bending moment and Galfenol-Aluminum thickness ratio on actuation and sensing performance. A generalized recursive algorithm is presented for

  11. Parameter Estimation of Actuators for Benchmark Active Control Technology (BACT) Wind Tunnel Model with Analysis of Wear and Aerodynamic Loading Effects

    NASA Technical Reports Server (NTRS)

    Waszak, Martin R.; Fung, Jimmy

    1998-01-01

    This report describes the development of transfer function models for the trailing-edge and upper and lower spoiler actuators of the Benchmark Active Control Technology (BACT) wind tunnel model for application to control system analysis and design. A simple nonlinear least-squares parameter estimation approach is applied to determine transfer function parameters from frequency response data. Unconstrained quasi-Newton minimization of weighted frequency response error was employed to estimate the transfer function parameters. An analysis of the behavior of the actuators over time to assess the effects of wear and aerodynamic load by using the transfer function models is also presented. The frequency responses indicate consistent actuator behavior throughout the wind tunnel test and only slight degradation in effectiveness due to aerodynamic hinge loading. The resulting actuator models have been used in design, analysis, and simulation of controllers for the BACT to successfully suppress flutter over a wide range of conditions.

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

    PubMed

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

    2016-11-03

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

  13. Electrostatic actuators for portable microfluidic systems

    NASA Astrophysics Data System (ADS)

    Tice, Joshua

    Both developed and developing nations have an urgent need to diagnose disease cheaply, reliably, and independently of centralized facilities. Microfulidic platforms are well-positioned to address the need for portable diagnostics, mainly due to their obvious advantage in size. However, most microfluidic methods rely on equipment outside of the chip either for driving fluid flow (e.g., syringe pumps) or for taking measurements (e.g., lasers or microscopes). The energy and space requirements of the whole system inhibit portability and contribute to costs. To capitalize on the strengths of microfluidic platforms and address the serious needs of society, system components need to be miniaturized. Also, miniaturization should be accomplished as simply as possible, considering that simplicity is usually requisite for achieving truly transformative technology. Herein, I attempt to address the issue of controlling fluid flow in portable microfluidic systems. I focus on systems that are driven by elastomer-based membrane valves, since these valves are inherently simple, yet they are capable of sophisticated fluid manipulation. Others have attempted to modify pneumatic microvalves for portable applications, e.g., by transitioning to electromagnetic, thermopneumatic, or piezoelectric actuation principles. However, none of these strategies maintain the proper balance of simplicity, functionality, and ease of integration. My research centers on electrostatic actuators, due to their conceptual simplicity and the efficacy of electrostatic forces on the microscale. To ensure easy integration with polymer-based systems, and to maintain simplicity in the fabrication procedure, the actuators were constructed solely from poly(dimethylsiloxane) and multi-walled carbon nanotubes. In addition, the actuators were fabricated exclusively with soft-lithographic techniques. A mathematical model was developed to identify actuator parameters compatible with soft-lithography, and also to

  14. A generalized Prandtl-Ishlinskii model for characterizing the rate-independent and rate-dependent hysteresis of piezoelectric actuators.

    PubMed

    Gan, Jinqiang; Zhang, Xianmin; Wu, Heng

    2016-03-01

    In this paper, a generalized hysteresis model is developed to describe both rate-independent and rate-dependent hysteresis in piezoelectric actuators. Based on the classical Prandtl-Ishlinskii (P-I) model, the developed model adds a quadratic polynomial and makes other small changes. When it is used to describe rate-independent hysteresis, the parameters of the model are constants, which can be identified by self-adaptive particle swarm optimization. The effectiveness of this rate-independent modified P-I model is demonstrated by comparing simulation results of the developed model and the classic Prandtl-Ishlinskii model. Simulation results suggest that the rate-independent modified P-I model can describe hysteresis more precisely. Compared with the classical P-I model, the rate-independent modified P-I model reduces modeling error by more than 50%. When it is used to describe rate-independent hysteresis, a one-side operator is adopted and the parameters are functions with input frequency. The results of the experiments and simulations have shown that the proposed models can accurately describe both rate-independent and rate-dependent hysteresis in piezoelectric actuators.

  15. Measurement and Modeling of the Response of the Current Profile Evolution to Feedback Control Actuators in DIII-D

    NASA Astrophysics Data System (ADS)

    Ferron, J. R.; Gohil, P.; Greenfield, C. M.; Luce, T. C.; Petty, C. C.; Politzer, P. A.; Basiuk, V.; Imbeaux, F.; Schneider, M.; Casper, T. A.; Murakami, M.; Ou, Y.; Schuster, E.; Gao, Q.; Wang, A.

    2007-11-01

    For closed loop control of the q evolution during the plasma current ramp up, available actuators are electron heating power, Ip ramp rate, electron density and co-counter beam balance to modify the net neutral beam current drive. Measurements of the effects of these actuators on the current profile evolution are compared to transport code predictions from ONETWO, TRANSP, CRONOS, and CORSICA to test the model of the plasma response in the control process. Measurements of the dynamic response of the q evolution, particularly to electron heating, provide input to the controller development process. A proportional/integral controller with empirically determined gains and provision to avoid βN excursions has been demonstrated to regulate qmin at the start of the high-performance phase of the discharge for a variety of initial and target conditions.

  16. Mixed H2/H∞ distributed robust model predictive control for polytopic uncertain systems subject to actuator saturation and missing measurements

    NASA Astrophysics Data System (ADS)

    Song, Yan; Fang, Xiaosheng; Diao, Qingda

    2016-03-01

    In this paper, we discuss the mixed H2/H∞ distributed robust model predictive control problem for polytopic uncertain systems subject to randomly occurring actuator saturation and packet loss. The global system is decomposed into several subsystems, and all the subsystems are connected by a fixed topology network, which is the definition for the packet loss among the subsystems. To better use the successfully transmitted information via Internet, both the phenomena of actuator saturation and packet loss resulting from the limitation of the communication bandwidth are taken into consideration. A novel distributed controller model is established to account for the actuator saturation and packet loss in a unified representation by using two sets of Bernoulli distributed white sequences with known conditional probabilities. With the nonlinear feedback control law represented by the convex hull of a group of linear feedback laws, the distributed controllers for subsystems are obtained by solving an linear matrix inequality (LMI) optimisation problem. Finally, numerical studies demonstrate the effectiveness of the proposed techniques.

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

    NASA Astrophysics Data System (ADS)

    Quang Truong, Dinh; Ahn, Kyoung Kwan

    2014-07-01

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

  18. Optimization of a magnetic disk drive actuator with small skew actuation

    NASA Astrophysics Data System (ADS)

    He, Zhimin; Ong, Eng Hong; Guo, Guoxiao

    2002-05-01

    Currently the utilization of the voice-coil motor for actuating read/write head elements in magnetic hard disk drives results in a skewed actuation, which necessitates an involved microjogging process and thus a complicated servo system. Furthermore, in perpendicular recording systems, a small skew actuation will relax the requirement on pole trimming. This article presents a magnetic hard disk drive actuator and suspension assembly with small skew actuation. In the present study, the distance from the actuator pivot to the read/write head is chosen so that the skew angle variation is minimized. After that, the suspension head is assembled to the actuator arm at a slant angle with respect to the actuator longitudinal direction to achieve an absolute small skew actuation. Finite element modeling and experimental measurements reveal that there are no significant changes of the actuator assembly dynamic performance with and without the slant angle.

  19. Modeling and characterization of multiple coupled lines

    NASA Astrophysics Data System (ADS)

    Tripathi, Alok

    1999-10-01

    A configuration-oriented circuit model for multiple coupled lines in an inhomogeneous medium is developed and presented in this thesis. This circuit model consists of a network of uncoupled transmission lines and is readily modeled with simulation tools like LIBRA© and SPICE ©. It provides an equivalent circuit representation which is simple and topologically meaningful as compared to the model based on modal decomposition. The configuration-oriented model is derived by decomposing the immittance matrices associated with an n coupled line 2n-port system. Time- and frequency- domain simulations of typical coupled line multiports are included to exemplify the utility of the model. The model is useful for the simulation and design of general single and multilayer coupled line components, such as filters and couplers, and for the investigation of signal integrity issues including crosstalk in interconnects associated with high speed digital and mixed signal electronic modules and packages. It is shown that multiconductor lossless structures in an inhomogeneous medium can be characterized by multiport time-domain reflection (MR) measurements. A synthesis technique of an equivalent lossless (non-dispersive) uniform multiconductor n coupled lines (UMCL) 2n-port system from the measured discrete time-domain reflection response is presented. This procedure is based on the decomposition of the characteristic immittance matrices of the UMCL in terms of partial mode immittance matrices. The decomposition scheme leads to the discrete transition matrix function of a UMCL 2n-port system. This in turn establishes a relationship between the normal-mode parameters of the UMCL and the measured impulse reflection and transmission response. Equivalence between the synthesis procedure presented in this thesis and the solution of a special form of an algebraic Riccati matrix equation whose solution can lead to the normal-mode parameters and a real termination network is illustrated. In

  20. Miniature linear-to-rotary motion actuator

    NASA Technical Reports Server (NTRS)

    Sorokach, Michael R., Jr.

    1993-01-01

    A miniature hydraulic actuation system capable of converting linear actuator motion to control surface rotary motion has been designed for application to active controls on dynamic wind tunnel models. Due to space constraints and the torque requirements of an oscillating control surface at frequencies up to 50 Hertz, a new actuation system was developed to meet research objectives. This new actuation system was designed and developed to overcome the output torque limitations and fluid loss/sealing difficulties associated with an existing vane type actuator. Static control surface deflections and dynamic control surface oscillations through a given angle are provided by the actuation system. The actuator design has been incorporated into a transonic flutter model with an active trailing edge flap and two active spoilers. The model is scheduled for testing in the LaRC 16 Foot Transonic Dynamics Tunnel during Summer 1993. This paper will discuss the actuation system, its design, development difficulties, test results, and application to aerospace vehicles.

  1. Modeling of electric resistance of shape memory alloys: self-sensing for temperature and actuation control of active hybrid composites

    NASA Astrophysics Data System (ADS)

    Nissle, Sebastian; Hübler, Moritz; Gurka, Martin

    2016-04-01

    For actuation purposes active hybrid structures made of fiber reinforced polymers (FRP) and shape memory alloys (SMA) enable substantial savings concerning weight, space and cost. Such structures allow realizing new functions which are more or less impossible with commonly used systems consisting of the structure and the actuator as separated elements, e.g. morphing winglets in aeronautics. But there are also some challenges that still need to be addressed. For the successful application of SMA FRP composites a precise control of temperature is essential, as this is the activating quantity to reach the required deformation of the structure without overloading the active material. However, a direct measurement of the temperature is difficult due to the complete integration of SMA in the hybrid structure. Also the deformation of the structure which depends on the temperature, the stiffness of the hybrid structure and external loads is hard to determine. An opportunity for controlling the activation is provided by the special behavior of the electrical resistance of SMA. During the phase transformation of the SMA - also causing the actuation travel - the resistance drops with rising temperature. This behavior can be exploited for control purposes, especially as the electrical resistance can be easily measured during the activation done by Joule heating. As shown in this contribution, theoretical modelling and experimental tests provide a load-independent self-sensing control-concept of SMA-FRP-hybrid-structures.

  2. Hydraulically actuated artificial muscles

    NASA Astrophysics Data System (ADS)

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

    2012-04-01

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

  3. Electrohydroelastic Euler-Bernoulli-Morison model for underwater resonant actuation of macro-fiber composite piezoelectric cantilevers

    NASA Astrophysics Data System (ADS)

    Shahab, S.; Erturk, A.

    2016-10-01

    Bio-inspired hydrodynamic thrust generation using smart materials has received growing attention over the past few years to enable improved maneuverability and agility, small form factor, reduced power consumption, and ease of fabrication in next-generation aquatic swimmers. In order to develop a high-fidelity model to predict the electrohydroelastic dynamics of macro-fiber composite (MFC) piezoelectric structures, in this work, mixing rules-based (i.e. rule of mixtures) electroelastic mechanics formulation is coupled with the global electroelastic dynamics based on the Euler-Bernoulli kinematics and nonlinear fluid loading based on Morison’s semi-empirical model. The focus is placed on the dynamic actuation problem for the first two bending vibration modes under geometrically and materially linear, hydrodynamically nonlinear behavior. The electroelastic and dielectric properties of a representative volume element (piezoelectric fiber and epoxy matrix) between two subsequent interdigitated electrodes are correlated to homogenized parameters of MFC bimorphs and validated for a set of MFCs that have the same overhang length but different widths. Following this process of electroelastic model development and validation, underwater actuation experiments are conducted for different length-to-width aspect ratios (L/b) in quiescent water, and the empirical drag and inertia coefficients are extracted from Morison’s equation to establish the electrohydroelastic model. The repeatability of these empirical coefficients is demonstrated for experiments conducted using aluminum cantilevers of different aspect ratios with a focus on the first two bending modes. The convergence of the nonlinear electrohydroelastic Euler-Bernoulli-Morison model to its hydrodynamically linear counterpart for increased L/b values is also reported. The proposed model, its harmonic balance analysis, and experimental results can be used not only for underwater piezoelectric actuation, but also for

  4. Modeling and optimization of a novel two-axis mirror-scanning mechanism driven by piezoelectric actuators

    NASA Astrophysics Data System (ADS)

    Jing, Zijian; Xu, Minglong; Feng, Bo

    2015-02-01

    Mirror-scanning mechanisms are a key component in optical systems for diverse applications. However, the applications of existing piezoelectric scanners are limited due to their small angular travels. To overcome this problem, a novel two-axis mirror-scanning mechanism, which consists of a two-axis tip-tilt flexure mechanism and a set of piezoelectric actuators, is proposed in this paper. The focus of this research is on the design, theoretical modeling, and optimization of the piezoelectric-driven mechanism, with the goal of achieving large angular travels in a compact size. The design of the two-axis tip-tilt flexure mechanism is based on two nonuniform beams, which translate the limited linear output displacements of the piezoelectric actuators into large output angles. To exactly predict the angular travels, we built a voltage-angle model that characterizes the relationship between the input voltages to the piezoelectric actuators and the output angles of the piezoelectric-driven mechanism. Using this analytical model, the optimization is performed to improve the angular travels. A prototype of the mirror-scanning mechanism is fabricated based on the optimization results, and experiments are implemented to test the two-axis output angles. The experimental result shows that the angular travels of the scanner achieve more than 50 mrad, and the error between the analytical model and the experiment is about 11%. This error is much smaller than the error for the model built using the previous method because the influence of the stiffness of the mechanical structure on the deformation of the piezoelectric stack is considered in the voltage-angle model.

  5. Photoionisation modelling of the broad line region

    NASA Astrophysics Data System (ADS)

    King, Anthea

    2016-08-01

    Two of the most fundamental questions regarding the broad line region (BLR) are "what is its structure?" and "how is it moving?" Baldwin et al. (1995) showed that by summing over an ensemble of clouds at differing densities and distances from the ionising source we can easily and naturally produce a spectrum similar to what is observed for AGN. This approach is called the `locally optimally emitting clouds' (LOC) model. This approach can also explain the well-observed stratification of emission lines in the BLR (e.g. Clavel et al. 1991, Peterson et al. 1991, Kollatschny et al. 2001) and `breathing' of BLR with changes in the continuum luminosity (Netzer & Mor 1990, Peterson et al. 2014) and is therefore a generally accepted model of the BLR. However, LOC predictions require some assumptions to be made about the distribution of the clouds within the BLR. By comparing photoionization predictions, for a distribution of cloud properties, with observed spectra we can infer something about the structure of the BLR and distribution of clouds. I use existing reverberation mapping data to constrain the structure of the BLR by observing how individual line strengths and ratios of different lines change in high and low luminosity states. I will present my initial constraints and discuss the challenges associated with the method.

  6. Boron-10 Lined Proportional Counter Model Validation

    SciTech Connect

    Lintereur, Azaree T.; Siciliano, Edward R.; Kouzes, Richard T.

    2012-06-30

    The Department of Energy Office of Nuclear Safeguards (NA-241) is supporting the project “Coincidence Counting With Boron-Based Alternative Neutron Detection Technology” at Pacific Northwest National Laboratory (PNNL) for the development of an alternative neutron coincidence counter. The goal of this project is to design, build and demonstrate a boron-lined proportional tube-based alternative system in the configuration of a coincidence counter. This report discusses the validation studies performed to establish the degree of accuracy of the computer modeling methods current used to simulate the response of boron-lined tubes. This is the precursor to developing models for the uranium neutron coincidence collar under Task 2 of this project.

  7. Distributed structural control using multilayered piezoelectric actuators

    NASA Technical Reports Server (NTRS)

    Cudney, Harley H.; Inman, Daniel J.; Oshman, Yaakov

    1990-01-01

    A method of segmenting piezoelectric sensors and actuators is proposed which can preclude the currently experienced cancelation of sensor signals, or the reduction of actuator effectiveness, due to the integration of the property undergoing measurement or control. The segmentation method is demonstrated by a model developed for beam structures, to which multiple layers of piezoelectric materials are attached. A numerical study is undertaken of increasing active and passive damping of a beam using the segmented sensors and actuators over unsegmented sensors and actuators.

  8. Development of a Higher Order Laminate Theory for Modeling Composites with Induced Strain Actuators

    NASA Technical Reports Server (NTRS)

    Chattopadhyay, Aditi; Seeley, Charles E.

    1996-01-01

    A refined higher order plate theory is developed to investigate the actuation mechanism of piezoelectric materials surface bonded or embedded in composite laminates. The current analysis uses a displacement field which accurately accounts for transverse shear stresses. Some higher order terms are identified by using the conditions that shear stresses vanish at all free surfaces. Therefore, all boundary conditions for displacements and stresses are satisfied in the present theory. The analysis is implemented using the finite element method which provides a convenient means to construct a numerical solution due to the discrete nature of the actuators. The higher order theory is computationally less expensive than a full three dimensional analysis. The theory is also shown to agree well with published experimental results. Numerical examples are presented for composite plates with thicknesses ranging from thin to very thick.

  9. Modeling and Implementation of Solder-activated Joints for Single Actuator, Centimeter-Scale Robotic Mechanisms

    DTIC Science & Technology

    2010-06-01

    mechanisms may be built and actuated to perform a multiplicity of tasks using PCM-activated joints. The robot was developed under the Chemical Robots DARPA ...components. 4.1.1 Chemical Robots Program The Chemical Robots (ChemBots) program is funded by the DARPA Defense Sciences Office. The goal of the program...perform tasks in these hostile and hard to reach spaces safely, covertly, and efficiently [26]. To develop this new class of robots, DARPA asked for

  10. Modeling of electro-statically actuated two-axis (tip-tilt) MEMS torsion micro-mirrors for laser beamsteering

    NASA Astrophysics Data System (ADS)

    Edwards, C. L.; Boone, B. G.; Levine, W. S.; Davis, C. C.

    2007-04-01

    The availability of recently developed MEMS micro-mirror technology provides an opportunity to replace macro-scale actuators for free-space laser beamsteering in lidar and communication systems. Such an approach is under investigation at the Johns Hopkins University Applied Physics Laboratory for use on space-based platforms. Precision modeling of mirror pointing and its dynamics are critical to optimal design and control of MEMS beamsteerers. Beginning with Hornbeck's torque approach, this paper presents a first-principle, analytically closed-form torque model for an electro-statically actuated two-axis (tip-tilt) MEMS structure. An Euler dynamic equation formulation describes the gimbaled motion as a coupled pair of damped harmonic oscillators with a common forcing function. Static physical parameters such as MEMS mirror dimensions, facet mass, and height are inputs to the model as well as dynamic harmonic oscillator parameters such as damping and restoring constants fitted from measurements. A Taylor series expansion of the torque function provides valuable insights into basic one dimensional as well as two dimensional MEMS behavior, including operational sensitivities near "pull-in." The model also permits the natural inclusion and analysis of pointing noise sources such as electrical drive noise, platform vibration, and molecular Brownian motion. MATLAB and SIMULINK simulations illustrate performance sensitivities, controllability, and physical limitations, important considerations in the design of optimal pointing systems.

  11. NiTi Alloy Negator Springs for Long-Stroke Constant-Force Shape Memory Actuators: Modeling, Simulation and Testing

    NASA Astrophysics Data System (ADS)

    Spaggiari, Andrea; Dragoni, Eugenio; Tuissi, Ausonio

    2014-07-01

    This work aims at the experimental characterization and modeling validation of shape memory alloy (SMA) Negator springs. According to the classic engineering books on springs, a Negator spring is a spiral spring made of strip of metal wound on the flat with an inherent curvature such that, in repose, each coil wraps tightly on its inner neighbor. The main feature of a Negator springs is the nearly constant force displacement behavior in the unwinding of the strip. Moreover the stroke is very long, theoretically infinite, as it depends only on the length of the initial strip. A Negator spring made in SMA is built and experimentally tested to demonstrate the feasibility of this actuator. The shape memory Negator spring behavior can be modeled with an analytical procedure, which is in good agreement with the experimental test and can be used for design purposes. In both cases, the material is modeled as elastic in austenitic range, while an exponential continuum law is used to describe the martensitic behavior. The experimental results confirms the applicability of this kind of geometry to the shape memory alloy actuators, and the analytical model is confirmed to be a powerful design tool to dimension and predict the spring behavior both in martensitic and austenitic range.

  12. Model of rotary-actuated flexible beam with notch filter vibration suppression controller and torque feedforward load compensation controller

    SciTech Connect

    Bills, K.C.; Kress, R.L.; Kwon, D.S.; Baker, C.P.

    1994-12-31

    This paper describes ORNL`s development of an environment for the simulation of robotic manipulators. Simulation includes the modeling of kinematics, dynamics, sensors, actuators, control systems, operators, and environments. Models will be used for manipulator design, proposal evaluation, control system design and analysis, graphical preview of proposed motions, safety system development, and training. Of particular interest is the development of models for robotic manipulators having at least one flexible link. As a first application, models have been developed for the Pacific Northwest Laboratory`s Flexible Beam Test Bed (PNL FBTB), which is a 1-Degree-of-Freedom, flexible arm with a hydraulic base actuator. ORNL transferred control algorithms developed for the PNL FBTB to controlling IGRIP models. A robust notch filter is running in IGRIP controlling a full dynamics model of the PNL test bed. Model results provide a reasonable match to the experimental results (quantitative results are being determined) and can run on ORNL`s Onyx machine in approximately realtime. The flexible beam is modeled as six rigid sections with torsional springs between each segment. The spring constants were adjusted to match the physical response of the flexible beam model to the experimental results. The controller is able to improve performance on the model similar to the improvement seen on the experimental system. Some differences are apparent, most notably because the IGRIP model presently uses a different trajectory planner than the one used by ORNL on the PNL test bed. In the future, the trajectory planner will be modified so that the experiments and models are the same. The successful completion of this work provides the ability to link C code with IGRIP, thus allowing controllers to be developed, tested, and tuned in simulation and then ported directly to hardware systems using the C language.

  13. Experiment and Modeling of Simultaneous Creep, Plasticity and Transformation of High Temperature Shape Memory Alloys During Cyclic Actuation

    NASA Technical Reports Server (NTRS)

    Kumar, Parikshith K.; Desai, Uri; Chatzigeorgiou, George; Lagoudas, Dimitris C.; Monroe, James; Karaman, Ibrahim; Noebe, Ron; Bigelow, Glen

    2010-01-01

    The present work is focused on studying the cycling actuation behavior of HTSMAs undergoing simultaneous creep and transformation. For the thermomechanical testing, a high temperature test setup was assembled on a MTS frame with the capability to test up to temperatures of 600 C. Constant stress thermal cycling tests were conducted to establish the actuation characteristics and the phase diagram for the chosen HTSMA. Additionally, creep tests were conducted at constant stress levels at different test temperatures to characterize the creep behavior of the alloy over the operational range. A thermodynamic constitutive model is developed and extended to take into account a) the effect of multiple thermal cycling on the generation of plastic strains due to transformation (TRIP strains) and b) both primary and secondary creep effects. The model calibration is based on the test results. The creep tests and the uniaxial tests are used to identify the viscoplastic behavior of the material. The parameters for the SMA properties, regarding the transformation and transformation induced plastic strain evolutions, are obtained from the material phase diagram and the thermomechanical tests. The model is validated by predicting the material behavior at different thermomechanical test conditions.

  14. Studying Wake Deflection of Wind Turbines in Yaw using Drag Disk Experiments and Actuator Disk Modeling in LES

    NASA Astrophysics Data System (ADS)

    Howland, Michael; Bossuyt, Juliaan; Meyers, Johan; Meneveau, Charles

    2015-11-01

    Recently, there has been a push towards the optimization in the power output of entire large wind farms through the control of individual turbines, as opposed to operating each turbine in a maximum power point tracking manner. In this vane, the wake deflection by wind turbines in yawed conditions has generated considerable interest in recent years. In order to effectively study the wake deflection according to classical actuator disk momentum theory, a 3D printed drag disk model with a coefficient of thrust of approximately 0.75 - 0.85 and a diameter of 3 cm is used, studied under uniform inflow in a wind tunnel with test section of 1 m by 1.3 m, operating with a negligible inlet turbulence level at an inflow velocity of 10 m/s. Mean velocity profile measurements are performed using Pitot probes. Different yaw angles are considered, including 10, 20, and 30 degrees. We confirm earlier results that (e.g.) a 30 degree yaw angle deflects the center of the wake around 1/2 of a rotor diameter when it impinges on a downstream turbine. Detailed comparisons between the experiments and Large Eddy Simulations using actuator disk model for the wind turbines are carried out in order to help validate the CFD model. Work supported by NSF (grants CBET-113380 and IIA-1243482, the WINDINSPIRE project) and by ERC (ActiveWindFarms, grant no. 306471).

  15. Design, modeling, analysis and testing of a novel piezo-actuated XY compliant mechanism for large workspace nano-positioning

    NASA Astrophysics Data System (ADS)

    Zhu, Wu-Le; Zhu, Zhiwei; Shi, Yi; Wang, Xinwei; Guan, Kaimin; Ju, Bing-Feng

    2016-11-01

    In this paper, a new piezo-actuated XY parallel compliant mechanism for large workspace nano-positioning with decoupled motions is developed by incorporating a novel Z-shaped flexure hinge (ZFH)-based mechanism into the mirror-symmetrically distributed structure. The bridge-type mechanism and two-stage leverage mechanisms serve as preliminary displacement amplifiers, while further amplification with motion transfer and decoupled output motions are achieved by means of the ZFH mechanism. Based on finite element theory, a high-precision analytical model of the XY compliant mechanism is established by considering all the connecting linkages as flexible components. Through the improved differential evolution algorithm, the optimized compliant mechanism is capable of performing millimeter-scale workspace nano-positioning with decoupled motions. In addition, the input displacement unbalance, resulting from the lateral force which has potential to damage the piezoelectric actuators, is markedly lowered to a negligible value. The performance of the fabricated compliant mechanism with optimized parameters is investigated to well agree with both the analytical model and ANSYS simulation. In addition, based on the inverse kinematics derived from the model and experimental results, different elliptical vibration trajectories are accurately acquired.

  16. Modeling Transmission Line Networks Using Quantum Graphs

    NASA Astrophysics Data System (ADS)

    Koch, Trystan; Antonsen, Thomas

    Quantum graphs--one dimensional edges, connecting nodes, that support propagating Schrödinger wavefunctions--have been studied extensively as tractable models of wave chaotic behavior (Smilansky and Gnutzmann 2006, Berkolaiko and Kuchment 2013). Here we consider the electrical analog, in which the graph represents an electrical network where the edges are transmission lines (Hul et. al. 2004) and the nodes contain either discrete circuit elements or intricate circuit elements best represented by arbitrary scattering matrices. Including these extra degrees of freedom at the nodes leads to phenomena that do not arise in simpler graph models. We investigate the properties of eigenfrequencies and eigenfunctions on these graphs, and relate these to the statistical description of voltages on the transmission lines when driving the network externally. The study of electromagnetic compatibility, the effect of external radiation on complicated systems with numerous interconnected cables, motivates our research into this extension of the graph model. Work supported by the Office of Naval Research (N0014130474) and the Air Force Office of Scientific Research.

  17. Line emission from H II blister models

    NASA Technical Reports Server (NTRS)

    Rubin, R. H.

    1984-01-01

    Numerical techniques to calculate the thermal and geometric properties of line emission from H II 'blister' regions are presented. It is assumed that the density distributions of the H II regions are a function of two dimensions, with rotational symmetry specifying the shape in three-dimensions. The thermal and ionization equilibrium equations of the problem are solved by spherical modeling, and a spherical sector approximation is used to simplify the three-dimensional treatment of diffuse ionizing radiation. The global properties of H II 'blister' regions near the edges of a molecular cloud are simulated by means of the geometry/density distribution, and the results are compared with observational data. It is shown that there is a monotonic increase of peak surface brightness from the i = 0 deg (pole-on) observational position to the i = 90 deg (edge-on) position. The enhancement of the line peak intensity from the edge-on to the pole-on positions is found to depend on the density, stratification, ionization, and electron temperature weighting. It is found that as i increases, the position of peak line brightness of the lower excitation species is displaced to the high-density side of the high excitation species.

  18. Modular droplet actuator drive

    NASA Technical Reports Server (NTRS)

    Pollack, Michael G. (Inventor); Paik, Philip (Inventor)

    2011-01-01

    A droplet actuator drive including a detection apparatus for sensing a property of a droplet on a droplet actuator; circuitry for controlling the detection apparatus electronically coupled to the detection apparatus; a droplet actuator cartridge connector arranged so that when a droplet actuator cartridge electronically is coupled thereto: the droplet actuator cartridge is aligned with the detection apparatus; and the detection apparatus can sense the property of the droplet on a droplet actuator; circuitry for controlling a droplet actuator coupled to the droplet actuator connector; and the droplet actuator circuitry may be coupled to a processor.

  19. Electromechanical characteristic analysis of a dielectric electroactive polymer (DEAP) actuator

    NASA Astrophysics Data System (ADS)

    Zhu, Yinlong; Zhou, Hongpin; Wang, Huaming

    2015-10-01

    To assist in the design and optimization of dielectric electroactive polymer (DEAP) actuators, an analytical model for the electromechanical response of cone DEAP actuators is developed. Using the Yeoh form strain energy potential and the Maxwell stress tensor, the constitutive relationship of the DEAP that accounts for the electromechanical coupling behavior is deduced. The equilibrium equations of DEAP actuators with a cone configuration are derived and an analytical model is then proposed. With this model, the actuation characteristics of the DEAP actuator, including actuation displacement, force output and efficiency can be calculated. Additionally, the principal stresses and principal stretch ratio of the membrane under different actuation voltages can be determined, along with the wrinkling failure mode of DEAP actuators. The experimental results for the DEAP actuator matched the numerical results determined using the proposed model. As such, the proposed work is beneficial as a guide for the design optimization of DEAP actuators.

  20. Active vibration control of a composite wing model using PZT sensors/actuators and virtex: 4 FPGAs

    NASA Astrophysics Data System (ADS)

    Prakash, Shashikala; Venkatasubramanyam, D. V.; Krishnan, Bharath; Pavate, Aravind; Kabra, Hemant

    2009-07-01

    The reduction of vibration in Aircraft/Aerospace structures as well as helicopter fuselage is becoming increasingly important. A traditional approach to vibration control uses passive techniques which are relatively large, costly and ineffective at low frequencies. Active Vibration Control (AVC), apart from having benefits in size, weight, volume and cost, efficiently attenuates low frequency vibration. Hitherto this was being achieved using high speed Digital Signal Processors (DSPs). But the throughput requirements of general purpose DSPs have increased very much and the Field Programmable Gate Arrays (FPGAs) have emerged as an alternative. The silicon resources of an FPGA lead to staggering performance gains i.e. they are 100 times faster than DSPs. In the present paper Active Vibration Control of a Composite Research Wing Model is investigated using Piezo electric patches as sensors and PZT bimorph actuators collocated on the bottom surface as secondary actuators. Attempt has been made to realize the State - of - the - Art Active Vibration Controller using the Xilinx System Generator on VIRTEX - 4 FPGA. The control has been achieved by implementing the Filtered-X Least Mean Square (FXLMS) based adaptive filter on the FPGA. Single channel real time control has been successfully implemented & tested on the composite research wing model.

  1. Experimental measurements and numerical modeling of a thermostress convection-based actuator

    NASA Astrophysics Data System (ADS)

    Fowee, Katherine; Ibrayeva, Aizhan; Strongrich, Andrew; Alexeenko, Alina

    2016-11-01

    The capability of gas actuation using thermal gradients in a rarefied gas flow is demonstrated for arrays of interdigitated hot and cold vanes. The force acting on the cold vane array is quantified using a microNewton torsional balance over a range of pressures between 3.8 mTorr to 900 mTorr. Simulations are carried out using the SPARTA direct simulation monte carlo software to elucidate the mechanisms governing force production. Both experimental and numerical results are non-dimensionalized and fitted using the linear least-squares method. These correlations facilitate prediction of performance for dynamically similar geometries.

  2. Model aerodynamic test results for a refined actuated inlet ejector nozzle at simulated takeoff and cruise conditions

    NASA Technical Reports Server (NTRS)

    Nelson, D. P.

    1983-01-01

    Wind tunnel model tests were conducted to demonstrate the aerodynamic performance improvements of a refined actuated inlet ejector nozzle. Models of approximately one-tenth scale were configured to simulate nozzle operation at takeoff, subsonic cruise, transonic cruise and supersonic cruise. Variations of model components provided a performance evaluation of ejector inlet and exit area, forebody boattail angle and ejector inlet operation in the open and closed mode. Approximately 700 data points were acquired at Mach numbers of 0, 0.36, 0.9, 1.2, and 2.0 for a wide range of nozzle flow conditions. Results show that relative to two ejector nozzles previously tested performance was improved significantly at takeoff and subsonic cruise performance, a C sub f of 0.982, was attained equal to the high performance of the previous tests. The established advanced supersonic transport propulsion study performance goals were met or closely approached at takeoff and supersonic cruise.

  3. Memory metal actuator

    NASA Technical Reports Server (NTRS)

    Ruoff, C. F. (Inventor)

    1985-01-01

    A mechanical actuator can be constructed by employing a plurality of memory metal actuator elements in parallel to control the amount of actuating force. In order to facilitate direct control by digital control signals provided by a computer or the like, the actuating elements may vary in stiffness according to a binary relationship. The cooling or reset time of the actuator elements can be reduced by employing Peltier junction cooling assemblies in the actuator.

  4. Predictive models for moving contact line flows

    NASA Technical Reports Server (NTRS)

    Rame, Enrique; Garoff, Stephen

    2003-01-01

    Modeling flows with moving contact lines poses the formidable challenge that the usual assumptions of Newtonian fluid and no-slip condition give rise to a well-known singularity. This singularity prevents one from satisfying the contact angle condition to compute the shape of the fluid-fluid interface, a crucial calculation without which design parameters such as the pressure drop needed to move an immiscible 2-fluid system through a solid matrix cannot be evaluated. Some progress has been made for low Capillary number spreading flows. Combining experimental measurements of fluid-fluid interfaces very near the moving contact line with an analytical expression for the interface shape, we can determine a parameter that forms a boundary condition for the macroscopic interface shape when Ca much les than l. This parameter, which plays the role of an "apparent" or macroscopic dynamic contact angle, is shown by the theory to depend on the system geometry through the macroscopic length scale. This theoretically established dependence on geometry allows this parameter to be "transferable" from the geometry of the measurement to any other geometry involving the same material system. Unfortunately this prediction of the theory cannot be tested on Earth.

  5. Mars Science Laboratory Rover Actuator Thermal Design

    NASA Technical Reports Server (NTRS)

    Novak, Keith S.; Liu, Yuanming; Lee, Chern-Jiin; Hendricks, Steven

    2010-01-01

    NASA will launch a 900 kg rover, part of the Mars Science Laboratory (MSL) mission, to Mars in October of 2011. The MSL rover is scheduled to land on Mars in August of 2012. The rover employs 31, electric-motor driven actuators to perform a variety of engineering and science functions including: mobility, camera pointing, telecommunications antenna steering, soil and rock sample acquisition and sample processing. This paper describes the MSL rover actuator thermal design. The actuators have stainless steel housings and planetary gearboxes that are lubricated with a "wet" lubricant. The lubricant viscosity increases with decreasing temperature. Warm-up heaters are required to bring the actuators up to temperature (above -55 C) prior to use in the cold wintertime environment of Mars (when ambient atmosphere temperatures are as cold as -113 C). Analytical thermal models of all 31 MSL actuators have been developed. The actuators have been analyzed and warm-up heaters have been designed to improve actuator performance in cold environments. Thermal hardware for the actuators has been specified, procured and installed. This paper presents actuator thermal analysis predicts, and describes the actuator thermal hardware and its operation. In addition, warm-up heater testing and thermal model correlation efforts for the Remote Sensing Mast (RSM) elevation actuator are discussed.

  6. Large Scale Magnetostrictive Valve Actuator

    NASA Technical Reports Server (NTRS)

    Richard, James A.; Holleman, Elizabeth; Eddleman, David

    2008-01-01

    Marshall Space Flight Center's Valves, Actuators and Ducts Design and Development Branch developed a large scale magnetostrictive valve actuator. The potential advantages of this technology are faster, more efficient valve actuators that consume less power and provide precise position control and deliver higher flow rates than conventional solenoid valves. Magnetostrictive materials change dimensions when a magnetic field is applied; this property is referred to as magnetostriction. Magnetostriction is caused by the alignment of the magnetic domains in the material s crystalline structure and the applied magnetic field lines. Typically, the material changes shape by elongating in the axial direction and constricting in the radial direction, resulting in no net change in volume. All hardware and testing is complete. This paper will discuss: the potential applications of the technology; overview of the as built actuator design; discuss problems that were uncovered during the development testing; review test data and evaluate weaknesses of the design; and discuss areas for improvement for future work. This actuator holds promises of a low power, high load, proportionally controlled actuator for valves requiring 440 to 1500 newtons load.

  7. Thermally actuated piston micromirror arrays

    NASA Astrophysics Data System (ADS)

    Cowan, William D.; Bright, Victor M.

    1997-07-01

    This paper reports design and characterization testing of thermally actuated piston micromirror arrays. The micromirrors were fabricated in the DARPA-sponsored MUMPs polysilicon surface micromachining process. The power averaging characteristic of thermal actuation is exploited in a novel line addressing scheme which reduces wiring for an n2 array to 2n wires. Mirror deflections were measured with a microscope laser interferometer system equipped with a vacuum chamber. Data presented includes device uniformity, frequency response, and deflection versus drive power for varied ambient pressure. Initial test results confirm that thermally actuated piston micromirrors offer several advantages over more common electrostatic designs. Thermally actuated micromirrors offer greater deflections at drive voltages compatible with CMOS circuitry. Measured thermal piston micromirror deflection versus drive voltage is nonlinear, but does not exhibit the 'snap through instability' characteristic of electrostatic devices. Operation of thermally actuated devices in rarefied ambient significantly decreases power dissipation. For a given deflection range, the power reduction facilitated by vacuum operation makes large arrays feasible. Frequency response of thermally actuated devices is limited by the ability of the device to dissipate heat, but operation at 1 kHz rates is feasible.

  8. Dielectric Actuation of Polymers

    NASA Astrophysics Data System (ADS)

    Niu, Xiaofan

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

  9. Tracking Control of a 2-DOF Arm Actuated by Pneumatic Muscle Actuators Using Adaptive Fuzzy Sliding Mode Control

    NASA Astrophysics Data System (ADS)

    Chang, Ming-Kun; Wu, Jui-Chi

    Pneumatic muscle actuators (PMAs) have the highest power/weight ratio and power/volume ratio of any actuator. Therefore, they can be used not only in the rehabilitation engineering, but also as an actuator in robots, including industrial robots and therapy robots. It is difficult to achieve excellent tracking performance using classical control methods because the compressibility of gas and the nonlinear elasticity of bladder container causes parameter variations. An adaptive fuzzy sliding mode control is developed in this study. The fuzzy sliding surface can be used to reduce fuzzy rule numbers, and the adaptive control law is used to modify fuzzy rules on-line. A model matching technique is then adopted to adjust scaling factors. The experimental results show that this control strategy can attain excellent tracking performance.

  10. Actuator design using electroactive polymers

    NASA Astrophysics Data System (ADS)

    Fernandez, Diego; Moreno, Luis; Baselga, Juan

    2005-07-01

    In order to make EAP actuators technology scalable a design methodology for polymer actuators is required. Design variables, optimization formulas and a general architecture are required as it is usual in electromagnetic or hydraulic actuators design. This will allow the development of large EAP actuators from micro-actuator units, specifically designed for a particular application. It will also help to enhance the EAP material final performance. This approach is not new, since it is found in Nature. Skeletal muscle architecture has a profound influence on muscle force-generating properties and functionality. Based on existing literature on skeletal muscle biomechanics, the Nature design philosophy is inferred. Formulas and curves employed by Nature in the design of muscles are presented. Design units such as fiber, tendon, aponeurosis, and motor units are compared with the equivalent design units to be taken into account in the design of EAP actuators. Finally a complete design methodology for the design of actuators based on multiple EAP fiber/sheets is proposed. In addition, the procedure gives an idea of the required parameters that must be clearly modeled and characterized at EAP material level prior to attempt the design of complex Electromechanical Systems based on Electroactive Polymers.

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

    NASA Astrophysics Data System (ADS)

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

    2016-12-01

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

  12. Flight control actuation system

    NASA Technical Reports Server (NTRS)

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

    2006-01-01

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

  13. Flight control actuation system

    NASA Technical Reports Server (NTRS)

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

    2004-01-01

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

  14. Modeling operational behavior of a disassembly line

    NASA Astrophysics Data System (ADS)

    Kizilkaya, Elif A.; Gupta, Surendra M.

    2004-12-01

    In this paper we present a dynamic kanban (pull) system specifically developed for disassembly lines. This type of kanban system is much more complex than the traditional kanban system used in assembly lines. For instance, unlike the assembly line where the external demand occurs only at the last station, the demands in the disassembly case also occur at any of the intermittent stations. The reason is that as a product moves on the disassembly line, various parts are disassembled at every station and accumulated at that station. Therefore, there are as many demand sources as there are number of parts. We consider a case example involving the end-of-life products. Based on the precedence relationships and other criteria such as hazardous properties of the parts, we balance the disassembly line. The results of the disassembly line-balancing problem (DLBP) are used as input to the proposed dynamic kanban system for disassembly line (DKSDL). We compare the performance of the DKSDL to the modified kanban system for disassembly line (MKSDL), which was previously introduced by the authors. We show, via simulation, that the DKSDL is far superior to MKSDL considered.

  15. Crest line minimal model for sand dune

    NASA Astrophysics Data System (ADS)

    Guignier, Lucie; Valance, Alexandre; Lague, Dimitri

    2013-04-01

    In desert, complex patterns of dunes form. Under unidirectional wind, transverse rectilinear dunes or crescent shaped dunes called barchan dunes can appear, depending on the amount of sediment available. Most rectilinear transverse sand dunes are observed to fragment, for example at White Sands (New Mexico, United States of America) or Walvis Bay (Namibia). We develop a reduced complexity model to investigate the morphodynamics of sand dunes migrating over a non-erodible bed under unidirectional wind. The model is simply based on two physical ingredients, namely, the sand capture process at the slip face and the cross-wind sand transport. The efficiency of the sand capture process is taken to be dependent of the dune height and lateral diffusion is considered on both the windward and lee sides of the dune. In addition, the dune cross section is assumed to be scale invariant and is approximated by a triangular shape. In this framework, the dune dynamics is reduced to the motion of a string representing the dune crest line and is expressed as a set of two coupled nonlinear differential equations. This simple model reveals its ability to reproduce basic features of barchan and transverse dunes. Analytical predictions are drawn concerning dune equilibrium shape, stability and long-term dynamics. We derive, in particular, analytical solutions for barchan dunes, yielding explicit relationships between their shape and the lateral sand diffusion; and analytical predictions for the migration speed and equilibrium sand flux. A stability analysis of a rectilinear transverse dune allows us to predict analytically the wavelength emerging from fluctuations of the dune crest. We also determine the characteristic time needed for the rectilinear dune to fragment into a multitude of barchan dunes. These outcomes show that extremely simple ingredients can generate complex patterns for migrating dunes. From several dune field data, we are able to determine values of the model

  16. Dielectric barrier discharge-based plasma actuator operation in artificial atmospheres for validation of modeling and simulation

    SciTech Connect

    Mangina, R. S.; Enloe, C. L.; Font, G. I.

    2015-11-15

    We present an experimental case study of time-resolved force production by an aerodynamic plasma actuator immersed in various mixtures of electropositive (N{sub 2}) and electronegative gases (O{sub 2} and SF{sub 6}) at atmospheric pressure using a fixed AC high-voltage input of 16 kV peak amplitude at 200 Hz frequency. We have observed distinct changes in the discharge structures during both negative- and positive-going voltage half-cycles, with corresponding variations in the actuator's force production: a ratio of 4:1 in the impulse produced by the negative-going half-cycle of the discharge among the various gas mixtures we explored, 2:1 in the impulse produced by the positive-going half-cycle, and cases in which the negative-going half-cycle dominates force production (by a ratio of 1.5:1), where the half-cycles produce identical force levels, and where the positive-going half cycle dominates (by a ratio of 1:5). We also present time-resolved experimental evidence for the first time that shows electrons do play a significant role in the momentum coupling to surrounding neutrals during the negative going voltage half-cycle of the N{sub 2} discharge. We show that there is sufficient macroscopic variation in the plasma that the predictions of numerical models at the microscopic level can be validated even though the plasma itself cannot be measured directly on those spatial and temporal scales.

  17. The Broad-Line Region Cloud Model

    NASA Astrophysics Data System (ADS)

    Dietrich, Matthias

    Generally, it is believed that the broad-emission lines are emitted by rapidly moving clouds or filaments within the BLR. The line profiles are expected to be variable on time scales of years due to redistribution of the clouds. However, observations show that profile changes can occur more rapidly than this indicating that hydrodynamical instabilities are associated with the BLR clouds themselves. Since the number of clouds is estimated to at least ~ 10^7 it is difficult to explain how stochastic events affecting individual clouds can yield detectable profile variations. Small-scale fluctuations due to as many as 4 x 10^6 clouds would be still observable in emission-line profiles taken with high spectral resolution and high S/N ratio (cf. Capriotti et al. 1981). Echelle spectra of 3C 273 and NGC 5548 will be presented. The line profiles of H\\alpha and H\\beta have been studied with high spectral resolution (\\Delta v ~ 10 km s^{-1}). The statistical variations of the residua of the H\\alpha and H\\beta line profiles will be used to test whether this is consistent with the expected statistical scatter due to the finite number of line emitting clouds. Based on these fluctuations it will be possible to derive an estimation of the total number of emission-line clouds. The results will be compared with simulations of cloud ensembles with different distributions, geometries, and numbers of individual emitters.

  18. A line transect model for aerial surveys

    USGS Publications Warehouse

    Quang, Pham Xuan; Lanctot, Richard B.

    1991-01-01

    We employ a line transect method to estimate the density of the common and Pacific loon in the Yukon Flats National Wildlife Refuge from aerial survey data. Line transect methods have the advantage of automatically taking into account “visibility bias” due to detectability difference of animals at different distances from the transect line. However, line transect methods must overcome two difficulties when applied to inaccurate recording of sighting distances due to high travel speeds, so that in fact only a few reliable distance class counts are available. We propose a unimodal detection function that provides an estimate of the effective area lost due to the blind strip, under the assumption that a line of perfect detection exists parallel to the transect line. The unimodal detection function can also be applied when a blind strip is absent, and in certain instances when the maximum probability of detection is less than 100%. A simple bootstrap procedure to estimate standard error is illustrated. Finally, we present results from a small set of Monte Carlo experiments.

  19. Superconducting linear actuator

    NASA Technical Reports Server (NTRS)

    Johnson, Bruce; Hockney, Richard

    1993-01-01

    Special actuators are needed to control the orientation of large structures in space-based precision pointing systems. Electromagnetic actuators that presently exist are too large in size and their bandwidth is too low. Hydraulic fluid actuation also presents problems for many space-based applications. Hydraulic oil can escape in space and contaminate the environment around the spacecraft. A research study was performed that selected an electrically-powered linear actuator that can be used to control the orientation of a large pointed structure. This research surveyed available products, analyzed the capabilities of conventional linear actuators, and designed a first-cut candidate superconducting linear actuator. The study first examined theoretical capabilities of electrical actuators and determined their problems with respect to the application and then determined if any presently available actuators or any modifications to available actuator designs would meet the required performance. The best actuator was then selected based on available design, modified design, or new design for this application. The last task was to proceed with a conceptual design. No commercially-available linear actuator or modification capable of meeting the specifications was found. A conventional moving-coil dc linear actuator would meet the specification, but the back-iron for this actuator would weigh approximately 12,000 lbs. A superconducting field coil, however, eliminates the need for back iron, resulting in an actuator weight of approximately 1000 lbs.

  20. Modeling, construction and experimental validation of actuated rolling dynamics of the cylindrical Transforming Roving-Rolling Explorer (TRREx)

    NASA Astrophysics Data System (ADS)

    Edwin, L.; Mazzoleni, A.; Gemmer, T.; Ferguson, S.

    2017-03-01

    Planetary surface exploration technology over the past few years has seen significant advancements on multiple fronts. Robotic exploration platforms are becoming more sophisticated and capable of embarking on more challenging missions. More unconventional designs, particularly transforming architectures that have multiple modes of locomotion, are being studied. This work explores the capabilities of one such novel transforming rover called the Transforming Roving-Rolling Explorer (TRREx). Biologically inspired by the armadillo and the golden-wheel spider, the TRREx has two modes of locomotion: it can traverse on six wheels like a conventional rover on benign terrain, but can transform into a sphere when necessary to negotiate steep rugged slopes. The ability to self-propel in the spherical configuration, even in the absence of a negative gradient, increases the TRREx's versatility and its concept value. This paper describes construction and testing of a prototype cylindrical TRREx that demonstrates that "actuated rolling" can be achieved, and also presents a dynamic model of this prototype version of the TRREx that can be used to investigate the feasibility and value of such self-propelled locomotion. Finally, we present results that validate our dynamic model by comparing results from computer simulations made using the dynamic model to experimental results acquired from test runs using the prototype.

  1. Wind adaptive modeling of transmission lines using minimum description length

    NASA Astrophysics Data System (ADS)

    Jaw, Yoonseok; Sohn, Gunho

    2017-03-01

    The transmission lines are moving objects, which positions are dynamically affected by wind-induced conductor motion while they are acquired by airborne laser scanners. This wind effect results in a noisy distribution of laser points, which often hinders accurate representation of transmission lines and thus, leads to various types of modeling errors. This paper presents a new method for complete 3D transmission line model reconstruction in the framework of inner and across span analysis. The highlighted fact is that the proposed method is capable of indirectly estimating noise scales, which corrupts the quality of laser observations affected by different wind speeds through a linear regression analysis. In the inner span analysis, individual transmission line models of each span are evaluated based on the Minimum Description Length theory and erroneous transmission line segments are subsequently replaced by precise transmission line models with wind-adaptive noise scale estimated. In the subsequent step of across span analysis, detecting the precise start and end positions of the transmission line models, known as the Point of Attachment, is the key issue for correcting partial modeling errors, as well as refining transmission line models. Finally, the geometric and topological completion of transmission line models are achieved over the entire network. A performance evaluation was conducted over 138.5 km long corridor data. In a modest wind condition, the results demonstrates that the proposed method can improve the accuracy of non-wind-adaptive initial models on an average of 48% success rate to produce complete transmission line models in the range between 85% and 99.5% with the positional accuracy of 9.55 cm transmission line models and 28 cm Point of Attachment in the root-mean-square error.

  2. Toward standardization of EAP actuators test procedures

    NASA Astrophysics Data System (ADS)

    Fernandez, Diego; Moreno, Luis; Baselga, Juan

    2005-05-01

    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

  3. Model-based and adaptive laminar-flow control via dielectric-barrier-discharge plasma actuators: an experimental comparison

    NASA Astrophysics Data System (ADS)

    Fabbiane, Nicolò; Simon, Bernhard; Grundmann, Sven; Bagheri, Shervin; Henningson, Dan S.

    2014-11-01

    This work compares two of the mostly investigated reactive-control techniques in delaying the laminar-to-turbulence transition in boundary-layer (BL) flows: a Linear Quadratic Gaussian (LQG) regulator and a Filtered-X Least Mean Squares (FXLMS) algorithm. The two compensators are compared on damping 2D TS-waves excited via both single-frequency and white-noise disturbances in a zero-pressure-gradient BL flow. Surface hot-wire sensors are used to detect the incoming waves and measure the effectiveness of the control action that is provided by a dielectric-barrier-discharge plasma actuator positioned between the two sensors. Based on DNS of the experimental set-up a linear reduced order model is built using the Eigensystem Realization Algorithm and used for the LQG design. The two control techniques show comparable performances when tested at their design condition. However, when tested off-design the LQG compensator shows a stronger sensitivity to model variations. If the free-stream velocity is changed, the LQG regulator estimates a wrong phase information of the incoming disturbance resulting in a less effective control action. The FXLMS compensator, instead, is capable to adapt to the new condition and prescribe the correct phase information with no significant performance loss.

  4. Adaptive fuzzy neural network control design via a T-S fuzzy model for a robot manipulator including actuator dynamics.

    PubMed

    Wai, Rong-Jong; Yang, Zhi-Wei

    2008-10-01

    This paper focuses on the development of adaptive fuzzy neural network control (AFNNC), including indirect and direct frameworks for an n-link robot manipulator, to achieve high-precision position tracking. In general, it is difficult to adopt a model-based design to achieve this control objective due to the uncertainties in practical applications, such as friction forces, external disturbances, and parameter variations. In order to cope with this problem, an indirect AFNNC (IAFNNC) scheme and a direct AFNNC (DAFNNC) strategy are investigated without the requirement of prior system information. In these model-free control topologies, a continuous-time Takagi-Sugeno (T-S) dynamic fuzzy model with online learning ability is constructed to represent the system dynamics of an n-link robot manipulator. In the IAFNNC, an FNN estimator is designed to tune the nonlinear dynamic function vector in fuzzy local models, and then, the estimative vector is used to indirectly develop a stable IAFNNC law. In the DAFNNC, an FNN controller is directly designed to imitate a predetermined model-based stabilizing control law, and then, the stable control performance can be achieved by only using joint position information. All the IAFNNC and DAFNNC laws and the corresponding adaptive tuning algorithms for FNN weights are established in the sense of Lyapunov stability analyses to ensure the stable control performance. Numerical simulations and experimental results of a two-link robot manipulator actuated by dc servomotors are given to verify the effectiveness and robustness of the proposed methodologies. In addition, the superiority of the proposed control schemes is indicated in comparison with proportional-differential control, fuzzy-model-based control, T-S-type FNN control, and robust neural fuzzy network control systems.

  5. Overall life cycle comprehensive assessment of pneumatic and electric actuator

    NASA Astrophysics Data System (ADS)

    Zhang, Yeming; Cai, Maolin

    2014-05-01

    Pneumatic actuators and electric actuators have almost been applied to all manufacturing industries. The two kinds of actuators can replace each other in most fields, such as the point to point transmission occasion and some rotating occasions. However, there are very few research results about the advantages and disadvantages of two kinds of actuators under the same working conditions so far. In this paper, a novel comprehensive assessment method, named as overall life cycle comprehensive assessment (OLCCA), is proposed for comparison and assessment of pneumatic and electric actuators. OLCCA contains mechanical properties evaluation (MPE), life cycle cost analysis based on users (LCCABOU) and life cycle environmental impact analysis (LCEIA) algorithm in order to solve three difficult problems: mechanical properties assessment, cost analysis and environmental impact assessment about actuators. The mechanical properties evaluation of actuators is a multi-objective optimization problem. The fuzzy data quantification and information entropy methods are combined to establish MPE algorithm of actuators. Two kinds of pneumatic actuators and electric actuators with similar bearing capacity and similar work stroke were taken for example to verify the correctness of MPE algorithm. The case study of MPE algorithm for actuators verified its correctness. LCCABOU for actuators is also set up. Considering cost complex structure of pneumatic actuators, public device cost even method (PDCEM) is firstly presented to solve cost division of public devices such as compressors, aftercooler, receivers, etc. LCCABOU method is also effective and verified by the three groups of pneumatic actuators and electric actuators. Finally, LCEIA model of actuators is established for the environmental impact assessment of actuators. LCEIA data collection method and model establishment procedure for actuators are also put forward. With Simapro 7, LCEIA comparison results of six actuators can be

  6. Iron K Lines from Accretion Disks: Models for Line Production and Spectroscopic Constraints

    NASA Technical Reports Server (NTRS)

    Kallman, Timothy; Palmeri, Patrick

    2004-01-01

    Measured profiles of the iron K lines provide important dynamical information about emitting matrial in compact objects. However, much of the modeling work which has been used to infer the location and origin of line observed from AGN and galactic black hole sources is based on highly simplified assumptions about the microphysics of K line emission. In particular, many of the intrinsic line energies, widths and emissivities are based on central-field atomic calculations. We present the results of new calculations of the quantities for the entire iron isonuclear sequence, and demonstrate that the intrinsic K line spectra contain considerably more complexity than has been previously considered. We also present calculations of iron K emission and absorption spectra which include the new data, including the local spectrum radiated from an X-ray illuminated accretion disk. The implications for the interpretation of observed iron K lines from black hole sources will be discussed.

  7. Final report : compliant thermo-mechanical MEMS actuators, LDRD #52553.

    SciTech Connect

    Walraven, Jeremy Allen; Baker, Michael Sean; Headley, Thomas Jeffrey; Plass, Richard Anton

    2004-12-01

    Thermal actuators have proven to be a robust actuation method in surface-micromachined MEMS processes. Their higher output force and lower input voltage make them an attractive alternative to more traditional electrostatic actuation methods. A predictive model of thermal actuator behavior has been developed and validated that can be used as a design tool to customize the performance of an actuator to a specific application. This tool has also been used to better understand thermal actuator reliability by comparing the maximum actuator temperature to the measured lifetime. Modeling thermal actuator behavior requires the use of two sequentially coupled models, the first to predict the temperature increase of the actuator due to the applied current and the second to model the mechanical response of the structure due to the increase in temperature. These two models have been developed using Matlab for the thermal response and ANSYS for the structural response. Both models have been shown to agree well with experimental data. In a parallel effort, the reliability and failure mechanisms of thermal actuators have been studied. Their response to electrical overstress and electrostatic discharge has been measured and a study has been performed to determine actuator lifetime at various temperatures and operating conditions. The results from this study have been used to determine a maximum reliable operating temperature that, when used in conjunction with the predictive model, enables us to design in reliability and customize the performance of an actuator at the design stage.

  8. Micromachined electrostatic vertical actuator

    DOEpatents

    Lee, Abraham P.; Sommargren, Gary E.; McConaghy, Charles F.; Krulevitch, Peter A.

    1999-10-19

    A micromachined vertical actuator utilizing a levitational force, such as in electrostatic comb drives, provides vertical actuation that is relatively linear in actuation for control, and can be readily combined with parallel plate capacitive position sensing for position control. The micromachined electrostatic vertical actuator provides accurate movement in the sub-micron to micron ranges which is desirable in the phase modulation instrument, such as optical phase shifting. For example, compact, inexpensive, and position controllable micromirrors utilizing an electrostatic vertical actuator can replace the large, expensive, and difficult-to-maintain piezoelectric actuators. A thirty pound piezoelectric actuator with corner cube reflectors, as utilized in a phase shifting diffraction interferometer can be replaced with a micromirror and a lens. For any very precise and small amplitudes of motion` micromachined electrostatic actuation may be used because it is the most compact in size, with low power consumption and has more straightforward sensing and control options.

  9. Three-dimensional deformation response of a NiTi shape memory helical-coil actuator during thermomechanical cycling: experimentally validated numerical model

    NASA Astrophysics Data System (ADS)

    Dhakal, B.; Nicholson, D. E.; Saleeb, A. F.; Padula, S. A., II; Vaidyanathan, R.

    2016-09-01

    Shape memory alloy (SMA) actuators often operate under a complex state of stress for an extended number of thermomechanical cycles in many aerospace and engineering applications. Hence, it becomes important to account for multi-axial stress states and deformation characteristics (which evolve with thermomechanical cycling) when calibrating any SMA model for implementation in large-scale simulation of actuators. To this end, the present work is focused on the experimental validation of an SMA model calibrated for the transient and cyclic evolutionary behavior of shape memory Ni49.9Ti50.1, for the actuation of axially loaded helical-coil springs. The approach requires both experimental and computational aspects to appropriately assess the thermomechanical response of these multi-dimensional structures. As such, an instrumented and controlled experimental setup was assembled to obtain temperature, torque, degree of twist and extension, while controlling end constraints during heating and cooling of an SMA spring under a constant externally applied axial load. The computational component assesses the capabilities of a general, multi-axial, SMA material-modeling framework, calibrated for Ni49.9Ti50.1 with regard to its usefulness in the simulation of SMA helical-coil spring actuators. Axial extension, being the primary response, was examined on an axially-loaded spring with multiple active coils. Two different conditions of end boundary constraint were investigated in both the numerical simulations as well as the validation experiments: Case (1) where the loading end is restrained against twist (and the resulting torque measured as the secondary response) and Case (2) where the loading end is free to twist (and the degree of twist measured as the secondary response). The present study focuses on the transient and evolutionary response associated with the initial isothermal loading and the subsequent thermal cycles under applied constant axial load. The experimental

  10. Mechanics of Actuated Disc Cutting

    NASA Astrophysics Data System (ADS)

    Dehkhoda, Sevda; Detournay, Emmanuel

    2017-02-01

    This paper investigates the mechanics of an actuated disc cutter with the objective of determining the average forces acting on the disc as a function of the parameters characterizing its motion. The specific problem considered is that of a disc cutter revolving off-centrically at constant angular velocity around a secondary axis rigidly attached to a cartridge, which is moving at constant velocity and undercutting rock at a constant depth. This model represents an idealization of a technology that has been implemented in a number of hard rock mechanical excavators with the goal of reducing the average thrust force to be provided by the excavation equipment. By assuming perfect conformance of the rock with the actuated disc as well as a prescribed motion of the disc (perfectly rigid machine), the evolution of the contact surface between the disc and the rock during one actuation of the disc can be computed. Coupled with simple cutter/rock interaction models that embody either a ductile or a brittle mode of fragmentation, these kinematical considerations lead to an estimate of the average force on the cartridge and of the partitioning of the energy imparted by the disc to the rock between the actuation mechanism of the disc and the translation of the cartridge on which the actuated disc is attached.

  11. Observations and modelling of line intensity ratios of OV multiplet lines for ? - ?

    NASA Astrophysics Data System (ADS)

    Kato, T.; Rachlew-Källne, E.; Hörling, P.; Zastrow, K.-D.

    1996-09-01

    Line intensity ratios of OV multiplet lines for the 0953-4075/29/18/019/img3 (J = 2,1,0) transitions are studied using a collisional radiative model and the results are compared with measurements from the reversed field pinch experiments Extrap T1 and T2 at KTH. The measured line intensity ratios deviate from the predictions of the model and the possible causes for the discrepancy are discussed with regard to errors in rate coefficients and non-quasi-steady state.

  12. Electromagnetic rotational actuation.

    SciTech Connect

    Hogan, Alexander Lee

    2010-08-01

    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.

  13. Refreshable Braille Displays Using EAP Actuators

    NASA Technical Reports Server (NTRS)

    Bar-Cohen, Yoseph

    2010-01-01

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

  14. Refreshable Braille displays using EAP actuators

    NASA Astrophysics Data System (ADS)

    Bar-Cohen, Yoseph

    2010-04-01

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

  15. Energy-based quasi-static modeling of the actuation and sensing behavior of single-crystal iron-gallium alloys

    NASA Astrophysics Data System (ADS)

    Atulasima, Jayasimha; Flatau, Alison B.; Cullen, James R.

    2008-01-01

    An energy based model [W. D. Armstrong, J. Appl. Phys. 81, 2321 (1997); J. Atulasimha, Ph.D. thesis, Aerospace Engineering, University of Maryland, College Park, MD, 2006] is employed to predict the actuation (λ -H and B -H at various compressive stresses) and sensing behavior (B -σ and ɛ -σ at various bias fields) of single-crystal FeGa alloys. The significant feature of this formulation is that, in addition to modeling actuation behavior, the sensing behavior can be predicted based on parameters estimated from the actuator characteristics. These predictions are then validated against experimental data for furnace cooled 19 at. % [100] oriented single-crystal FeGa alloys. Furthermore, an attempt is made to couple the energy-based sensing model with a lumped-parameter model that simulates the magnetic interaction between the magnetostrictive specimen and the magnetic circuit comprising the transducer. This enables a prediction of the variation in field through the sample due to changes in reluctance of the magnetostrictive sample with stress, as well as the impact of this variation in field on the B -σ and ɛ -σ curves. These predictions are benchmarked against experimental data, wherein the bias field varies due to change in sample reluctance with application of compressive stress while the drive current to the transducer is maintained constant.

  16. An experimental and modeling investigation of the external strain, internal stress and fiber phase transformation behavior of a NiTi actuated aluminum metal matrix composite

    SciTech Connect

    Armstrong, W.D.; Lorentzen, T.; Broendsted, P.; Larsen, P.H.

    1998-06-12

    The present work reports macroscopic thermal mechanical and in-situ neutron diffraction measurements from 22.9 vol. %, 50.7 at. % Ni-Ti fiber actuated 6082-T6 aluminum matrix composite and 6082-T6 homogeneous aluminum control materials subjected to a room temperature 4% tensile elongation, a subsequent room temperature to 120 C unconstrained heating process, and a final 120 C tensile process. During the unconstrained room temperature to 120 C heating process, the composite exhibited a pronounced, non linear thermal contraction, while the homogeneous control exhibited the expected linear thermal expansion. The composite thermal contraction was clearly the result of a powerful shape memory response in the actuating NiTi fibers. The paper further presents a one-dimensional thermal strain, internal stress and fiber phase transformation composite model. Model parameters were identified from tests on extracted single fibers, calculations using these parameters quantitatively agree with experimental thermal mechanical and neutron diffraction measurements.

  17. Active vibration control using DEAP actuators

    NASA Astrophysics Data System (ADS)

    Sarban, Rahimullah; Jones, Richard W.

    2010-04-01

    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.

  18. Using Quartile-Quartile Lines as Linear Models

    ERIC Educational Resources Information Center

    Gordon, Sheldon P.

    2015-01-01

    This article introduces the notion of the quartile-quartile line as an alternative to the regression line and the median-median line to produce a linear model based on a set of data. It is based on using the first and third quartiles of a set of (x, y) data. Dynamic spreadsheets are used as exploratory tools to compare the different approaches and…

  19. Pneumatic Variable Series Elastic Actuator.

    PubMed

    Zheng, Hao; Wu, Molei; Shen, Xiangrong

    2016-08-01

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

  20. 35 Hz shape memory alloy actuator with bending-twisting mode

    PubMed Central

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

    2016-01-01

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

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

    PubMed

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

    2016-02-19

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

  2. Bimorphic polymeric photomechanical actuator

    NASA Technical Reports Server (NTRS)

    Sarkisov, Sergey S. (Inventor); Curley, Michael J. (Inventor); Adamovsky, Grigory (Inventor); Sarkisov, Jr., Sergey S. (Inventor); Fields, Aisha B. (Inventor)

    2006-01-01

    A bimorphic polymeric photomechanical actuator, in one embodiment using polyvinylidene fluoride (PVDF) as a photosensitive body, transmitting light over fiber optic cables, and controlling the shape and pulse duration of the light pulse to control movement of the actuator. Multiple light beams are utilized to generate different ranges of motion for the actuator from a single photomechanical body and alternative designs use multiple light beams and multiple photomechanical bodies to provide controlled movement. Actuator movement using one or more ranges of motion is utilized to control motion to position an actuating element in three dimensional space.

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

    PubMed Central

    Tutunji, Tarek A.; Saleem, Ashraf

    2015-01-01

    Mechatronic systems are fully-integrated engineering systems that are composed of mechanical, electronic, and computer control sub-systems. These integrated systems use electro-mechanical actuators to cause the required motion. Therefore, the design of appropriate controllers for these actuators are an essential step in mechatronic system design. In this paper, a three-stage methodology for real-time identification and control of electro-mechanical actuator plants is presented, tested, and validated. First, identification models are constructed from experimental data to approximate the plants’ response. Second, the identified model is used in a simulation environment for the purpose of designing a suitable controller. Finally, the designed controller is applied and tested on the real plant through Hardware-in-the-Loop (HIL) environment. The described three-stage methodology provides the following practical contributions: • Establishes an easy-to-follow methodology for controller design of electro-mechanical actuators. • Combines off-line and on-line controller design for practical performance. • Modifies the HIL concept by using physical plants with computer control (rather than virtual plants with physical controllers). Simulated and experimental results for two case studies, induction motor and vehicle drive system, are presented in order to validate the proposed methodology. These results showed that electromechanical actuators can be identified and controlled using an easy-to-duplicate and flexible procedure. PMID:26150992

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

    PubMed

    Tutunji, Tarek A; Saleem, Ashraf

    2015-01-01

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

  5. Thermohydraulic modelling of a transfer line for continuous flow cryostats

    NASA Astrophysics Data System (ADS)

    Dittmar, N.; Weisemann, A.; Haberstroh, Ch; Hesse, U.; Krzyzowski, M.

    2017-02-01

    Continuous flow cryostats have to be steadily supplied with the cryogenic cooling agent, e.g. liquid helium (LHe) via a transfer line. The overall setup has to be characterised by a low consumption of the cryogen, determined not only by the cryostat design, but also by the transfer line design. In order to improve the transfer line’s performance, i.e. reducing the evaporation losses a thermohydraulic model has been developed to evaluate different transfer line designs. The presented model is validated by experimental data achieved with a transfer line equipped with built-in pressure sensors. This transfer line has been designed in order to examine the related frictional pressure drop. The developed model allows to examine the impact of the hydraulic and the insulation design on the resulting evaporation losses.

  6. Implementation of a generalized actuator disk wind turbine model into the weather research and forecasting model for large-eddy simulation applications

    SciTech Connect

    Mirocha, J. D.; Kosovic, B.; Aitken, M. L.; Lundquist, J. K.

    2014-01-10

    A generalized actuator disk (GAD) wind turbine parameterization designed for large-eddy simulation (LES) applications was implemented into the Weather Research and Forecasting (WRF) model. WRF-LES with the GAD model enables numerical investigation of the effects of an operating wind turbine on and interactions with a broad range of atmospheric boundary layer phenomena. Numerical simulations using WRF-LES with the GAD model were compared with measurements obtained from the Turbine Wake and Inflow Characterization Study (TWICS-2011), the goal of which was to measure both the inflow to and wake from a 2.3-MW wind turbine. Data from a meteorological tower and two light-detection and ranging (lidar) systems, one vertically profiling and another operated over a variety of scanning modes, were utilized to obtain forcing for the simulations, and to evaluate characteristics of the simulated wakes. Simulations produced wakes with physically consistent rotation and velocity deficits. Two surface heat flux values of 20 W m–2 and 100 W m–2 were used to examine the sensitivity of the simulated wakes to convective instability. Simulations using the smaller heat flux values showed good agreement with wake deficits observed during TWICS-2011, whereas those using the larger value showed enhanced spreading and more-rapid attenuation. This study demonstrates the utility of actuator models implemented within atmospheric LES to address a range of atmospheric science and engineering applications. In conclusion, validated implementation of the GAD in a numerical weather prediction code such as WRF will enable a wide range of studies related to the interaction of wind turbines with the atmosphere and surface.

  7. SMA actuators for morphing wings

    NASA Astrophysics Data System (ADS)

    Brailovski, V.; Terriault, P.; Georges, T.; Coutu, D.

    An experimental morphing laminar wing was developed to prove the feasibility of aircraft fuel consumption reduction through enhancement of the laminar flow regime over the wing extrados. The morphing wing prototype designed for subsonic cruise flight conditions (Mach 0.2 … 0.3; angle of attack - 1 … +2∘), combines three principal subsystems: (1) flexible extrados, (2) rigid intrados and (3) an actuator group located inside the wing box. The morphing capability of the wing relies on controlled deformation of the wing extrados under the action of shape memory alloys (SMA) actuators. A coupled fluid-structure model of the morphing wing was used to evaluate its mechanical and aerodynamic performances in different flight conditions. A 0.5 m chord and 1 m span prototype of the morphing wing was tested in a subsonic wind tunnel. In this work, SMA actuators for morphing wings were modeled using a coupled thermo-mechanical finite element model and they were windtunnel validated. If the thermo-mechanical model of SMA actuators presented in this work is coupled with the previously developed structureaerodynamic model of the morphing wing, it could serve for the optimization of the entire morphing wing system.

  8. On-Line Distance Learning: A Model for Developing Countries.

    ERIC Educational Resources Information Center

    Khan, Abdul W.

    2000-01-01

    Discusses issues related to open and distance-learning (ODL) in developing countries, using the virtual campus initiative of the Indira Gandhi National Open University (India) as an example and model of on-line program delivery and on-line, for-profit telelearning centers. Suggests strategies to enable open and distance-learning institutions to…

  9. Development of Design Tools for Flow-Control Actuators

    NASA Technical Reports Server (NTRS)

    Mathew, Jose; Gallas, Quentin; Cattafesta, Louis N., III

    2003-01-01

    This report discusses the: 1. Development coupled electro/fluid/structural lumped-element model (LEM) of a prototypical flow-control actuator. 2. Validation the coupled electro/fluid/structural dynamics lumped-element models. 3. Development simple, yet effective, design tools for actuators. 4. Development structural dynamic models that accurately characterize the dynamic response of piezoelectric flap actuators using the Finite Element Method (FEW as well as analytical methods. 5. Perform a parametric study of a piezo-composite flap actuator. 6.Develop an optimization scheme for maximizing the actuator performance.

  10. Community-LINE Source Model (C-LINE) to estimate roadway emissions

    EPA Pesticide Factsheets

    C-LINE is a web-based model that estimates emissions and dispersion of toxic air pollutants for roadways in the U.S. This reduced-form air quality model examines what-if scenarios for changes in emissions such as traffic volume fleet mix and vehicle speed.

  11. Modeling of dielectric barrier discharge plasma actuators driven by repetitive nanosecond pulses

    SciTech Connect

    Likhanskii, Alexandre V.; Shneider, Mikhail N.; Macheret, Sergey O.; Miles, Richard B.

    2007-07-15

    A detailed physical model for an asymmetric dielectric barrier discharge (DBD) in air driven by repetitive nanosecond voltage pulses is developed. In particular, modeling of DBD with high voltage repetitive negative and positive nanosecond pulses combined with positive dc bias is carried out. Operation at high voltage is compared with operation at low voltage, highlighting the advantage of high voltages, however the effect of backward-directed breakdown in the case of negative pulses results in a decrease of the integral momentum transferred to the gas. The use of positive repetitive pulses with dc bias is demonstrated to be promising for DBD performance improvement. The effects of the voltage waveform not only on force magnitude, but also on the spatial profile of the force, are shown. The crucial role of background photoionization in numerical modeling of ionization waves (streamers) in DBD plasmas is demonstrated.

  12. Sequential growth and monitoring of a polypyrrole actuator system

    NASA Astrophysics Data System (ADS)

    Sarrazin, J. C.; Mascaro, Stephen A.

    2014-03-01

    Electroactive polymers (EAPs) have emerged as viable materials in sensing and actuating applications, but the capability to mimic the structure and function of natural muscle is increased due to their ability to permit additional, sequential synthesis steps between stages of actuation. Current work is improving upon the mechanical performance in terms of achievable stresses, strains, and strain rates, but issues still remain with actuator lifetime and adaptability. This work seeks to create a bioinspired polymer actuation system that can be monitored using state estimation and adjusted in vivo during operation. The novel, time-saving process of sequential growth was applied to polymer actuator systems for the initial growth, as well as additional growth steps after actuation cycles. Synthesis of conducting polymers on a helical metal electrode directs polymer shape change during actuation, assists in charge distribution along the polymer for actuation, and as is described in this work, constructs a constant working electrode/polymer connection during operation which allows sequential polymer growth based on a performance need. The polymer system is monitored by means of a reduced-order, state estimation model that works between growth and actuation cycles. In this case, actuator stress is improved between growth cycles. The ability for additional synthesis of the polymer actuator not only creates an actuator system that can be optimized based on demand, but creates a dynamic actuator system that more closely mimics natural muscle capability.

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

    PubMed

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

    2016-01-27

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

  14. Neuronal cell lines as model dorsal root ganglion neurons

    PubMed Central

    Yin, Kathleen; Baillie, Gregory J

    2016-01-01

    Background Dorsal root ganglion neuron-derived immortal cell lines including ND7/23 and F-11 cells have been used extensively as in vitro model systems of native peripheral sensory neurons. However, while it is clear that some sensory neuron-specific receptors and ion channels are present in these cell lines, a systematic comparison of the molecular targets expressed by these cell lines with those expressed in intact peripheral neurons is lacking. Results In this study, we examined the expression of RNA transcripts in the human neuroblastoma-derived cell line, SH-SY5Y, and two dorsal root ganglion hybridoma cell lines, F-11 and ND7/23, using Illumina next-generation sequencing, and compared the results with native whole murine dorsal root ganglions. The gene expression profiles of these three cell lines did not resemble any specific defined dorsal root ganglion subclass. The cell lines lacked many markers for nociceptive sensory neurons, such as the Transient receptor potential V1 gene, but expressed markers for both myelinated and unmyelinated neurons. Global gene ontology analysis on whole dorsal root ganglions and cell lines showed similar enrichment of biological process terms across all samples. Conclusions This paper provides insights into the receptor repertoire expressed in common dorsal root ganglion neuron-derived cell lines compared with whole murine dorsal root ganglions, and illustrates the limits and potentials of these cell lines as tools for neuropharmacological exploration. PMID:27130590

  15. Modeling drug release from functionalized magnetic nanoparticles actuated by non-heating low frequency magnetic field

    NASA Astrophysics Data System (ADS)

    Golovin, Y.; Golovin, D.; Klyachko, N.; Majouga, A.; Kabanov, A.

    2017-02-01

    Various plausible acceleration mechanisms of drug release from nanocarriers composed of a single-domain magnetic nanoparticle core with attached long macromolecule chains activated by low frequency non-heating alternating magnetic field (AMF) are discussed. The most important system characteristics affecting the AMF exposure impact are determined. Impact of several reasonable mechanisms is estimated analytically or obtained using numerical modeling. Some conditions providing manifold release acceleration as a result from exposure in AMF are found.

  16. Active noise control - Piezoceramic actuators in fluid/structure interaction models

    NASA Technical Reports Server (NTRS)

    Banks, H. T.; Fang, W.; Smith, R. C.

    1991-01-01

    A model for a 2-D acoustic cavity with a flexible boundary (a beam) controlled via piezoceramic patches producing bending moments in the beam is considered. The associated control problem for this fluid/structure interaction system to reduce the acoustic pressure in the cavity involves unbounded control inputs. Approximation methods in the context of an LQR state space formulation are discussed, and numerical results are presented to demonstrate the effectiveness of this approach in computing feedback controls for noise reduction.

  17. A fast hidden line algorithm for plotting finite element models

    NASA Technical Reports Server (NTRS)

    Jones, G. K.

    1982-01-01

    Effective plotting of finite element models requires the use of fast hidden line plot techniques that provide interactive response. A high speed hidden line technique was developed to facilitate the plotting of NASTRAN finite element models. Based on testing using 14 different models, the new hidden line algorithm (JONES-D) appears to be very fast: its speed equals that for normal (all lines visible) plotting and when compared to other existing methods it appears to be substantially faster. It also appears to be very reliable: no plot errors were observed using the new method to plot NASTRAN models. The new algorithm was made part of the NPLOT NASTRAN plot package and was used by structural analysts for normal production tasks.

  18. Active flow control on a NACA 23012 airfoil model by means of magnetohydrodynamic plasma actuator

    NASA Astrophysics Data System (ADS)

    Kazanskiy, P. N.; Moralev, I. A.; Bityurin, V. A.; Efimov, A. V.

    2016-11-01

    The paper is devoted to the study of high speed flow control around the airfoil by means of the Lorentz force. The latter is formed by creating the pulsed arc filament, moving in the magnetic field along the upper airfoil surface. The research was performed for the NACA23012 airfoil model at flow velocities up to 60 m/s (134 mph). The dynamic measurement of the aerodynamic forces on the airfoil was made. Changes up to 5% in an average value of lift and pitching moment were obtained at pulse repetition frequency up to 13 Hz and average discharge power less than 200 W. The amplitude of lift force oscillation was obtained as high as 10%, with the integration time of the balance 30 ms. The dynamic flow visualization of an airfoil model after a single discharge ignition was performed. It is shown that interaction of the main flow with the arc-induced disturbance leads to the dramatic changes in the flow structure. It was shown that the upstream movement of the arc channel (I = 40-700 A) leads to the local flow separation and simultaneously to the formation of a high pressure region above the model surface. Current paper presents investigation of previous work.

  19. Propagation of microwaves in gradient transmission lines: exactly solvable model

    NASA Astrophysics Data System (ADS)

    Shvartsburg, A. B.; Silin, N. V.

    2015-08-01

    Propagation of microwaves along the transmission line with smoothly continuously distributed capacitance and inductance (gradient transmission line) is considered in the framework of an exactly solvable model. The appearance of strong heterogeneity-induced plasma-like dispersion in gradient transmission line determined by the sizes and shapes of these distributions, is visualized by means of this model. Owing to this dispersion the energy transport in the line discussed can be ensured by both travelling and evanescent microwave modes, characterized by the real and imaginary wave numbers, respectively. The reflectance spectra for microwaves, incident on this heterogeneous transition section located between two homogeneous sections of transmission line are presented, the antireflection properties of this section are demonstrated. The interference of evanescent and anti-evanescent microwave modes is shown to provide the effective weakly attenuated energy transfer in the tunneling regime. The analogy between this microwave system and gradient nano-optical photonic barrier in revealed.

  20. Propagation models for non line-of-sight scenarios

    NASA Astrophysics Data System (ADS)

    Tasu, A. S.; Anchidin, L.; Tamas, R.; Petrescu, T.

    2016-12-01

    The log-normal propagation model is usually applied for scenarios including a line-of-sight path. However, there are many cases that do not include such a propagation path, e.g. indoor transmission and disaster situations, when radio waves have to penetrate trough ruins. In this paper, we show that the log-normal model can also be applied for non line-of-sight transmission. Both indoor scenario and trough-ruins scenario, are investigated.

  1. Variable stiffness actuated prosthetic knee to restore knee buckling during stance: a modeling study.

    PubMed

    Wentink, E C; Koopman, H F J M; Stramigioli, S; Rietman, J S; Veltink, P H

    2013-06-01

    Most modern intelligent knee prosthesis use dampers to modulate dynamic behavior and prevent excessive knee flexion, but they dissipate energy and do not assist in knee extension. Energy efficient variable stiffness control (VSA) can reduce the energy consumption yet effectively modulate the dynamic behavior and use stored energy during flexion to assist in subsequent extension. A principle design of energy efficient VSA in a prosthetic knee is proposed and analyzed for the specific case of rejection of a disturbed stance phase. The concept is based on the principle that the output stiffness of a spring can be changed without changing the energy stored in the elastic elements of the spring. The usability of this concept to control a prosthetic knee is evaluated using a model. Part of the stance phase of the human leg was modeled by a double pendulum. Specifically the rejection of a common disturbance of transfemoral prosthetic gait, an unlocked knee at heel strike, was evaluated. The ranges of spring stiffnesses were determined such that the angular characteristics of a normal stance phase were preserved, but disturbances could also be rejected. The simulations predicted that energy efficient VSA can be useful for the control of prosthetic knees.

  2. Genetic Algorithm Approaches for Actuator Placement

    NASA Technical Reports Server (NTRS)

    Crossley, William A.

    2000-01-01

    This research investigated genetic algorithm approaches for smart actuator placement to provide aircraft maneuverability without requiring hinged flaps or other control surfaces. The effort supported goals of the Multidisciplinary Design Optimization focus efforts in NASA's Aircraft au program. This work helped to properly identify various aspects of the genetic algorithm operators and parameters that allow for placement of discrete control actuators/effectors. An improved problem definition, including better definition of the objective function and constraints, resulted from this research effort. The work conducted for this research used a geometrically simple wing model; however, an increasing number of potential actuator placement locations were incorporated to illustrate the ability of the GA to determine promising actuator placement arrangements. This effort's major result is a useful genetic algorithm-based approach to assist in the discrete actuator/effector placement problem.

  3. Multiple Model Adaptive Estimation Applied to the Vista F-16 with Actuator and Sensor Failures. Volume 2

    DTIC Science & Technology

    1992-06-01

    l,kj)-Tenpl/((tiaelagl/tsamp)-1.) DO Iii-irix(timelagl/tsaapbIFIX(tiaelag2/tsaap)-l Templ-Tenpl~probs( kid ,kj) END DO Meanprob( 2, kj ) Teapl...representing a fourth order * C * actuator C C * Porn : O(t) TPA * C --- a--------------------------------------------- C * 1(t) S^4 *TPBS^3 +TPCS𔃼

  4. Computational Fluid Dynamics for the Aerodynamic Design and Modeling of a Ram-Air Parachute with Bleed-Air Actuators

    DTIC Science & Technology

    2015-01-05

    canopies , often referred to as parafoils. No numerical studies, however, have fully investigated the 3-D aerodynamic performance of these bleed-air actuators...Simulation results are presented for a finite span, ram-air canopy geometry and several configurations amenable for comparison with wind tunnel

  5. Real line strength distributions for random band models

    NASA Technical Reports Server (NTRS)

    Kim, S. J.; Caldwell, J.

    1983-01-01

    An improved random band-model method, which makes allowance for the real line-strength distribution, is proposed. The model is shown to be useful for low-resolution, infrared observational data of the outer solar system. The method can be used as easily as conventional random band calculations. In the illustrative examples cited here, the variation of line width with J, the rotational quantum number, is small. Other effects which can, in principle, cause the model to deviate from laboratory observations are discussed. These include the assumption that line positions are random, ignoring the effects of the Lorentz wings of lines immediately outside the specific interval for which the mean transmission is calculated, and ignoring the effects of instrumental slit functions.

  6. Performance Enhancement of a Vertical Tail Model with Sweeping Jet Actuators

    NASA Technical Reports Server (NTRS)

    Seele, Roman; Graff, Emilio; Lin, John; Wygnanski, Israel

    2013-01-01

    Active Flow Control (AFC) experiments performed at the Caltech Lucas Adaptive Wall Wind Tunnel on a 12%-thick, generic vertical tail model indicated that sweeping jets emanating from the trailing edge (TE) of the vertical stabilizer significantly increased the side force coefficient for a wide range of rudder deflection angles and yaw angles at free-stream velocities approaching takeoff rotation speed. The results indicated that 2% blowing momentum coefficient (C(sub mu) increased the side force in excess of 50% at the maximum conventional rudder deflection angle in the absence of yaw. Even C(sub mu) = 0.5% increased the side force in excess of 20% under these conditions. This effort was sponsored by the NASA Environmentally Responsible Aviation (ERA) project and the successful demonstration of this flow-control application could have far reaching implications. It could lead to effective applications of AFC technologies on key aircraft control surfaces and lift enhancing devices (flaps) that would aid in reduction of fuel consumption through a decrease in size and weight of wings and control surfaces or a reduction of the noise footprint due to steeper climb and descent.

  7. Line-by-line radiative transfer model for infrared spectrum of AERI

    NASA Astrophysics Data System (ADS)

    Lee, Kwang-Mog; Park, Joong-Hyun; Ahn, Myoung-Hwan; Ou, Mi-Lim; Kim, Yoonjae

    2012-05-01

    Infrared radiance spectra measured in space or on the ground have been used for many applications, such as the retrieval of atmospheric temperature and humidity profiles. The Korean Meteorological Administration (KMA) recently installed an Atmospheric Emitted Radiance Interferometer (AERI) system at the Korea Global Atmosphere Watch Center (36°32'N, 125°19'E) in Anmyondo to measure the downward radiance spectra on the ground. For further utilization of such interferometeric radiance measurements, an accurate line-by-line radiative transfer model is required. This study introduces a line-by-line radiative transfer model developed at Kyungpook National University (KNU_LBL) and presents comparisons of spectra simulated using the KNU_LBL model and measured by the AERI system, that is installed inside a secure container. When compared with the Atmospheric and Environmental Research (AER) radiative transfer codes, the KNU_LBL model provides nearly identical spectra for various model atmospheres. The simulated spectra are also in good agreement with the AERI spectra for clear sky conditions, and a further improvement is made when taking into account of the emissions and absorption by CO2 and H2O for the light path inside the container, even though the path is short.

  8. Line-broadened quasilinear burst model

    SciTech Connect

    Berk, H.L.; Breizman, B.N.; Wong, H.V.; Fitzpatrick, J.

    1995-07-01

    A quasilinear model is developed to produce realistic self-consistent saturation levels when modes do not overlap, and give self-consistent diffusion and wave evolution when modes do overlap. Both regimes give steady or pulsating behavior in weakly driven systems with classical relaxation and background dissipation present. An avalanche response is demonstrated: wave momentum release caused by the overlap of closely spaced modes can produce mode overlap of more widely spaced modes (a domino effect) or the growth of modes which would be stable in systems unaffected by the closely-spaced modes` diffusion. Detailed analysis and calculations are performed for the bump-on-tail instability, and extension of the method to more general problems is briefly discussed.

  9. MEMS fluidic actuator

    DOEpatents

    Kholwadwala, Deepesh K.; Johnston, Gabriel A.; Rohrer, Brandon R.; Galambos, Paul C.; Okandan, Murat

    2007-07-24

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

  10. Series elastic actuators

    NASA Astrophysics Data System (ADS)

    Williamson, Matthew M.

    1995-01-01

    This thesis presents the design, construction, control and evaluation of a novel for controlled actuator. Traditional force controlled actuators are designed from the premise that 'Stiffer is better'. This approach gives a high bandwidth system, prone to problems of contact instability, noise, and low power density. The actuator presented in this thesis is designed from the premise that 'Stiffness isn't everything'. The actuator, which incorporates a series elastic element, trades off achievable bandwidth for gains in stable, low noise force control, and protection against shock loads. This thesis reviews related work in robot force control, presents theoretical descriptions of the control and expected performance from a series elastic actuator, and describes the design of a test actuator constructed to gather performance data. Finally the performance of the system is evaluated by comparing the performance data to theoretical predictions.

  11. Effective Actuation: High Bandwidth Actuators and Actuator Scaling Laws

    DTIC Science & Technology

    2007-11-02

    5c. PROGRAM ELEMENT NUMBER I-ioh Bandwidth Actiintorv and Actuator 9clinp Iaw-, 65502F 6. AUTHOR(S) 5d. PROJECT NUMBER A. B. Cain, G. R. Raman , and E...of possible applications include the high frequency excitation for supprc~sion of flow induced resonance in weapons bay cavities (see Raman et al...systems. Adaptive high bandwidth actuators are required to adapt to changes in flow speed and conditions during flight. Raman et al. (2000) and Stanek et

  12. Hydraulic Actuator Project

    DTIC Science & Technology

    2003-11-01

    Hydraulic Actuator Project Stakeholder meeting held 7- 8 October in Los Angeles; 58 attendees representing aircraft and actuator OEMs, seal...PERFORMING ORGANIZATION NAME(S) AND ADDRESS(ES) Naval Research Laboratory,4555 Overlook Ave., SW ,Washington,DC,20375 8 . PERFORMING ORGANIZATION REPORT...unclassified c. THIS PAGE unclassified Standard Form 298 (Rev. 8 -98) Prescribed by ANSI Std Z39-18 Actuator JTP: Coupon Testing Substrate

  13. Remote switch actuator

    DOEpatents

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

    2013-01-29

    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.

  14. Electrostatically Driven Nanoballoon Actuator.

    PubMed

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

    2016-11-09

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

  15. Multikanban model for disassembly line with demand fluctuation

    NASA Astrophysics Data System (ADS)

    Udomsawat, Gun; Gupta, Surendra M.; Al-Turki, Yousef A. Y.

    2004-02-01

    In recent years, the continuous growth in consumer waste and dwindling natural resources has seriously threatened the environment. Realizing this, several countries have passed regulations that force manufacturers not only to manufacture environmentally conscious products, but also to take back their used products from consumers so that the components and materials recovered from the products may be reused and/or recycled. Disassembly plays an important role in product recovery. A disassembly line is perhaps the most suitable setting for disassembly of products in large quantities. Because a disassembly line has a tendency to generate excessive inventory, employing a kanban system can reduce the inventory level and let the system run more efficiently. A disassembly line is quite different from an assembly line. For example, not only can the demand arrive at the last station, it can also arrive at any of the other stations in the system. The demand for a component on the disassembly line could fluctuate widely. In fact, there are many other complicating matters that need to be considered to implement the concept of kanbans in such an environment. In this paper, we discuss the complications that are unique to a disassembly line. We discuss the complications in utilizing the conventional production control mechanisms in a disassembly line setting. We then show how to overcome them by implementing kanbans in a disassembly line setting with demand fluctuation and introduce the concept of multi-kanban mechanism. We demonstrate its effectiveness using a simulation model. An example is presented to illustrate the concept.

  16. Modeling of Line Shapes using Continuous Time Random Walk Theory

    NASA Astrophysics Data System (ADS)

    Capes, H.; Christova, M.; Boland, D.; Bouzaher, A.; Catoire, F.; Godbert-Mouret, L.; Koubiti, M.; Mekkaoui, S.; Rosato, J.; Marandet, Y.; Stamm, R.

    2010-11-01

    In order to provide a general framework where the Stark broadening of atomic lines in plasmas can be calculated, we model the plasma stochastic electric field by using the CTRW approach [1,2]. This allows retaining non Markovian terms in the Schrödinger equation averaged over the electric field fluctuations. As an application we consider a special case of a non separable CTRW process, the so called Kangaroo process [3]. An analytic expression for the line profile is finally obtained for arbitrary waiting time distribution functions. An application to the hydrogen Lyman α line is discussed.

  17. Duelling winds: a model for broad-line regions.

    NASA Astrophysics Data System (ADS)

    Smith, M. D.; Raine, D. J.

    A model for broad-line regions in active galactic nuclei is discussed. When the X-ray flux from a galactic nucleus Compton-heats an accretion disc a large amount of hot gas can be released in the form of a wind. This material becomes entrained into a wind blowing from the nucleus. Provided the ram pressure of the nuclear wind exceeds that of the disc wind, it will collapse into clouds. The nuclear wind accelerates small clouds to higher velocities, corresponding to observed line widths. Large clouds fall inwards. Cloud sizes, line asymmetries and variability characteristics are determined.

  18. Using a business practice model to control product line costs.

    PubMed

    Farr, Ronald J; Senn, Girard F; Whitten, Catherine M

    2006-08-01

    Faced with a downward turn in its total joint replacement product line, Avera McKennan Hospital was able to avert further decline and save dollar 500,000 annually by: Reviewing and analyzing the product line's past performance. Developing a business model to govern its new implant supply process. Obtaining physician buy-in. Ensuring vendor compliance with its new contracts. Developing a role as business partner with its orthopedic surgeons.

  19. Attachment-line Baseline Model In 20' Supersonic Wind Tunne

    NASA Technical Reports Server (NTRS)

    1995-01-01

    This is the baseline attachment-line model mounted in the 20' supersonic wind tunnel. The tunnel flow is used to approximate an aircraft fuselage with a turbulent boundary layer. Follow-on models will include fairings to improve the flow in the juncture region between the wing and fuselage.

  20. Comparison of Transmission Line Methods for Surface Acoustic Wave Modeling

    NASA Technical Reports Server (NTRS)

    Wilson, William; Atkinson, Gary

    2009-01-01

    Surface Acoustic Wave (SAW) technology is low cost, rugged, lightweight, extremely low power and can be used to develop passive wireless sensors. For these reasons, NASA is investigating the use of SAW technology for Integrated Vehicle Health Monitoring (IVHM) of aerospace structures. To facilitate rapid prototyping of passive SAW sensors for aerospace applications, SAW models have been developed. This paper reports on the comparison of three methods of modeling SAWs. The three models are the Impulse Response Method (a first order model), and two second order matrix methods; the conventional matrix approach, and a modified matrix approach that is extended to include internal finger reflections. The second order models are based upon matrices that were originally developed for analyzing microwave circuits using transmission line theory. Results from the models are presented with measured data from devices. Keywords: Surface Acoustic Wave, SAW, transmission line models, Impulse Response Method.

  1. Coupling the Weather Research and Forecasting (WRF) model and Large Eddy Simulations with Actuator Disk Model: predictions of wind farm power production

    NASA Astrophysics Data System (ADS)

    Garcia Cartagena, Edgardo Javier; Santoni, Christian; Ciri, Umberto; Iungo, Giacomo Valerio; Leonardi, Stefano

    2015-11-01

    A large-scale wind farm operating under realistic atmospheric conditions is studied by coupling a meso-scale and micro-scale models. For this purpose, the Weather Research and Forecasting model (WRF) is coupled with an in-house LES solver for wind farms. The code is based on a finite difference scheme, with a Runge-Kutta, fractional step and the Actuator Disk Model. The WRF model has been configured using seven one-way nested domains where the child domain has a mesh size one third of its parent domain. A horizontal resolution of 70 m is used in the innermost domain. A section from the smallest and finest nested domain, 7.5 diameters upwind of the wind farm is used as inlet boundary condition for the LES code. The wind farm consists in six-turbines aligned with the mean wind direction and streamwise spacing of 10 rotor diameters, (D), and 2.75D in the spanwise direction. Three simulations were performed by varying the velocity fluctuations at the inlet: random perturbations, precursor simulation, and recycling perturbation method. Results are compared with a simulation on the same wind farm with an ideal uniform wind speed to assess the importance of the time varying incoming wind velocity. Numerical simulations were performed at TACC (Grant CTS070066). This work was supported by NSF, (Grant IIA-1243482 WINDINSPIRE).

  2. Shoreline Change Modeling Using One- Line Models: General Model Comparison and Literature Review

    DTIC Science & Technology

    2013-12-01

    long term shoreline evolution primarily using (1) measurement and analysis of historical shoreline position, (2) models based on the conservation of...sand volume equation (one-line models), (3) coastal morphodynamics models, and (4) physical models (Dean and Dalrymple 2002). Statistical analysis of...not well suited to the large spatial and temporal scales over which beaches evolve. Physical models (method 4) are well suited to local analysis but

  3. Modeling, fabrication and plasma actuator coupling of flexible pressure sensors for flow separation detection and control in aeronautical applications

    NASA Astrophysics Data System (ADS)

    Francioso, L.; De Pascali, C.; Pescini, E.; De Giorgi, M. G.; Siciliano, P.

    2016-06-01

    Preventing the flow separation could enhance the performance of propulsion systems and future civil aircraft. To this end, a fast detection of boundary layer separation is mandatory for a sustainable and successful application of active flow control devices, such as plasma actuators. The present work reports on the design, fabrication and functional tests of low-cost capacitive pressure sensors coupled with dielectric barrier discharge (DBD) plasma actuators to detect and then control flow separation. Finite element method (FEM) simulations were used to obtain information on the deflection and the stress distribution in different-shaped floating membranes. The sensor sensitivity as a function of the pressure load was also calculated by experimental tests. The results of the calibration of different capacitive pressure sensors are reported in this work, together with functional tests in a wind tunnel equipped with a curved wall plate on which a DBD plasma actuator was mounted to control the flow separation. The flow behavior was experimentally investigated by particle image velocimetry (PIV) measurements. Statistical and spectral analysis, applied to the output signals of the pressure sensor placed downstream of the profile leading edge, demonstrated that the sensor is able to discriminate different ionic wind velocity and turbulence conditions. The sensor sensitivity in the 0-100 Pa range was experimentally measured and it ranged between 0.0030 and 0.0046 pF Pa-1 for the best devices.

  4. Aspect-Oriented Model-Driven Software Product Line Engineering

    NASA Astrophysics Data System (ADS)

    Groher, Iris; Voelter, Markus

    Software product line engineering aims to reduce development time, effort, cost, and complexity by taking advantage of the commonality within a portfolio of similar products. The effectiveness of a software product line approach directly depends on how well feature variability within the portfolio is implemented and managed throughout the development lifecycle, from early analysis through maintenance and evolution. This article presents an approach that facilitates variability implementation, management, and tracing by integrating model-driven and aspect-oriented software development. Features are separated in models and composed of aspect-oriented composition techniques on model level. Model transformations support the transition from problem to solution space models. Aspect-oriented techniques enable the explicit expression and modularization of variability on model, template, and code level. The presented concepts are illustrated with a case study of a home automation system.

  5. Hydraulic Actuator System for Rotor Control

    NASA Technical Reports Server (NTRS)

    Ulbrich, Heinz; Althaus, Josef

    1991-01-01

    In the last ten years, several different types of actuators were developed and fabricated for active control of rotors. A special hydraulic actuator system capable of generating high forces to rotating shafts via conventional bearings is addressed. The actively controlled hydraulic force actuator features an electrohydraulic servo valve which can produce amplitudes and forces at high frequencies necessary for influencing rotor vibrations. The mathematical description will be given in detail. The experimental results verify the theoretical model. Simulations already indicate the usefulness of this compact device for application to a real rotor system.

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

    PubMed Central

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

    2014-01-01

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

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

    PubMed

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

    2014-01-01

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

  8. Self-actuated device

    DOEpatents

    Hecht, Samuel L.

    1984-01-01

    A self-actuated device, of particular use as a valve or an orifice for nuclear reactor fuel and blanket assemblies, in which a gas produced by a neutron induced nuclear reaction gradually accumulates as a function of neutron fluence. The gas pressure increase occasioned by such accumulation of gas is used to actuate the device.

  9. Remotely controllable actuating device

    NASA Technical Reports Server (NTRS)

    McKillip, Jr., Robert M. (Inventor)

    1998-01-01

    An actuating device can change a position of an active member that remains in substantially the same position in the absence of a force of a predetermined magnitude on the active member. The actuating device comprises a shape-memory alloy actuating member for exerting a force when actuated by changing the temperature thereof, which shape-memory alloy actuating member has a portion for connection to the active member for exerting thereon a force having a magnitude at least as large as the predetermined magnitude for moving the active member to a desired position. Actuation circuitry is provided for actuating the shape-memory alloy actuating member by changing the temperature thereof only for the time necessary to move the active member to the desired position. The invention is particularly useful for changing the position of a camber-adjusting tab on a helicopter rotor blade by using two shape-memory alloy members that can act against each other to adjust dynamic properties of the rotor blade as it is rotating.

  10. Massively Redundant Electromechanical Actuators

    DTIC Science & Technology

    2014-08-30

    date of determination). DoD Controlling Office is (insert controlling DoD office). "Massively Redundant Electromechanical Actuators" August... electromechanical systems) processes are used to manufacture reliable and reproducible stators and sliders for the actuators. These processes include

  11. Spooled packaging of shape memory alloy actuators

    NASA Astrophysics Data System (ADS)

    Redmond, John A.

    A vast cross-section of transportation, manufacturing, consumer product, and medical technologies rely heavily on actuation. Accordingly, progress in these industries is often strongly coupled to the advancement of actuation technologies. As the field of actuation continues to evolve, smart materials show significant promise for satisfying the growing needs of industry. In particular, shape memory alloy (SMA) wire actuators present an opportunity for low-cost, high performance actuation, but until now, they have been limited or restricted from use in many otherwise suitable applications by the difficulty in packaging the SMA wires within tight or unusually shaped form constraints. To address this packaging problem, SMA wires can be spool-packaged by wrapping around mandrels to make the actuator more compact or by redirecting around multiple mandrels to customize SMA wire pathways to unusual form factors. The goal of this dissertation is to develop the scientific knowledge base for spooled packaging of low-cost SMA wire actuators that enables high, predictable performance within compact, customizable form factors. In developing the scientific knowledge base, this dissertation defines a systematic general representation of single and multiple mandrel spool-packaged SMA actuators and provides tools for their analysis, understanding, and synthesis. A quasi-static analytical model distills the underlying mechanics down to the three effects of friction, bending, and binding, which enables prediction of the behavior of generic spool-packaged SMA actuators with specifiable geometric, loading, frictional, and SMA material parameters. An extensive experimental and simulation-based parameter study establishes the necessary understanding of how primary design tradeoffs between performance, packaging, and cost are governed by the underlying mechanics of spooled actuators. A design methodology outlines a systematic approach to synthesizing high performance SMA wire actuators

  12. Duelling winds: A model for broad-line regions

    NASA Astrophysics Data System (ADS)

    Smith, M.

    1984-10-01

    A model for broad-line regions in which the X-ray flux from a galactic nucleus Compton-heats an accretion disk, releasing a large amount of hot gas as a wind is discussed. This material becomes entrained into a wind blowing from the nucleus. Provided the ram pressure of the nuclear wind exceeds that of the disk wind, it collapses into clouds. The nuclear wind accelerates small clouds to higher velocities, corresponding to observed line widths. Large clouds fall inwards. Cloud sizes, line asymmetries and variability characteristics are determined. While large clouds can be responsible for a blueward shift of a peak of a line, the fast-moving small clouds can enhance the red wing.

  13. Self-contained hybrid electro-hydraulic actuators using magnetostrictive and electrostrictive materials

    NASA Astrophysics Data System (ADS)

    Chaudhuri, Anirban

    dominates the viscous effects and the problem becomes unsteady in nature. Due to high pressures inside the actuator and the presence of entrained air, compressibility of the hydraulic fluid is important. A new mathematical model of the hydraulic hybrid actuator was formulated in time-domain to show the basic operational principle under varying operating conditions and to capture the phenomena affecting system performance. Linear induced strain behavior was assumed to model the active material. Governing equations for the moving parts were obtained from force equilibrium considerations, while the coupled inertiacompliance of the fluid passages was represented by a lumped parameter approach to the transmission line model, giving rise to strongly coupled ordinary differential equations. Compressibility of the working fluid was incorporated by using the bulk modulus. The model was then validated using the measured performance of both the magnetostrictive and electrostrictive-based hybrid actuators.

  14. Fast electrochemical actuator

    NASA Astrophysics Data System (ADS)

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

    2016-03-01

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

  15. Application of A Line Ampacity Model and Its Use in Transmission Lines Operations

    NASA Astrophysics Data System (ADS)

    Šnajdr, Jaroslav; Sedláček, Jan; Vostracký, Zdenek

    2014-08-01

    A conductor thermal model related to CIGRE and IEEE solutions was developed and compared with measurements. Two pylons of a single line were equipped with weather monitoring stations and conductor temperature sensors based on Surface Acoustic Wave (SAW) principle. Also a fiber optic distributed temperature sensing system was installed to provide additional data. Over 2.5 million data points were evaluated. Developed model deviation for more than 99 % of values proved to be ±1 °C for SAW sensor and ±3.5 °C for the fiber optic measurement. Several ampacity determination methods were described from a transmission grid operator's point of view. Their features were compared in order to show at which planning period they could be useful. A new method for dynamic line rating determination was proposed. Although it reduces maximum ampacity gain, its advantage lies in minimizing measurement systems while retaining relatively stable value and low risk of temperature limit exceeding.

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

    PubMed

    Bagherpoor, H M; Salmasi, Farzad R

    2015-07-01

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

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

    NASA Technical Reports Server (NTRS)

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

    1992-01-01

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

  18. An expert system to perform on-line controller restructuring for abrupt model changes

    NASA Technical Reports Server (NTRS)

    Litt, Jonathan S.

    1990-01-01

    Work in progress on an expert system used to reconfigure and tune airframe/engine control systems on-line in real time in response to battle damage or structural failures is presented. The closed loop system is monitored constantly for changes in structure and performance, the detection of which prompts the expert system to choose and apply a particular control restructuring algorithm based on the type and severity of the damage. Each algorithm is designed to handle specific types of failures and each is applicable only in certain situations. The expert system uses information about the system model to identify the failure and to select the technique best suited to compensate for it. A depth-first search is used to find a solution. Once a new controller is designed and implemented it must be tuned to recover the original closed-loop handling qualities and responsiveness from the degraded system. Ideally, the pilot should not be able to tell the difference between the original and redesigned systems. The key is that the system must have inherent redundancy so that degraded or missing capabilities can be restored by creative use of alternate functionalities. With enough redundancy in the control system, minor battle damage affecting individual control surfaces or actuators, compressor efficiency, etc., can be compensated for such that the closed-loop performance in not noticeably altered. The work is applied to a Black Hawk/T700 system.

  19. Efficient Hybrid Actuation Using Solid-State Actuators

    NASA Technical Reports Server (NTRS)

    Leo, Donald J.; Cudney, Harley H.; Horner, Garnett (Technical Monitor)

    2001-01-01

    Piezohydraulic actuation is the use of fluid to rectify the motion of a piezoelectric actuator for the purpose of overcoming the small stroke limitations of the material. In this work we study a closed piezohydraulic circuit that utilizes active valves to rectify the motion of a hydraulic end affector. A linear, lumped parameter model of the system is developed and correlated with experiments. Results demonstrate that the model accurately predicts the filtering of the piezoelectric motion caused by hydraulic compliance. Accurate results are also obtained for predicting the unidirectional motion of the cylinder when the active valves are phased with respect to the piezoelectric actuator. A time delay associated with the mechanical response of the valves is incorporated into the model to reflect the finite time required to open or close the valves. This time delay is found to be the primary limiting factor in achieving higher speed and greater power from the piezohydraulic unit. Experiments on the piezohydraulic unit demonstrate that blocked forces on the order of 100 N and unloaded velocities of 180 micrometers/sec are achieved.

  20. Biomimetic photo-actuation: progress and challenges

    NASA Astrophysics Data System (ADS)

    Dicker, Michael P. M.; Weaver, Paul M.; Rossiter, Jonathan M.; Bond, Ian P.; Faul, Charl F. J.

    2016-04-01

    Photo-actuation, such as that observed in the reversible sun-tracking movements of heliotropic plants, is produced by a complex, yet elegant series of processes. In the heliotropic leaf movements of the Cornish Mallow, photo-actuation involves the generation, transport and manipulation of chemical signals from a distributed network of sensors in the leaf veins to a specialized osmosis driven actuation region in the leaf stem. It is theorized that such an arrangement is both efficient in terms of materials use and operational energy conversion, as well as being highly robust. We concern ourselves with understanding and mimicking these light driven, chemically controlled actuating systems with the aim of generating intelligent structures which share the properties of efficiency and robustness that are so important to survival in Nature. In this work we present recent progress in mimicking these photo-actuating systems through remote light exposure of a metastable state photoacid and the resulting signal and energy transfer through solution to a pH-responsive hydrogel actuator. Reversible actuation strains of 20% were achieved from this arrangement, with modelling then employed to reveal the critical influence hydrogel pKa has on this result. Although the strong actuation achieved highlights the progress that has been made in replicating the principles of biomimetic photo-actuation, challenges such as photoacid degradation were also revealed. It is anticipated that current work can directly lead to the development of high-performance and low-cost solartrackers for increased photovoltaic energy capture and to the creation of new types of intelligent structures employing chemical control systems.

  1. Line balancing and model sequencing to reduce work overload in mixed-model U-line production environments

    NASA Astrophysics Data System (ADS)

    Kara, Yakup

    2008-07-01

    Mixed-model U-lines (MMULs) are important elements of just-in-time production systems. For successful implementation of MMULs, a smoothed workload distribution among workstations is important. This requires that line balancing and model sequencing problems are solved simultaneously. This article presents a mixed, zero-one, nonlinear mathematical programming formulation for balancing and sequencing MMULs simultaneously with the objective of reducing work overload. Since the problem is NP-hard, an effective simulated annealing approach is also presented and its performance compared with existing approaches. The results show that the proposed simulated annealing algorithm outperforms existing approaches.

  2. Mean Line Pump Flow Model in Rocket Engine System Simulation

    NASA Technical Reports Server (NTRS)

    Veres, Joseph P.; Lavelle, Thomas M.

    2000-01-01

    A mean line pump flow modeling method has been developed to provide a fast capability for modeling turbopumps of rocket engines. Based on this method, a mean line pump flow code PUMPA has been written that can predict the performance of pumps at off-design operating conditions, given the loss of the diffusion system at the design point. The pump code can model axial flow inducers, mixed-flow and centrifugal pumps. The code can model multistage pumps in series. The code features rapid input setup and computer run time, and is an effective analysis and conceptual design tool. The map generation capability of the code provides the map information needed for interfacing with a rocket engine system modeling code. The off-design and multistage modeling capabilities of the code permit parametric design space exploration of candidate pump configurations and provide pump performance data for engine system evaluation. The PUMPA code has been integrated with the Numerical Propulsion System Simulation (NPSS) code and an expander rocket engine system has been simulated. The mean line pump flow code runs as an integral part of the NPSS rocket engine system simulation and provides key pump performance information directly to the system model at all operating conditions.

  3. Photoionization Modeling and the K Lines of Iron

    NASA Technical Reports Server (NTRS)

    Kallman, T. R.; Palmeri, P.; Bautista, M. A.; Mendoza, C.; Krolik, J. H.

    2004-01-01

    We calculate the efficiency of iron K line emission and iron K absorption in photoionized models using a new set of atomic data. These data are more comprehensive than those previously applied to the modeling of iron K lines from photoionized gases, and allow us to systematically examine the behavior of the properties of line emission and absorption as a function of the ionization parameter, density and column density of model constant density clouds. We show that, for example, the net fluorescence yield for the highly charged ions is sensitive to the level population distribution produced by photoionization, and these yields are generally smaller than those predicted assuming the population is according to statistical weight. We demonstrate that the effects of the many strongly damped resonances below the K ionization thresholds conspire to smear the edge, thereby potentially affecting the astrophysical interpretation of absorption features in the 7-9 keV energy band. We show that the centroid of the ensemble of K(alpha) lines, the K(beta) energy, and the ratio of the K(alpha(sub 1)) to K(alpha(sub 2)) components are all diagnostics of the ionization parameter of our model slabs.

  4. Resilient organizations: matrix model and service line management.

    PubMed

    Westphal, Judith A

    2005-09-01

    Resilient organizations modify structures to meet the demands of the marketplace. The author describes a structure that enables multihospital organizations to innovate and rapidly adapt to changes. Service line management within a matrix model is an evolving organizational structure for complex systems in which nurses are pivotal members.

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

    NASA Astrophysics Data System (ADS)

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

    2009-03-01

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

  6. Cell line models for differentiation: preadipocytes and adipocytes.

    PubMed

    Poulos, Sylvia P; Dodson, Michael V; Hausman, Gary J

    2010-10-01

    In vitro models have been invaluable in determining the mechanisms involved in adipocyte proliferation, differentiation, adipokine secretion and gene/protein expression. The cells presently available for research purposes all have unique advantages and disadvantages that one should be aware of when selecting cells. Established cell lines, such as 3T3-L1 cells, are easier and less costly to use than freshly isolated cells, even though freshly isolated cells allow for various comparisons such as the in vitro evaluation of different in vivo conditions that may not be possible using cell lines. Moreover, stem cells, transdifferentiated cells or dedifferentiated cells are relatively new cell models being evaluated for the study of adipocyte regulation and physiology. The focus of this brief review is to highlight similarities and differences in adipocyte models to aid in appropriate model selection and data interpretation for successful advancement of our understanding of adipocyte biology.

  7. Integrated electrostatic micro-sensors for the development of modeling techniques of defects in the actuation of large micro-electromechanical systems (MEMS)

    NASA Astrophysics Data System (ADS)

    Reissman, Timothy; Garcia, Ephrahim; Lobontiu, Nicolae; Nam, Yoonsu

    2006-03-01

    A micro-electromechanical system (MEMS) was designed by following the saggital principle of motion amplification about an output direction which is perpendicular to the input direction. Several displacement-amplification microdevices have been fabricated by means of the PolyMUMPS microtechnology. The experimental testing of these electrostatically-actuated, electrostatically-sensed micromechanisms monitored the output motion by means of a highly-compliant, integrated cantilever, as well as by a vernier system, and revealed that the performance is less than predicted, in some occasions the errors between the defect-free model predictions and the experimental results being quite substantial. This system integration, sensory monitored discrepancy lead the effort of identifying and quantifying the influence of various factors in the less-than-expected response of these compliant micromechanisms. Discussed are the effect of non-parallel disposition of the mobile structure with respect to its substrate, the non-planar shape of the microdevice, which produces at times rubbing or adhesion against the substrate, various misalignments between fixed and mobile components, as well the resulting fringe effects, which sizably hamper the operation of the comb or plate electrostatic sensory actuation. It is demonstrated that by combining all these unwanted effects, which are either inherent to the small-dimensions microdevice, or are simply errors of the microfabrication process, it is possible to account for the experimentally-observed response and create a predictive error-inclusive model of the system.

  8. Cryogenic Piezoelectric Actuator

    NASA Technical Reports Server (NTRS)

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

    2009-01-01

    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.

  9. Simulated dynamic response of a servovalve controlled hydraulic actuator

    NASA Technical Reports Server (NTRS)

    Babcock, Dale A.

    1990-01-01

    A general purpose math model of a servovalve controlled hydraulic actuator system is derived. The system consists of a linear actuator with unequal piston areas, a single stage servovalve, a gas charged hydraulic accumulator, and the interconnecting piping. The state equations are integrated using the Advanced Continuous Simulation Language (ACSL) for determining the system's dynamic response characteristics. Using this generalized hydraulic actuator system model, response characteristics were determined for various servovalve commands.

  10. Flutter suppression via piezoelectric actuation

    NASA Technical Reports Server (NTRS)

    Heeg, Jennifer

    1991-01-01

    Experimental flutter results obtained from wind tunnel tests of a two degree of freedom wind tunnel model are presented for the open and closed loop systems. The wind tunnel model is a two degree of freedom system which is actuated by piezoelectric plates configured as bimorphs. The model design was based on finite element structural analyses and flutter analyses. A control law was designed based on a discrete system model; gain feedback of strain measurements was utilized in the control task. The results show a 21 pct. increase in the flutter speed.

  11. Modelling Line Edge Roughness in Periodic Line-Space Structures by Fourier Optics to Improve Scatterometry

    NASA Astrophysics Data System (ADS)

    Gross, H.; Heidenreich, S.; Henn, M.-A.; Dai, G.; Scholze, F.; Bär, M.

    2014-01-01

    In the present paper, we propose a 2D-Fourier transform method as a simple and efficient algorithm for stochastical and numerical studies to investigate the systematic impacts of line edge roughness on light diffraction pattern of periodic line-space structures. The key concept is the generation of ensembles of rough apertures composed of many slits, to calculate the irradiance of the illuminated rough apertures far away from the aperture plane, and a comparison of their light intensities to those of the undisturbed, 'non-rough' aperture. We apply the Fraunhofer approximation and interpret the rough apertures as binary 2D-gratings to compute their diffraction patterns very efficiently as the 2D-Fourier transform of the light distribution of the source plane. The rough edges of the aperture slits are generated by means of power spectrum density (PSD) functions, which are often used in metrology of rough geometries. The mean efficiencies of the rough apertures reveal a systematic exponential decrease for higher diffraction orders if compared to the diffraction pattern of the unperturbed aperture. This confirms former results, obtained by rigorous calculations with computational expensive finite element methods (FEM) for a simplified roughness model. The implicated model extension for scatterometry by an exponential damping factor for the calculated efficiencies allows to determine the standard deviation σ_r of line edge roughness along with the critical dimensions (CDs), i.e., line widths, heights and other profile properties in the sub-micrometer range. First comparisons with the corresponding roughness value determined by 3D atomic force microscopy (3D AFM) reveal encouraging results.

  12. Smart actuators for active vibration control

    NASA Astrophysics Data System (ADS)

    Pourboghrat, Farzad; Daneshdoost, Morteza

    1998-07-01

    In this paper, the design and implementation of smart actuators for active vibration control of mechanical systems are considered. A smart actuator is composed of one or several layers of piezo-electric materials which work both as sensors and actuators. Such a system also includes micro- electronic or power electronic amplifiers, depending on the power requirements and applications, as well as digital signal processing systems for digital control implementation. In addition, PWM type micro/power amplifiers are used for control implementation. Such amplifiers utilize electronic switching components that allow for miniaturization, thermal efficiency, cost reduction, and precision controls that are robust to disturbances and modeling errors. An adaptive control strategy is then developed for vibration damping and motion control of cantilever beams using the proposed smart self-sensing actuators.

  13. Considerations for contractile electroactive materials and actuators

    NASA Astrophysics Data System (ADS)

    Rasmussen, Lenore; Schramm, David; Rasmussen, Paul; Mullally, Kevin; Meixler, Lewis D.; Pearlman, Daniel; Kirk, Alice

    2011-04-01

    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.

  14. Considerations for Contractile Electroactive Materials and Actuators

    SciTech Connect

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

    2011-05-23

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

  15. Two-component modeling of the solar IR CO lines

    NASA Technical Reports Server (NTRS)

    Avrett, Eugene H.

    1995-01-01

    One-dimensional hydrostatic models of quiet and active solar regions can be constructed that generally account for the observed intensities of lines and continue throughout the spectrum, except for the infrared CO lines. There is an apparent conflict between: (1) observations of the strongest infrared CO lines formed in LTE at low-chromospheric heights but at temperatures much cooler than the average chromospheric values; and (2) observations of Ca II, UV (ultraviolet), and microwave intensities that originate from the same chromospheric heights but at the much higher temperatures characteristic of the average chromosphere. A model M(sub CO) has been constructed which gives a good fit to the full range of mean CO line profiles (averaged over the central area of the solar disk and over time) but this model conflicts with other observations of average quiet regions. A model L(sub CO) which is approximately 100 K cooler than M(sub CO) combined with a very bright network model F in the proportions 0.6 L(sub CO) + 0.4 F is found to be generally consistent with the CO, Ca II, UV, and microwave observations. Ayres, Testerman, and Brault found that models COOLC and FLUXT in the proportions 0.925 and 0.075 account for the CO and Ca II lines, but these combined models give an average UV intensity at 140 nm about 20 times larger than observed. The 0.6 L(sub CO) + 0.4 F result may give a better description of the cool and hot components that produce the space- and time-averaged spectra. Recent observations carried out by Uitenbroek, Noyes, and Rabine with high spatial and temporal resolution indicate that the faintest intensities in the strong CO lines measured at given locations usually become much brighter within 1 to 3 minutes. The cool regions thus seem to be mostly the low-temperature portions of oscillatory waves rather than cool structures that are stationary.

  16. RSRM nozzle actuator bracket/lug fracture mechanics qualification test

    NASA Technical Reports Server (NTRS)

    Kelley, Peggy

    1993-01-01

    This is the final report for the actuator bracket/lug fracture mechanics qualification test. The test plan (CTP-0071) outlined a two-phase test program designed to answer questions about the fracture criticality of the redesigned solid rocket motor (RSRM) nozzle actuator bracket. An analysis conducted using the NASA/FLAGRO fracture mechanics computer program indicated that the actuator bracket might be a fracture critical component. In the NASA/FLAGRO analysis, a simple lug model was used to represent the actuator bracket. It was calculated that the bracket would fracture if subjected to an actuator stall load in the presence of a 0.10 in. corner crack at the actuator attachment hole. The 0.10 in. crack size corresponds to the nondestructive inspection detectability limit for the actuator bracket. The inspection method used is the dye penetrant method. The actuator stall load (103,424 lb) is the maximum load which the actuator bracket is required to withstand during motor operation. This testing was designed to establish the accuracy of the analytical model and to directly determine whether the actuator bracket is capable of meeting fracture mechanics safe-life requirements.

  17. Enzyme actuated bioresponsive hydrogels

    NASA Astrophysics Data System (ADS)

    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

  18. Effect of mass loading on ionic polymer metal composite actuators and sensors

    NASA Astrophysics Data System (ADS)

    Sakthi Swarrup, J.; Ganguli, Ranjan

    2015-04-01

    Ionic polymer metal composites (IPMC) actuator for flapping insect scale wing is advantageous due to its low mass, high deflection and simple actuation mechanism. Some of the factors that affect the actuation of IPMC are the amount of hydration in the polymer membrane and the environmental conditions such as temperature, humidity etc. In structural design, the attachment of wing on the IPMC actuators is an important concern as the attached wing increases the mass of actuators thereby affecting the parameters like displacement, stiffness and resonant frequencies. Such IPMC actuators have to produce sufficient actuation force and frequency to lift and flap the attached wing. Therefore, it is relevant to study the influence of attachment of wing on the actuator parameters (displacement, resonant frequency, block force and stiffness) and performance of the actuators. This paper is divided into two parts; the first part deals with the modeling of the IPMC actuators for its effect on the level of water uptake and temperature using energy based method. The modeling method adapted is validated with the experimental procedure used to actuate the IPMC. The second part deals with the experimental analysis of IPMC actuation at dry, wet and in water conditions. The effect of end mass loading on the performance of 20 Hz, high frequency actuator (HFA) and 8.7 Hz, low frequency IPMC actuators (LFA) and sensors is studied. The IPMC actuators are attached with IPMC flapping wing at its free end and performance analysis on the attached wing is also carried out.

  19. [A line-by-line trace gas absorption model and its application in NDIR gas detection technology].

    PubMed

    Fang, Jing; Liu, Wen-qing; Zhang, Tian-shu

    2008-06-01

    An accurate line-by-line integral trace gas absorption model is presented in the present article. It is for mid-infrared band and can be used in the study on and application to detecting trace gas (or pollution gas). First of all, two algorithms of trace gas radioactive properties, line-by-line integral method and band model method, were introduced. The merits and demerits of each were compared. Several recent developed line-by-line integral calculation models were also introduced. Secondly, the basic principle of line-by-line integral trace gas absorption calculation model was described in detail. The absorption coefficient is a function of temperature, frequency (wave number), pressure, gas volume mixing ratio and constants associated with all contributing line transitions. The average monochromatic absorption coefficient at a given frequency of a given gas species can be written as the product of the number density of the molecular species to which the spectral line belongs, the line intensity and a line shape factor. Efficient calculation of the line shape factor may be required for different atmospheric conditions. In the lower atmosphere, the shape of spectral lines is dominated by pressure broadening and can be represented most simply by the Lorentz line shape factor. At high altitudes, the shape of spectral lines is governed by Doppler broadening At intermediate altitudes, they can be modeled using the Voigt line shape factor, a convolution of the Lorentz and Doppler line shape factors. Finally, in the section of experiment, the results calculated by model were compared with that measured by Fourier transform infrared spectrometer. As an instance, the model was applied to the detectors design of NDIR (non-dispersive infrared) technology and the relationship between signal intensity of detectors and concentration of CO2/CO was simulated by model. Available concentration range of detector was given by calculating the results of the model. It is based on

  20. Miga Aero Actuator and 2D Machined Mechanical Binary Latch

    NASA Technical Reports Server (NTRS)

    Gummin, Mark A.

    2013-01-01

    Shape memory alloy (SMA) actuators provide the highest force-to-weight ratio of any known actuator. They can be designed for a wide variety of form factors from flat, thin packages, to form-matching packages for existing actuators. SMA actuators can be operated many thousands of times, so that ground testing is possible. Actuation speed can be accurately controlled from milliseconds to position and hold, and even electronic velocity-profile control is possible. SMA actuators provide a high degree of operational flexibility, and are truly smart actuators capable of being accurately controlled by onboard microprocessors across a wide range of voltages. The Miga Aero actuator is a SMA actuator designed specifically for spaceflight applications. Providing 13 mm of stroke with either 20- or 40-N output force in two different models, the Aero actuator is made from low-outgassing PEEK (polyether ether ketone) plastic, stainless steel, and nickel-titanium SMA wires. The modular actuator weighs less than 28 grams. The dorsal output attachment allows the Aero to be used in either PUSH or PULL modes by inverting the mounting orientation. The SPA1 actuator utilizes commercially available SMA actuator wire to provide 3/8-in. (approx. =.1 cm) of stroke at a force of over 28 lb (approx. = .125 N). The force is provided by a unique packaging of the single SMA wire that provides the output force of four SMA wires mechanically in parallel. The output load is shared by allowing the SMA wire to slip around the output attachment end to adjust or balance the load, preventing any individual wire segment from experiencing high loads during actuation. A built-in end limit switch prevents overheating of the SMA element following actuation when used in conjunction with the Miga Analog Driver [a simple MOSFET (metal oxide semiconductor field-effect transistor) switching circuit]. A simple 2D machined mechanical binary latch has been developed to complement the capabilities of SMA wire

  1. Magnetically Actuated Seal

    NASA Technical Reports Server (NTRS)

    Pinera, Alex

    2013-01-01

    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.

  2. Rotary Series Elastic Actuator

    NASA Technical Reports Server (NTRS)

    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)

    2013-01-01

    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.

  3. Rotary series elastic actuator

    NASA Technical Reports Server (NTRS)

    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)

    2012-01-01

    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.

  4. Muscle Motion Solenoid Actuator

    NASA Astrophysics Data System (ADS)

    Obata, Shuji

    It is one of our dreams to mechanically recover the lost body for damaged humans. Realistic humanoid robots composed of such machines require muscle motion actuators controlled by all pulling actions. Particularly, antagonistic pairs of bi-articular muscles are very important in animal's motions. A system of actuators is proposed using the electromagnetic force of the solenoids with the abilities of the stroke length over 10 cm and the strength about 20 N, which are needed to move the real human arm. The devised actuators are based on developments of recent modern electro-magnetic materials, where old time materials can not give such possibility. Composite actuators are controlled by a high ability computer and software making genuine motions.

  5. Modeling of planar quasi-TEM superconducting transmission lines

    NASA Technical Reports Server (NTRS)

    Antsos, Dimitrios; Chew, Wilbert; Riley, A. L.; Hunt, Brian D.; Foote, Marc C.; Bajuk, Louis J.; Rascoe, Daniel L.; Cooley, Thomas W.

    1992-01-01

    An application of the phenomenological loss equivalence method (Lee and Itoh, 1989) in modeling the microwave behavior of planar quasi-TEM superconducting transmission lines is presented. For validation of the model, data are used from measurements of a YBCO superconducting thin-film coplanar-waveguide lowpass filter on a lanthanum aluminate substrate. Measured and modeled S-parameters of an existing superconducting coplanar waveguide lowpass filter agree to within 0.3 dB in magnitude and 0.5 radians in phase. Extracted values for penetration depth and real part of the conductivity of the superconducting film are within 10 percent of other researchers' findings.

  6. Lines

    ERIC Educational Resources Information Center

    Mires, Peter B.

    2006-01-01

    National Geography Standards for the middle school years generally stress the teaching of latitude and longitude. There are many creative ways to explain the great grid that encircles our planet, but the author has found that students in his college-level geography courses especially enjoy human-interest stories associated with lines of latitude…

  7. Tendon Driven Finger Actuation System

    NASA Technical Reports Server (NTRS)

    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); Permenter, Frank Noble (Inventor); Mehling, Joshua S. (Inventor)

    2013-01-01

    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.

  8. Inertial Linear Actuators

    NASA Technical Reports Server (NTRS)

    Laughlin, Darren

    1995-01-01

    Inertial linear actuators developed to suppress residual accelerations of nominally stationary or steadily moving platforms. Function like long-stroke version of voice coil in conventional loudspeaker, with superimposed linear variable-differential transformer. Basic concept also applicable to suppression of vibrations of terrestrial platforms. For example, laboratory table equipped with such actuators plus suitable vibration sensors and control circuits made to vibrate much less in presence of seismic, vehicular, and other environmental vibrational disturbances.

  9. Combustion powered linear actuator

    DOEpatents

    Fischer, Gary J.

    2007-09-04

    The present invention provides robotic vehicles having wheeled and hopping mobilities that are capable of traversing (e.g. by hopping over) obstacles that are large in size relative to the robot and, are capable of operation in unpredictable terrain over long range. The present invention further provides combustion powered linear actuators, which can include latching mechanisms to facilitate pressurized fueling of the actuators, as can be used to provide wheeled vehicles with a hopping mobility.

  10. Laser Initiated Actuator study

    SciTech Connect

    Watson, B.

    1991-06-27

    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.

  11. Variable Valve Actuation

    SciTech Connect

    Jeffrey Gutterman; A. J. Lasley

    2008-08-31

    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 the

  12. Compact electrostatic comb actuator

    DOEpatents

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

    2000-01-01

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

  13. Control of a flexible planar truss using proof mass actuators

    NASA Technical Reports Server (NTRS)

    Minas, Constantinos; Garcia, Ephrahim; Inman, Daniel J.

    1989-01-01

    A flexible structure was modeled and actively controlled by using a single space realizable linear proof mass actuator. The NASA/UVA/UB actuator was attached to a flexible planar truss structure at an optimal location and it was considered as both passive and active device. The placement of the actuator was specified by examining the eigenvalues of the modified model that included the actuator dynamics, and the frequency response functions of the modified system. The electronic stiffness of the actuator was specified, such that the proof mass actuator system was tuned to the fourth structural mode of the truss by using traditional vibration absorber design. The active control law was limited to velocity feedback by integrating of the signals of two accelerometers attached to the structure. The two lower modes of the closed-loop structure were placed further in the LHS of the complex plane. The theoretically predicted passive and active control law was experimentally verified.

  14. Hybrid electromechanical actuator and actuation system

    NASA Technical Reports Server (NTRS)

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

    2008-01-01

    A hybrid electromechanical actuator has two different types of electromechanical elements, one that expands in a transverse direction when electric power is applied thereto and one that contracts in a transverse direction when electric power is applied thereto. The two electromechanical elements are (i) disposed in relation to one another such that the transverse directions thereof are parallel to one another, and (ii) mechanically coupled to one another at least at two opposing edges thereof. Electric power is applied simultaneously to the elements.

  15. Backed Bending Actuator

    NASA Technical Reports Server (NTRS)

    Costen, Robert C.; Su, Ji

    2004-01-01

    Bending actuators of a proposed type would partly resemble ordinary bending actuators, but would include simple additional components that would render them capable of exerting large forces at small displacements. Like an ordinary bending actuator, an actuator according to the proposal would include a thin rectangular strip that would comprise two bonded layers (possibly made of electroactive polymers with surface electrodes) and would be clamped at one end in the manner of a cantilever beam. Unlike an ordinary bending actuator, the proposed device would include a rigid flat backplate that would support part of the bending strip against backward displacement; because of this feature, the proposed device is called a backed bending actuator. When an ordinary bending actuator is inactive, the strip typically lies flat, the tip displacement is zero, and the force exerted by the tip is zero. During activation, the tip exerts a transverse force and undergoes a bending displacement that results from the expansion or contraction of one or more of the bonded layers. The tip force of an ordinary bending actuator is inversely proportional to its length; hence, a long actuator tends to be weak. The figure depicts an ordinary bending actuator and the corresponding backed bending actuator. The bending, the tip displacement (d(sub t)), and the tip force (F) exerted by the ordinary bending actuator are well approximated by the conventional equations for the loading and deflection of a cantilever beam subject to a bending moment which, in this case, is applied by the differential expansion or contraction of the bonded layers. The bending, displacement, and tip force of the backed bending actuator are calculated similarly, except that it is necessary to account for the fact that the force F(sub b) that resists the displacement of the tip could be sufficient to push part of the strip against the backplate; in such a condition, the cantilever beam would be effectively shortened

  16. Lyman alpha solar spectral irradiance line profile observations and models

    NASA Astrophysics Data System (ADS)

    Snow, Martin; Machol, Janet; Quemerais, Eric; Curdt, Werner; Kretschmar, Matthieu; Haberreiter, Margit

    2016-04-01

    Solar lyman alpha solar spectral irradiance measurements are available on a daily basis, but only the 1-nm integrated flux is typically published. The International Space Science Institute (ISSI) in Bern, Switzerland has sponsored a team to make higher spectral resolution data available to the community. Using a combination of SORCE/SOLSTICE and SOHO/SUMER observations plus empirical and semi-empirical modeling, we will produce a dataset of the line profile. Our poster will describe progress towards this goal.

  17. Tubular dielectric elastomer actuator for active fluidic control

    NASA Astrophysics Data System (ADS)

    McCoul, David; Pei, Qibing

    2015-10-01

    We report a novel low-profile, biomimetic dielectric elastomer tubular actuator capable of actively controlling hydraulic flow. The tubular actuator has been established as a reliable tunable valve, pinching a secondary silicone tube completely shut in the absence of a fluidic pressure bias or voltage, offering a high degree of resistance against fluidic flow, and able to open and completely remove this resistance to flow with an applied low power actuation voltage. The system demonstrates a rise in pressure of ∼3.0 kPa when the dielectric elastomer valve is in the passive, unactuated state, and there is a quadratic fall in this pressure with increasing actuation voltage, until ∼0 kPa is reached at 2.4 kV. The device is reliable for at least 2000 actuation cycles for voltages at or below 2.2 kV. Furthermore, modeling of the actuator and fluidic system yields results consistent with the observed experimental dependence of intrasystem pressure on input flow rate, actuator prestretch, and actuation voltage. To our knowledge, this is the first actuator of its type that can control fluid flow by directly actuating the walls of a tube. Potential applications may include an implantable artificial sphincter, part of a peristaltic pump, or a computerized valve for fluidic or pneumatic control.

  18. Electrostatic repulsive out-of-plane actuator using conductive substrate

    PubMed Central

    Wang, Weimin; Wang, Qiang; Ren, Hao; Ma, Wenying; Qiu, Chuankai; Chen, Zexiang; Fan, Bin

    2016-01-01

    A pseudo-three-layer electrostatic repulsive out-of-plane actuator is proposed. It combines the advantages of two-layer and three-layer repulsive actuators, i.e., fabrication requirements and fill factor. A theoretical model for the proposed actuator is developed and solved through the numerical calculation of Schwarz-Christoffel mapping. Theoretical and simulated results show that the pseudo-three-layer actuator offers higher performance than the two-layer and three-layer actuators with regard to the two most important characteristics of actuators, namely, driving force and theoretical stroke. Given that the pseudo-three-layer actuator structure is compatible with both the parallel-plate actuators and these two types of repulsive actuators, a 19-element two-layer repulsive actuated deformable mirror is operated in pseudo-three-layer electrical connection mode. Theoretical and experimental results demonstrate that the pseudo-three-layer mode produces a larger displacement of 0–4.5 μm for a dc driving voltage of 0–100 V, when compared with that in two-layer mode. PMID:27713542

  19. Electrostatic repulsive out-of-plane actuator using conductive substrate

    NASA Astrophysics Data System (ADS)

    Wang, Weimin; Wang, Qiang; Ren, Hao; Ma, Wenying; Qiu, Chuankai; Chen, Zexiang; Fan, Bin

    2016-10-01

    A pseudo-three-layer electrostatic repulsive out-of-plane actuator is proposed. It combines the advantages of two-layer and three-layer repulsive actuators, i.e., fabrication requirements and fill factor. A theoretical model for the proposed actuator is developed and solved through the numerical calculation of Schwarz-Christoffel mapping. Theoretical and simulated results show that the pseudo-three-layer actuator offers higher performance than the two-layer and three-layer actuators with regard to the two most important characteristics of actuators, namely, driving force and theoretical stroke. Given that the pseudo-three-layer actuator structure is compatible with both the parallel-plate actuators and these two types of repulsive actuators, a 19-element two-layer repulsive actuated deformable mirror is operated in pseudo-three-layer electrical connection mode. Theoretical and experimental results demonstrate that the pseudo-three-layer mode produces a larger displacement of 0–4.5 μm for a dc driving voltage of 0–100 V, when compared with that in two-layer mode.

  20. Electrostatic repulsive out-of-plane actuator using conductive substrate.

    PubMed

    Wang, Weimin; Wang, Qiang; Ren, Hao; Ma, Wenying; Qiu, Chuankai; Chen, Zexiang; Fan, Bin

    2016-10-07

    A pseudo-three-layer electrostatic repulsive out-of-plane actuator is proposed. It combines the advantages of two-layer and three-layer repulsive actuators, i.e., fabrication requirements and fill factor. A theoretical model for the proposed actuator is developed and solved through the numerical calculation of Schwarz-Christoffel mapping. Theoretical and simulated results show that the pseudo-three-layer actuator offers higher performance than the two-layer and three-layer actuators with regard to the two most important characteristics of actuators, namely, driving force and theoretical stroke. Given that the pseudo-three-layer actuator structure is compatible with both the parallel-plate actuators and these two types of repulsive actuators, a 19-element two-layer repulsive actuated deformable mirror is operated in pseudo-three-layer electrical connection mode. Theoretical and experimental results demonstrate that the pseudo-three-layer mode produces a larger displacement of 0-4.5 μm for a dc driving voltage of 0-100 V, when compared with that in two-layer mode.

  1. Waveguiding Actuators Based on Photothermally Responsive Hydrogels

    NASA Astrophysics Data System (ADS)

    Zhou, Ying; Hauser, Adam; Bende, Nakul; Kuzyk, Mark; Hayward, Ryan

    A simple means to achieve rapid and highly reversible photo-responsiveness in a hydrogel is to combine a thermally-responsive gel such as poly(N-isopropyl acrylamide) (PNIPAM), with the photothermal effect of gold nanoparticles. Relying on such composite gels, we fabricate micro-scale bilayer photoactuators by photolithographic patterning, and demonstrate their controlled bending/unbending behavior in response to visible light. In addition to actuation by flood exposure, 532 nm laser light can be waveguided through a plastic optical fiber to direct it into the photoactuator, providing the possibility for remotely controllable actuators that do not require line-of-sight access. The actuators show large magnitude responses within time-scales of ~1 s, consistent with the small dimensions of the actuators, but also exhibit smaller-scale responses over much longer times, suggesting the possibility of slow internal relaxations within the network. Based on our study on this bilayer system, we further explore fabrication methods for cylindrical actuators that are able to bend in arbitrary directions.

  2. Dynamics and control of a planar truss actuator

    NASA Technical Reports Server (NTRS)

    Lovejoy, V. D.; Robertshaw, H. H.; Patten, W. N.; Horner, G. C.

    1987-01-01

    The concept of using an active truss actuator to control the vibration of a flexible (space) structure has been investigated. The actuator with a generic beam continuum cantilevered from it has been modeled using energy methods. A time-invariant optimal state feedback scheme was utilized for the control method. A digital simulation of the system dynamic response demonstrated the good vibration control possibilities for the (planar) truss actuator on a large flexible space structure.

  3. Simulation and Performance of Brushless DC Motor Actuators.

    DTIC Science & Technology

    1985-12-01

    AD-RI63 725 SIMULATION AND PERFORMANCE OF IRUSHLESS DC MOTOR ACTUATORS(U) NAVAL POSTGRADUATE SCHOOL MONTEREY CA A GERDA DEC 85 NPS69-85-628 M...California Progress Report SIMULATION AND PERFORMANCE OF BRUSHLESS DC MOTOR ACTUATORS IN SUPPORT OF THE PROGRAM "ADVANCED MISSILE CONTROL DEVICES"I of...34.’ SIMULATION AND PERFORMANCE OF BRUSHLESS DC MOTOR ACTUATORS SUMMARY The simulation model for a Brushless D.C. Motor and the associated * commutation power

  4. Actuation curvature limits for a composite beam with embedded shape memory alloy wires

    NASA Astrophysics Data System (ADS)

    Naghashian, S.; Fox, B. L.; Barnett, M. R.

    2014-06-01

    Shape memory alloy composites were manufactured using NiTi wires and woven glass fiber pre-impregnated fabrics. A closed form analytical model was developed to investigate the curvature achievable during actuation. The experimental results of actuation showed reasonable agreement with the model. Actuation temperatures were between ˜55 and 110 °C, curvatures of 0.25-0.5 m-1 were obtained and the stresses in the wires were estimated to have reached 265 MPa during actuation. An actuation curvature map was produced, which shows the actuation limits and approximate temperature-curvature curves for the general case of a composite containing shape memory alloy wires.

  5. Modeling field emitter arrays using nonlinear line charge distribution

    NASA Astrophysics Data System (ADS)

    Biswas, Debabrata; Singh, Gaurav; Kumar, Raghwendra

    2016-09-01

    Modeling high aspect ratio field emitter arrays is a computational challenge due to the enormity of the resources involved. The line charge model (LCM) provides an alternate semi-analytical tool that has been used to model both infinite as well as finite sized arrays. It is shown that the linearly varying charge density used in the LCM generically mimics ellipsoidal emitters rather than a Cylindrical-Post-with-an-Ellipsoidal-Tip (CPET) that is typical of nanowires. Furthermore, generalizing the charge density beyond the linear regime allows for modeling shapes that are closer to a CPET. Emitters with a fixed base radius and a fixed apex radius are studied with a view to understanding the effect of nonlinearity on the tip enhancement factor and the emitter current in each case. Furthermore, an infinite square array of the CPET emitters is studied using the nonlinear line charge model, each having a height h =1500 μm and a base radius b =1.5 μm . It is found that for moderate external field strengths ( 0.3 -0.4 V /μm ), the array current density falls sharply for lattice spacings smaller than 4/3 h . Beyond this value, the maximal array current density can be observed over a range of lattice spacings and falls gradually thereafter.

  6. Scalability of Localized Arc Filament Plasma Actuators

    NASA Technical Reports Server (NTRS)

    Brown, Clifford A.

    2008-01-01

    Temporal flow control of a jet has been widely studied in the past to enhance jet mixing or reduce jet noise. Most of this research, however, has been done using small diameter low Reynolds number jets that often have little resemblance to the much larger jets common in real world applications because the flow actuators available lacked either the power or bandwidth to sufficiently impact these larger higher energy jets. The Localized Arc Filament Plasma Actuators (LAFPA), developed at the Ohio State University (OSU), have demonstrated the ability to impact a small high speed jet in experiments conducted at OSU and the power to perturb a larger high Reynolds number jet in experiments conducted at the NASA Glenn Research Center. However, the response measured in the large-scale experiments was significantly reduced for the same number of actuators compared to the jet response found in the small-scale experiments. A computational study has been initiated to simulate the LAFPA system with additional actuators on a large-scale jet to determine the number of actuators required to achieve the same desired response for a given jet diameter. Central to this computational study is a model for the LAFPA that both accurately represents the physics of the actuator and can be implemented into a computational fluid dynamics solver. One possible model, based on pressure waves created by the rapid localized heating that occurs at the actuator, is investigated using simplified axisymmetric simulations. The results of these simulations will be used to determine the validity of the model before more realistic and time consuming three-dimensional simulations are conducted to ultimately determine the scalability of the LAFPA system.

  7. Establishment of a first-line second-line treatment model for human pulmonary adenocarcinoma

    PubMed Central

    Wang, Lining; Wang, Yu; Guan, Qi; Liu, Yong; He, Tianyi; Wang, Jiaru

    2016-01-01

    Lung cancer is one of the most prevalent types of cancer in the world. Surgery, chemotherapy and radiotherapy are used clinically as treatments for numerous cancers. Due to the appearance of drug resistance, the remission rate is limited to 40–50%. Docetaxel and pemetrexed are two drugs commonly used, and their effects in single-phase cell culture are well known. From the pharmacological point of view, it appears rational to hypothesize that sequential therapy effects can show better outcomes compared with traditional single-phase experiments. Considering this, the present study aimed to establish a first-line second-line adenocarcinoma treatment model, using the combination of cisplatin with docetaxel or pemetrexed in vitro in different sequential therapy timings. To test this, the human lung cancer A549 cell line was used. The inhibitory effect was determined by adding docetaxel following treatment with cisplatin and pemetrexed (Pem-Doc group) and comparing this with a group in which pemetrexed was added subsequent to treatment with cisplatin and docetaxel (Doc-Pem group). Additionally, the differences in the gene and protein expression levels of excision repair cross-completion gene 1 (ERCC1), a gene that promotes drug resistance to cisplatin, were compared between the two groups. The present results showed that the inhibitory effect of cell proliferation in the Pem-Doc group was increased compared with that of Doc-Pem group, while the gene expression and protein levels of ERCC1 in the Pem-Doc group were decreased compared with those of Doc-Pem group. The Pem-Doc treatment plan is more effective in inhibiting cell proliferation and in lowering the expression of the ERCC1 gene. Therefore, Pem-Doc may be a more effective adenocarcinoma treatment. PMID:28105156

  8. Comparing the line broadened quasilinear model to Vlasov code

    NASA Astrophysics Data System (ADS)

    Ghantous, K.; Berk, H. L.; Gorelenkov, N. N.

    2014-03-01

    The Line Broadened Quasilinear (LBQ) model is revisited to study its predicted saturation level as compared with predictions of a Vlasov solver BOT [Lilley et al., Phys. Rev. Lett. 102, 195003 (2009) and M. Lilley, BOT Manual. The parametric dependencies of the model are modified to achieve more accuracy compared to the results of the Vlasov solver both in regards to a mode amplitude's time evolution to a saturated state and its final steady state amplitude in the parameter space of the model's applicability. However, the regions of stability as predicted by LBQ model and BOT are found to significantly differ from each other. The solutions of the BOT simulations are found to have a larger region of instability than the LBQ simulations.

  9. Investigations of electronic amplifiers supplying a piezobimorph actuator

    NASA Astrophysics Data System (ADS)

    Milecki, Andrzej; Regulski, Roman

    2016-10-01

    Piezoelectric bending actuators, also known as bimorphs, are characterized by very good dynamic properties and by displacements in a range of a few millimeters. Therefore these actuators are used in a wide range of applications. However their usage is limited because they require supplying amplifiers with output voltage of about 200 V, which are rather expensive. This paper presents investigation results of such amplifiers with high voltage output. The model of a piezobending actuator is proposed and implemented in Matlab-Simulink software in order to simulate the behavior of the actuator supplied by the amplifiers. The simulation results are presented and compared with investigation results of high voltage amplifier used for supplying a piezoactuator. The influence of current limitation of operational amplifier on the actuator current is tested. Finally, a low cost audio power amplifier is proposed to control the piezobender actuator (as a cheaper alternative to the high-voltage amplifier) and its investigations results are presented in the paper.

  10. Active vibration control using an inertial actuator with internal damping.

    PubMed

    Paulitsch, Christoph; Gardonio, Paolo; Elliott, Stephen J

    2006-04-01

    Collocated direct velocity feedback with ideal point force actuators mounted on structures is unconditionally stable and generates active damping. When inertial actuators are used to generate the control force, the system can become unstable even for moderate velocity feedback gains due to an additional -180 degree phase lag introduced by the fundamental axial resonant mode of the inertial actuator. In this study a relative velocity sensor is used to implement an inner velocity feedback loop that generates internal damping in a lightweight, electrodynamic, inertial actuator. Simulation results for a model problem with the actuator mounted on a clamped plate show that, when internal relative velocity feedback is used in addition to a conventional external velocity feedback loop, there is an optimum combination of internal and external velocity feedback gains, which, for a given gain margin, maximizes vibration reduction. These predictions are validated in experiments with a specially built lightweight inertial actuator.

  11. Modelling of power lines in lightning incidence calculations

    SciTech Connect

    Mousa, A.M. ); Srivastava, K.D. )

    1990-01-01

    When applying the electrogeometric model to power lines to determine the frequency and characteristics of the collected lightning strokes, the power line has traditionally been represented by a set of horizontal wires, i.e. both the sag of the wires and the existence of the towers have been ignored. This approach has serious shortcomings including inability to determine the percentage of the strokes terminating on the towers, failure to correctly predict the effect of height on median current, and giving an approximate value for the number of collected strokes without telling the corresponding degree of error. This paper eliminates the above problems by presenting a computerized solution which takes into consideration the sag of the wires, the existence of the towers, and the inequality of the striking distances to towers and to wires. The features of the program are discussed in the paper, and some of its results are given.

  12. Modelling of intense line radiation from laser-produced plasmas

    SciTech Connect

    Lee, Yim T.; Gee, M.

    1990-04-01

    In this paper, we discuss modelling of Lyman-{alpha} (i.e. Ly-{alpha}) radiation emitted from laser-produced plasmas. We are interested in the application of one of these line radiations to pump a transition of an ion in a different plasma spatially separated from the emitting source. The interest is in perturbing the plasma rather than just probing it as in some backlighting experiments. As a result of pumping, the populations of certain excited levels are inverted. The resulting gain coefficients depend strongly on the population inversion density which in turn depends on the brightness of the pump radiation. As a result, we must produce an intense bright radiation source. In addition, to pump a transition effectively, we also need a pump line with a width larger than the mismatch of the resonance since the widths of the pumped transitions are rather narrow

  13. Mathematical models for nonparametric inferences from line transect data

    USGS Publications Warehouse

    Burnham, K.P.; Anderson, D.R.

    1976-01-01

    A general mathematical theory of line transects is develoepd which supplies a framework for nonparametric density estimation based on either right angle or sighting distances. The probability of observing a point given its right angle distance (y) from the line is generalized to an arbitrary function g(y). Given only that g(O) = 1, it is shown there are nonparametric approaches to density estimation using the observed right angle distances. The model is then generalized to include sighting distances (r). Let f(y/r) be the conditional distribution of right angle distance given sighting distance. It is shown that nonparametric estimation based only on sighting distances requires we know the transformation of r given by f(O/r).

  14. Digital Actuator Technology

    SciTech Connect

    Ken Thomas; Ted Quinn; Jerry Mauck; Richard Bockhorst

    2014-09-01

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

  15. Folded dielectric elastomer actuators

    NASA Astrophysics Data System (ADS)

    Carpi, Federico; Salaris, Claudio; DeRossi, Danilo

    2007-04-01

    Polymer-based linear actuators with contractile ability are currently demanded for several types of applications. Within the class of dielectric elastomer actuators, two basic configurations are available today for such a purpose: the multi-layer stack and the helical structure. The first consists of several layers of elementary planar actuators stacked in series mechanically and parallel electrically. The second configuration relies on a couple of helical compliant electrodes alternated with a couple of helical dielectrics. The fabrication of both these configurations presents some specific drawbacks today, arising from the peculiarity of each structure. Accordingly, the availability of simpler solutions may boost the short-term use of contractile actuators in practical applications. For this purpose, a new configuration is here described. It consists of a monolithic structure made of an electroded sheet, which is folded up and compacted. The resulting device is functionally equivalent to a multi-layer stack with interdigitated electrodes. However, with respect to a stack the new configuration is advantageously not discontinuous and can be manufactured in one single phase, avoiding layer-by-layer multi-step procedures. The development and preliminary testing of prototype samples of this new actuator made of a silicone elastomer are presented here.

  16. Melting line of charged colloids from primitive model simulations.

    PubMed

    Hynninen, Antti-Pekka; Dijkstra, Marjolein

    2005-12-22

    We develop an efficient simulation method to study suspensions of charged spherical colloids using the primitive model. In this model, the colloids and the co- and counterions are represented by charged hard spheres, whereas the solvent is treated as a dielectric continuum. In order to speed up the simulations, we restrict the positions of the particles to a cubic lattice, which allows precalculation of the Coulombic interactions at the beginning of the simulation. Moreover, we use multiparticle cluster moves that make the Monte Carlo sampling more efficient. The simulations are performed in the semigrand canonical ensemble, where the chemical potential of the salt is fixed. Employing our method, we study a system consisting of colloids carrying a charge of 80 elementary charges and monovalent co- and counterions. At the colloid densities of our interest, we show that lattice effects are negligible for sufficiently fine lattices. We determine the fluid-solid melting line in a packing fraction eta-inverse screening length kappa plane and compare it with the melting line of charged colloids predicted by the Yukawa potential of the Derjaguin-Landau-Verwey-Overbeek theory. We find qualitative agreement with the Yukawa results, and we do not find any effects of many-body interactions. We discuss the difficulties involved in the mapping between the primitive model and the Yukawa model at high colloid packing fractions (eta>0.2).

  17. Thermally actuated micropump for biological and medical application

    NASA Astrophysics Data System (ADS)

    Rabaud, D.; Lefevre, R.; Salette, A.; Dargent, L.; Marko, H.; Le Masne, Q.; Dehan, C.; Morfouli, P.; Montès, L.

    2013-06-01

    While most actual micropumps use piezoelectric based actuators, we present an original approach based on bimetallic effect for deflecting a flexible silicon membranes. We have simulated, fabricated and characterized fully integrated thermally actuated membranes. Analytical and numerical models have been used to simulate and optimize the performance of the actuated diaphragm. It predicts the deflection behavior under definite power actuation and pressure. In particular, heat transfer analysis is conducted to evaluate temperature field distribution within the device. High displacements (~80μm) where obtained under low driving power. Our results show a very good fit between experiments under pressure and theoretical predictions.

  18. The dielectric breakdown limit of silicone dielectric elastomer actuators

    NASA Astrophysics Data System (ADS)

    Gatti, Davide; Haus, Henry; Matysek, Marc; Frohnapfel, Bettina; Tropea, Cameron; Schlaak, Helmut F.

    2014-02-01

    Soft silicone elastomers are used in a generation of dielectric elastomer actuators (DEAs) with improved actuation speed and durability compared to the commonly used, highly viscoelastic polyacrylate 3M VHB™ films. The maximum voltage-induced stretch of DEAs is ultimately limited by their dielectric breakdown field strength. We measure the dependence of dielectric breakdown field strength on thickness and stretch for a silicone elastomer, when voltage-induced deformation is prevented. The experimental results are combined with an analytic model of equi-biaxial actuation to show that accounting for variable dielectric field strength results in different values of optimal pre-stretch and thickness that maximize the DEA actuation.

  19. Active control of interior noise in a large scale cylinder using piezoelectric actuators

    NASA Technical Reports Server (NTRS)

    Lester, H. C.; Silcox, R. J.

    1992-01-01

    The noise reduction effectiveness of two types of control force actuator models has been analytically investigated: (1) a point actuator, and (2) an in-plane, piezoelectric actuator. The actuators were attached to the wall of a simply supported, elastic cylinder closed with rigid end caps. Control inputs to the actuators were determined such that the integrated square of the pressure over the interior of the vibrating cylinder was a minimum. Significant interior noise reductions were achieved for all actuator configurations, but especially for the structurally dominated response. Noise reduction of 9 dB to 26 dB were achieved using point force actuators, as well as localized and extended piezoelectric actuators. Control spillover was found to limit overall performance for all cases. However, the use of extended piezoelectric actuators was effective in reducing control spillover, without increasing the number of control degrees of freedom.

  20. Active control of interior noise in a large scale cylinder using piezoelectric actuators

    NASA Astrophysics Data System (ADS)

    Lester, H. C.; Silcox, R. J.

    1991-05-01

    The noise reduction effectiveness of two types of control force actuator models has been analytically investigated: (1) a point actuator, and (2) an in-plane, piezoelectric actuator. The actuators were attached to the wall of a simply supported, elastic cylinder closed with rigid end caps. Control inputs to the actuators were determined such that the integrated square of the pressure over the interior of the vibrating cylinder was a minimum. Significant interior noise reductions were achieved for all actuator configurations, but especially for the structurally dominated response. Noise reduction of 9 dB to 26 dB were achieved using point force actuators, as well as localized and extended piezoelectric actuators. Control spillover was found to limit overall performance for all cases. However, the use of extended piezoelectric actuators was effective in reducing control spillover, without increasing the number of control degrees of freedom.

  1. Active control of interior noise in a large scale cylinder using piezoelectric actuators

    NASA Astrophysics Data System (ADS)

    Lester, H. C.; Silcox, R. J.

    1992-07-01

    The noise reduction effectiveness of two types of control force actuator models has been analytically investigated: (1) a point actuator, and (2) an in-plane, piezoelectric actuator. The actuators were attached to the wall of a simply supported, elastic cylinder closed with rigid end caps. Control inputs to the actuators were determined such that the integrated square of the pressure over the interior of the vibrating cylinder was a minimum. Significant interior noise reductions were achieved for all actuator configurations, but especially for the structurally dominated response. Noise reduction of 9 dB to 26 dB were achieved using point force actuators, as well as localized and extended piezoelectric actuators. Control spillover was found to limit overall performance for all cases. However, the use of extended piezoelectric actuators was effective in reducing control spillover, without increasing the number of control degrees of freedom.

  2. Active control of interior noise in a large scale cylinder using piezoelectric actuators

    NASA Technical Reports Server (NTRS)

    Lester, H. C.; Silcox, R. J.

    1991-01-01

    The noise reduction effectiveness of two types of control force actuator models has been analytically investigated: (1) a point actuator, and (2) an in-plane, piezoelectric actuator. The actuators were attached to the wall of a simply supported, elastic cylinder closed with rigid end caps. Control inputs to the actuators were determined such that the integrated square of the pressure over the interior of the vibrating cylinder was a minimum. Significant interior noise reductions were achieved for all actuator configurations, but especially for the structurally dominated response. Noise reduction of 9 dB to 26 dB were achieved using point force actuators, as well as localized and extended piezoelectric actuators. Control spillover was found to limit overall performance for all cases. However, the use of extended piezoelectric actuators was effective in reducing control spillover, without increasing the number of control degrees of freedom.

  3. Accommodating Actuator Failures in Flight Control Systems

    NASA Technical Reports Server (NTRS)

    Hess, R. A.; Siwakosit, W.; Chung, J.

    1998-01-01

    A technique for the design of flight control systems that can accommodate a set of actuator failures is presented. As employed herein, an actuator failure is defined as any change in the parametric model of the actuator which can adversely affect actuator performance. The technique is based upon the formulation of a fixed feedback topology which ensures at least stability in the presence of the failures in the set. The fixed compensation is obtained from a loop-shaping design procedure similar to Quantitative Feedback Theory and provides stability robustness in the presence of uncertainty in the vehicle dynamics caused by the failures. System adaptation to improve performance after actuator failure(s) occurs through a static gain adjustment in the compensator followed by modification of the system prefilter. Precise identification of the vehicle dynamics is unnecessary. Application to a single-input, single-output design using a simplified model of the longitudinal dynamics of the NASA High Angle of Attack Research Vehicle is discussed. Non-real time simulations of the system including a model of the pilot demonstrate the effectiveness and limitations of the approach.

  4. Evaluation of New Actuators in a Buffet Loads Environment

    NASA Technical Reports Server (NTRS)

    Moses, Robert W.; Wieseman, Carol D.; Bent, Aaron A.; Pizzochero, Alessandro E.

    2001-01-01

    Ongoing research in buffet loads alleviation has provided an application for recently developed piezoelectric actuators capable of higher force output than previously existing actuators could provide and that can be embedded within the vehicle s structure. These new actuators, having interdigitated electrodes, promise increased performance over previous piezoelectric actuators that were tested on the fin of an F/A-18 aircraft. Two new actuators being considered by the United States Air Force to reduce buffet loads on high performance aircraft were embedded into the fins of an F/A-18 wind-tunnel model and tested in the Transonic Dynamics Tunnel at the NASA Langley Research Center. The purpose of this test program, called ENABLE (Evaluation of New Actuators in a Buffet Loads Environment), was to examine the performance of the new actuators in alleviating fin buffeting, leading to a systems -level study of a fin buffet loads alleviation system architecture being considered by the USAF, Boeing, and NASA for implementation on high performance aircraft. During this windtunnel test, the two actuators performed superbly in alleviating fin buffeting. Peak values of the power spectral density functions for tip acceleration were reduced by as much as 85%. RMS values of tip acceleration were reduced by as much as 40% while using less than 50% of the actuators capacity. Details of the wind-tunnel model and results of the wind-tunnel test are provided herein.

  5. Characterization of a 3D multi-mechanism SMA material model for the prediction of the cyclic "evolutionary" response of NiTi for use in actuations

    NASA Astrophysics Data System (ADS)

    Dhakal, Binod

    The intermetallic NiTi-based alloys are known as Shape Memory material. They exhibit unique ability to remember a shape after large deformation. They are desirable in various engineering applications, such as actuators, biomedical devices, vibration damping, etc, as they can absorb and dissipate mechanical/thermal energies by undergoing a reversible hysteretic shape change under the applied mechanical/thermal cyclic loadings. This reflects the effect of micro-structural changes occurring during phase transformation between Austenite(A) and Martensite(M), as well as differently-oriented M-variants. As typically utilized in applications, a particular shape memory alloy (SMA) device or component operates under a large number of thermo-mechanical cycles, hence, the importance of accounting for the cyclic behavior characteristics in modeling and characterization of these systems. A detailed study of the multi-mechanism-based, comprehensive, thus complex modeling framework (by Saleeb et al) and the determination of its material parameters responsible for the physical significance of the shape memory effect are made. This formulation utilizes multiple, inelastic mechanisms to regulate the partitioning of energy dissipation and storage governing the evolutionary thermo-mechanical behavior. Equipped with the understanding of the physical significance of the model parameters and utilizing the SMA modeling strategy effectively, a comprehensive characterization of the evolutionary, cyclic response of the complex real SMA, known as 55NiTi (Ni49.9Ti50.1) is carried out. The detailed comparisons between the SMA model and experimental results provided the necessary validation of the modeling capabilities of the framework to calibrate the complex alloys like 55NiTi. In addition, the details of interplays between the internal mechanisms to describe the material behavior within all the important response characteristic regions provides a convenient means to compliment the theoretical

  6. Optimization of Actuating Origami Networks

    NASA Astrophysics Data System (ADS)

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

    2015-03-01

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

  7. Line profile modelling for multi-pixel CZT detectors

    NASA Astrophysics Data System (ADS)

    Chattopadhyay, T.; Vadawale, S. V.; Rao, A. R.; Bhattacharya, D.; Mithun, N. P. S.; Bhalerao, V.

    2016-07-01

    Cadmium Zinc Telluride (CZT) detectors have been the mainstay for hard X-ray astronomy for its high quantum efficiency, fine energy resolution, near room temperature operation, and radiation hardness. In order to fully utilize the spectroscopic capabilities of CZT detectors, it is important to generate accurate response matrix, which in turn requires precise modelling of the line profiles for the CZT detectors. We have developed a numerical model taking into account the mobility and lifetime of the charge carriers and intrpixel charge sharing for the CZT detectors. This paper describes the details of the modelling along with the experimental measurements of mobility, lifetime and charge sharing fractions for the CZT detector modules of thickness of 5 mm and 2.5 mm pixel size procured from Orbotech Medical Solutions (same modules used in AstroSat-CZTI).

  8. Mathematical modeling of moving contact lines in heat transfer applications

    NASA Astrophysics Data System (ADS)

    Ajaev, Vladimir S.; Klentzman, J.; Sodtke, C.; Stephan, P.

    2007-10-01

    We provide an overview of research on the mathematical modeling of apparent contact lines in non-isothermal systems conducted over the past several decades and report a number of recent developments in the field. The latter involve developing mathematical models of evaporating liquid droplets that account not only for liquid flow and evaporation, but also for unsteady heat conduction in the substrate. The droplet is placed on a flat heated solid substrate and is assumed to be in contact with a saturated vapor. Furthermore, we discuss a careful comparison between mathematical models and experimental work that involves simultaneous measurement of shapes of evaporating droplets and temperature profiles in the solid substrate. The latter is accomplished using thermochromic liquid crystals. Applications to new research areas, such as studies of the effect of evaporation on fingering instabilities in gravity-driven liquid films, are also discussed.

  9. Efficient material flow in mixed model assembly lines.

    PubMed

    Alnahhal, Mohammed; Noche, Bernd

    2013-01-01

    In this study, material flow from decentralized supermarkets to stations in mixed model assembly lines using tow (tugger) trains is investigated. Train routing, scheduling, and loading problems are investigated in parallel to minimize the number of trains, variability in loading and in routes lengths, and line-side inventory holding costs. The general framework for solving these problems in parallel contains analytical equations, Dynamic Programming (DP), and Mixed Integer Programming (MIP). Matlab in conjunction with LP-solve software was used to formulate the problem. An example was presented to explain the idea. Results which were obtained in very short CPU time showed the effect of using time buffer among routes on the feasible space and on the optimal solution. Results also showed the effect of the objective, concerning reducing the variability in loading, on the results of routing, scheduling, and loading. Moreover, results showed the importance of considering the maximum line-side inventory beside the capacity of the train in the same time in finding the optimal solution.

  10. Modeling of Chill Down in Cryogenic Transfer Lines

    NASA Technical Reports Server (NTRS)

    Cross, Matthew F.; Majumdar, Alok K.; Bennett, John C., Jr.; Malla, Ramesh B.; Rodriquez, Pete (Technical Monitor)

    2001-01-01

    A numerical model to predict chill down in cryogenic transfer lines has been developed. Three chill down cases using hydrogen as the working fluid are solved: 1) a simplified model amenable to analytical solution, 2) a realistic model of superheated vapor flow, and 3) a realistic model of initially subcooled liquid flow. The first case compares a numerical model with an analytical solution with very good agreement between the two. Additionally, the analytical solution provides a convenient way to look at parametric effects on the chill down. The second and third cases are numerical models which provide temperature histories of the fluid and solid tube wall during chill down as well as several other quantities of interest such as pressure and mass flow rate. Of great interest is the ability to predict accurate values of chill down time (the time required to achieve steady-state cryogenic flow). The models predict that a 26 in. long, 3/16 in. ID aluminum tube has a shorter chill down time (approx. equal to 100 sec) and uses less hydrogen with superheated vapor flow than with initially subcooled liquid flow (greater than 200 sec for chill down).

  11. The nuclear shell model toward the drip lines

    NASA Astrophysics Data System (ADS)

    Poves, A.; Caurier, E.; Nowacki, F.; Sieja, K.

    2012-10-01

    We describe the 'islands of inversion' that occur when approaching the neutron drip line around the magic numbers N=20, N=28 and N=40 in the framework of the interacting shell model in very large valence spaces. We explain these configuration inversions (and the associated shape transitions) as the result of the competition between the spherical mean field (monopole) that favors magicity and the correlations (multipole) that favor deformed intruder states. We also show that the N=20 and N=28 islands are in reality a single one, which for the magnesium isotopes is limited by N=18 and N=32.

  12. Fault tolerant linear actuator

    DOEpatents

    Tesar, Delbert

    2004-09-14

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

  13. Hydraulic involute cam actuator

    DOEpatents

    Love, Lonnie J [Knoxville, TN; Lind, Randall F [Loudon, TX

    2011-11-01

    Mechanical joints are provided in which the angle between a first coupled member and a second coupled member may be varied by mechanical actuators. In some embodiments the angle may be varied around a pivot axis in one plane and in some embodiments the angle may be varied around two pivot axes in two orthogonal planes. The joints typically utilize a cam assembly having two lobes with an involute surface. Actuators are configured to push against the lobes to vary the rotation angle between the first and second coupled member.

  14. Tetherless thermobiochemically actuated microgrippers

    PubMed Central

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

    2009-01-01

    We demonstrate mass-producible, tetherless microgrippers that can be remotely triggered by temperature and chemicals under biologically relevant conditions. The microgrippers use a self-contained actuation response, obviating the need for external tethers in operation. The grippers can be actuated en masse, even while spatially separated. We used the microgrippers to perform diverse functions, such as picking up a bead on a substrate and the removal of cells from tissue embedded at the end of a capillary (an in vitro biopsy). PMID:19139411

  15. Maximizing strain in miniaturized dielectric elastomer actuators

    NASA Astrophysics Data System (ADS)

    Rosset, Samuel; Araromi, Oluwaseun; Shea, Herbert

    2015-04-01

    We present a theoretical model to optimise the unidirectional motion of a rigid object bonded to a miniaturized dielectric elastomer actuator (DEA), a configuration found for example in AMI's haptic feedback devices, or in our tuneable RF phase shifter. Recent work has shown that unidirectional motion is maximized when the membrane is both anistropically prestretched and subjected to a dead load in the direction of actuation. However, the use of dead weights for miniaturized devices is clearly highly impractical. Consequently smaller devices use the membrane itself to generate the opposing force. Since the membrane covers the entire frame, one has the same prestretch condition in the active (actuated) and passive zones. Because the passive zone contracts when the active zone expands, it does not provide a constant restoring force, reducing the maximum achievable actuation strain. We have determined the optimal ratio between the size of the electrode (active zone) and the passive zone, as well as the optimal prestretch in both in-plane directions, in order to maximize the absolute displacement of the rigid object placed at the active/passive border. Our model and experiments show that the ideal active ratio is 50%, with a displacement twice smaller than what can be obtained with a dead load. We expand our fabrication process to also show how DEAs can be laser-post-processed to remove carefully chosen regions of the passive elastomer membrane, thereby increasing the actuation strain of the device.

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

    NASA Astrophysics Data System (ADS)

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

    2010-03-01

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

  17. Propagation model for non-line-of-sight ultraviolet communication

    NASA Astrophysics Data System (ADS)

    Luo, Yi-xue; Tang, Xin-yi

    2013-08-01

    Scattering deflects the ultraviolet ray, and makes it possible to bypass the obstacles between two blocked nodes. To investigate the channel characteristics of this kind of link, models have been developed, and most of them are based on coplanar geometry. Non-coplanar geometry, however, is unavoidable in most actual application. To make sure the influences of this factor, a universal model which describes the channel characteristics of Non-Line-Of-Sight (NLOS) Ultraviolet communication for non-coplanar geometry is developed in this paper. On the basis of classical single-scatter model, this model mainly estimates the impulse response and the pass loss with the transmitter and the receiver cone pointed in arbitrary directions. There are three major contributions in the paper. Firstly, classical single-scatter model and the differences effective scattering volume between coplanar geometry and non-coplanar geometry were described. Trigonometry and optimization techniques were proposed to overcome the restriction that the transmitter and the receiver cone axes lie in the same plane; secondly, a Monte-Carlo (MC) model was constructed to verify the single scatter model; finally numerical simulations and analysis were presented. Numerical simulation shows that the deflection of the transmission or the reception cones(α􀭲, α􀭰) decreases the signal, this decrease is slight under small deflection, and becomes more serious as deflection increases, finally remarkable when the deflection reaches a threshold. The result shows that a positive correlation exists between the threshold and the source divergence, which means that large source divergence gives better tolerability of the off-axis angle, but worse pulse width. In addition, the influence of deflection can be reduced signally by deflecting the two cones in the same side.MC model draws the similar conclusion approximately. Compared with other models, this model releases the restriction that the

  18. Actuator Grouping Optimization on Flexible Space Reflectors

    NASA Technical Reports Server (NTRS)

    Hill, Jeffrey R.; Wang, K. W.; Fang, Houfei; Quijano, Ubaldo

    2011-01-01

    With the rapid advances in deployable membrane and mesh antenna technologies, the feasibility of developing large, lightweight reflectors has greatly improved. In order to achieve the required surface accuracy, precision surface control is needed on these lightweight reflectors. For this study, an analytical model is shown which combines a flexible Kapton reflector with Polyvinylidene fluoride (PVDF) actuators for surface control. Surface errors are introduced that are similar to real world scenarios, and a least squares control algorithm is developed for surface control. Experimental results on a 2.4 meter reflector show that while the analytical reflector model is generally correct, due to idiosyncrasies in the reflector it cannot be used for online control. A new method called the En Mass Elimination algorithm is used to determine the optimal grouping of actuators when the number of actuators in the system exceeds the number of power supplies available.

  19. Fabrication of Polyurethane Dielectric Actuators

    DTIC Science & Technology

    2005-01-01

    a summary of a 3 year Technology Investment Fund Project entitled “Dielectric Polymer Actuators for Active/ Passive Vibration Isolation”, which was...completed in March 2005. The purpose of this project was to investigate dielectric polymer materials for potential use in active/ passive vibration...devices and systems based on dielectric polymer actuators. Keywords: dielectric actuators, electroactive polymers , Technology Investment Fund 1

  20. Modeling the initial contact line dynamics of dewetting bubbles

    NASA Astrophysics Data System (ADS)

    Menesses, Mark; Laurent, Matthieu; Bird, James

    2016-11-01

    When a rising bubble comes to rest beneath a solid horizontal surface, the resulting liquid film dewets to minimize the total free energy of the three phase system. For partially wetting surfaces, the presence of the contact angle yields dynamics which are assumed to be governed by viscous effects. In contrast, the early-time dynamics for drops spreading on partially wetting surfaces are dominated by inertial effects. Motivated by the discrepancy between these two systems, we conduct experiments on dewetting bubbles and find that the short-time dynamics fail to obey purely viscous or inertial scalings. We draw from previously proposed dewetting and spreading models to develop a new model that can rationalize the anomalous scalings that we observe. Our results suggest that the speed that a bubble adheres to a partially wetting surface is set by an interplay of capillary waves and contact line motion. We acknowledge support from ONR, Saint-Gobain, and NSF GRFP.

  1. Mathematical Modelling of Mixed-Model Assembly Line Balancing Problem with Resources Constraints

    NASA Astrophysics Data System (ADS)

    Magffierah Razali, Muhamad; Rashid, Mohd Fadzil Faisae Ab.; Razif Abdullah Make, Muhammad

    2016-11-01

    Modern manufacturing industries nowadays encounter with the challenges to provide a product variety in their production at a cheaper cost. This situation requires for a system that flexible with cost competent such as Mixed-Model Assembly Line. This paper developed a mathematical model for Mixed-Model Assembly Line Balancing Problem (MMALBP). In addition to the existing works that consider minimize cycle time, workstation and product rate variation, this paper also consider the resources constraint in the problem modelling. Based on the finding, the modelling results achieved by using computational method were in line with the manual calculation for the evaluated objective functions. Hence, it provided an evidence to verify the developed mathematical model for MMALBP. Implications of the results and future research directions were also presented in this paper.

  2. “A Reduced-form Model to Estimate Near-road Air Quality for Communities: the Community Line Source modeling system (C-LINE)”

    EPA Science Inventory

    The paper presents the Community Line Source (C-LINE) modeling system that estimates toxic air pollutant (air toxics) concentration gradients within 500 meters of busy roadways for community-sized areas on the order of 100 km2. C-LINE accesses publicly available datasets with nat...

  3. "Mighty Worm" Piezoelectric Actuator

    NASA Technical Reports Server (NTRS)

    Bamford, Robert M.; Wada, Ben K.; Moore, Donald M.

    1994-01-01

    "Mighty Worm" piezoelectric actuator used as adjustable-length structural member, active vibrator or vibration suppressor, and acts as simple (fixed-length) structural member when inactive. Load force not applied to piezoelectric element in simple-structural-member mode. Piezoelectric element removed from load path when not in use.

  4. Shape Memory Alloy Actuator

    NASA Technical Reports Server (NTRS)

    Baumbick, Robert J. (Inventor)

    2002-01-01

    The present invention discloses and teaches a unique, remote optically controlled micro actuator particularly suitable for aerospace vehicle applications wherein hot gas, or in the alternative optical energy, is employed as the medium by which shape memory alloy elements are activated. In gas turbine powered aircraft the source of the hot gas may be the turbine engine compressor or turbine sections.

  5. Shape Memory Alloy Actuator

    NASA Technical Reports Server (NTRS)

    Baumbick, Robert J. (Inventor)

    2000-01-01

    The present invention discloses and teaches a unique, remote optically controlled micro actuator particularly suitable for aerospace vehicle applications wherein hot gas, or in the alternative optical energy, is employed as the medium by which shape memory alloy elements are activated. In gas turbine powered aircraft the source of the hot gas may be the turbine engine compressor or turbine sections.

  6. Electromechanical flight control actuator

    NASA Technical Reports Server (NTRS)

    1979-01-01

    The feasibility of using an electromechanical actuator (EMA) as the primary flight control equipment in aerospace flight is examined. The EMA motor design is presented utilizing improved permanent magnet materials. The necessary equipment to complete a single channel EMA using the single channel power electronics breadboard is reported. The design and development of an improved rotor position sensor/tachometer is investigated.

  7. Bistable microelectromechanical actuator

    DOEpatents

    Fleming, James G.

    1999-01-01

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

  8. Bistable microelectromechanical actuator

    DOEpatents

    Fleming, J.G.

    1999-02-02

    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.

  9. Piezoelectric actuator renaissance

    NASA Astrophysics Data System (ADS)

    Uchino, Kenji

    2015-03-01

    This paper resumes the content of the invited talk of the author, read at the occasion of the International Workshop on Relaxor Ferroelectrics, IWRF 14, held on October 12-16, 2014 in Stirin, Czech Republic. It reviews the recent advances in materials, designing concepts, and new applications of piezoelectric actuators, as well as the future perspectives of this area.

  10. Thermally Actuated Hydraulic Pumps

    NASA Technical Reports Server (NTRS)

    Jones, Jack; Ross, Ronald; Chao, Yi

    2008-01-01

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

  11. Wireless actuation with functional acoustic surfaces

    NASA Astrophysics Data System (ADS)

    Qiu, T.; Palagi, S.; Mark, A. G.; Melde, K.; Adams, F.; Fischer, P.

    2016-11-01

    Miniaturization calls for micro-actuators that can be powered wirelessly and addressed individually. Here, we develop functional surfaces consisting of arrays of acoustically resonant micro-cavities, and we demonstrate their application as two-dimensional wireless actuators. When remotely powered by an acoustic field, the surfaces provide highly directional propulsive forces in fluids through acoustic streaming. A maximal force of ˜0.45 mN is measured on a 4 × 4 mm2 functional surface. The response of the surfaces with bubbles of different sizes is characterized experimentally. This shows a marked peak around the micro-bubbles' resonance frequency, as estimated by both an analytical model and numerical simulations. The strong frequency dependence can be exploited to address different surfaces with different acoustic frequencies, thus achieving wireless actuation with multiple degrees of freedom. The use of the functional surfaces as wireless ready-to-attach actuators is demonstrated by implementing a wireless and bidirectional miniaturized rotary motor, which is 2.6 × 2.6 × 5 mm3 in size and generates a stall torque of ˜0.5 mN.mm. The adoption of micro-structured surfaces as wireless actuators opens new possibilities in the development of miniaturized devices and tools for fluidic environments that are accessible by low intensity ultrasound fields.

  12. An algorithm for LQ optimal actuator location

    NASA Astrophysics Data System (ADS)

    Darivandi, Neda; Morris, Kirsten; Khajepour, Amir

    2013-03-01

    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.

  13. Evolutionary flight and enabling smart actuator devices

    NASA Astrophysics Data System (ADS)

    Manzo, Justin; Garcia, Ephrahim

    2007-04-01

    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.

  14. Virtual Shaping of a Two-dimensional NACA 0015 Airfoil Using Synthetic Jet Actuator

    NASA Technical Reports Server (NTRS)

    Chen, Fang-Jenq; Beeler, George B.

    2002-01-01

    The Aircraft Morphing Program at NASA Langley envisions an aircraft without conventional control surfaces. Instead of moving control surfaces, the vehicle control systems may be implemented with a combination of propulsive forces, micro surface effectors, and fluidic devices dynamically operated by an intelligent flight control system to provide aircraft maneuverability over each mission segment. As a part of this program, a two-dimensional NACA 0015 airfoil model was designed to test mild maneuvering capability of synthetic jets in a subsonic wind tunnel. The objective of the experiments is to assess the applicability of using unsteady suction and blowing to alter the aerodynamic shape of an airfoil with a purpose to enhance lift and/or to reduce drag. Synthetic jet actuation at different chordwise locations, different forcing frequencies and amplitudes, under different freestream velocities are investigated. The effect of virtual shape change is indicated by a localized increase of surface pressure in the neighborhood of synthetic jet actuation. That causes a negative lift to the airfoil with an upper surface actuation. When actuation is applied near the airfoil leading edge, it appears that the stagnation line is shifted inducing an effect similar to that caused by a small angle of attack to produce an overall lift change.

  15. Mechatronic track guidance on disturbed track: the trade-off between actuator performance and wheel wear

    NASA Astrophysics Data System (ADS)

    Kurzeck, Bernhard; Heckmann, Andreas; Wesseler, Christoph; Rapp, Matthias

    2014-05-01

    Future high-speed trains are the main focus of the DLR research project Next Generation Train. One central point of the research activities is the development of mechatronic track guidance for the two-axle intermediate wagons with steerable, individually powered, independently rotating wheels. The traction motors hereby fulfil two functions; they concurrently are traction drives and steering actuators. In this paper, the influence of the track properties - line layout and track irregularities - on the performance requirements for the guidance actuator is investigated using multi-body models in SIMPACK®. In order to compromise on the design conflict between low wheel wear and low steering torque, the control parameters of the mechatronic track guidance are optimised using the DLR in-house software MOPS. Besides the track irregularities especially the increasing inclination at transition curves defines high actuator requirements due to gyroscopic effects at high speed. After introducing a limiter for the actuating variables into the control system, a good performance is achieved.

  16. On the 630 nm red-line pulsating aurora: Red-line Emission Geospace Observatory observations and model simulations

    NASA Astrophysics Data System (ADS)

    Liang, Jun; Donovan, E.; Jackel, B.; Spanswick, E.; Gillies, M.

    2016-08-01

    In this study, we present observations of red-line (630 nm) pulsating auroras using the camera system of Red-line Emission Geospace Observatory (REGO), during a geomagnetic storm interval. We also develop a time-dependent model to simulate the 630 nm auroral pulsations in response to modulated precipitation inputs and compare the model outputs with REGO observations. Key results are as follows. (1) Notwithstanding the long radiative timescale of the 630 nm emission, red-line auroras can still be modulated by pulsating electron precipitations and feature noticeable oscillations, which constitute the red-line pulsating auroral phenomena. (2) In a majority of cases, the oscillation magnitude of red-line pulsating auroras is substantially smaller than that of the concurrent pulsating auroras seen on Thermal Emission Imaging System whitelight images (generally dominated by 557.7 nm green-line emissions). Under certain circumstances, e.g., when the characteristic energy of the precipitation is very high, some of the pulsating auroras may not show discernible imprints on red line. (3) The altitude range contributing most to the red-line pulsating aurora is systematically lower than that of the steady-state red-line aurora, since the slower O(1D) loss rate at higher altitudes tends to suppress the oscillation range of the 630 nm emission rate. (4) We find that some pulsating auroral patches are characterized by enhanced red-to-green color ratio during their on time, hinting that the percentage increase of the red-line auroral component exceeds that of the green-line auroral component for those patches. We suggest that those special patches might possibly be associated with lower energy (<1 keV) electron precipitations.

  17. Comparison of line-by-line and band models of near-IR methane absorption applied to outer planet atmospheres

    NASA Astrophysics Data System (ADS)

    Sromovsky, L. A.; Fry, P. M.; Boudon, V.; Campargue, A.; Nikitin, A.

    2012-03-01

    Recent improvements in high spectral resolution measurements of methane absorption at wavenumbers between 4800 cm-1 and 7919 cm-1 have greatly increased the number of lines with known lower state energies, the number of weak lines, and the number of lines observed at low temperatures (Campargue, A., Wang, L., Kassi, S., Mašát, M., Votava, O. [2010]. J. Quant. Spectrosc. Radiat. Trans. 111, 1141-1151; Campargue, A., Wang, L., Liu, A.W., Hu, S.M., Kassi, S. [2010]. Chem. Phys. 373, 203-210; Mondelain, D., Kassi, S., Wang, L.C. [2011]. Phys. Chem. Chem. Phys. 13, 7985-7996; Nikitin, A.V. et al. [2011a]. J. Mol. Spectrosc. 268, 93-106; Nikitin, A.V. et al. [2010]. J. Quant. Spectrosc. Radiat. Trans. 111, 2211-2224; Wang, L., Kassi, S., Campargue, A. [2010]. J. Quant. Spectrosc. Radiat. Trans. 111, 1130-1140; Wang, L., Kassi, S., Liu, A.W., Hu, S.M., Campargue, A. [2011]. J. Quant. Spectrosc. Radiat. Trans. 112, 937-951), making it possible to fit near-IR spectra of Titan using line-by-line calculations instead of band models (Bailey, J., Ahlsved, L., Meadows, V.S. [2011]. Icarus 213, 218-232; de Bergh, C. et al. [2011]. Planet. Space Sci. doi:10.1016/j.pss.2011.05.003). Using these new results, we compiled an improved line list relative that used by Bailey et al. by updating several spectral regions with either calculated or more recently measured line parameters, revising lower state energy estimates for lines lacking them, and adding room temperature lines to make the list applicable over a wider range of temperatures. We compared current band models with line-by-line calculations using this new line list, both to assess the behavior of band models, and to identify remaining issues with line-by-line calculations when applied to outer planet atmospheres and over a wider range of wavelengths. Comparisons were made for a selection of uniform paths representing outer planet conditions and for representative non-uniform paths within the atmospheres of Uranus, Saturn

  18. Continuum and line modelling of discs around young stars. II. Line diagnostics for GASPS from the DENT grid

    NASA Astrophysics Data System (ADS)

    Kamp, I.; Woitke, P.; Pinte, C.; Tilling, I.; Thi, W.-F.; Menard, F.; Duchene, G.; Augereau, J.-C.

    2011-08-01

    Aims: We want to understand the chemistry and physics of discs on the basis of a large unbiased and statistically relevant grid of disc models. One of the main goals is to explore the diagnostic power of various gas emission lines and line ratios for deriving main disc parameters such as the gas mass. Methods: We explored the results of the DENT grid (Disk Evolution with Neat Theory) that consists of 300 000 disc models with 11 free parameters. Through a statistical analysis, we searched for correlations and trends in an effort to find tools for disc diagnostic. Results: All calculated quantities like species masses, temperatures, continuum, and line fluxes differ by several orders of magnitude across the entire parameter space. The broad distribution of these quantities as a function of input parameters shows the limitation of using a prototype T Tauri or Herbig Ae/Be disc model. The statistical analysis of the DENT grid shows that CO gas is rarely the dominant carbon reservoir in discs. Models with large inner radii (10 times the dust condensation radius) and/or shallow surface density gradients lack massive gas-phase water reservoirs. Also, 60% of the discs have gas temperatures averaged over the oxygen mass in the range between 15 and 70 K; the average gas temperatures for CO and O differ by less than a factor two. Our study of the observational diagnostics shows that the [C ii] 158 μm fine structure line flux is very sensitive to the stellar UV flux and presence of a UV excess, and that it traces the outer disc radius (Rout). In the submm, the CO low J rotational lines also trace Rout. Low [O i] 63/145 line ratios (line. This occurs mostly for massive non-flaring, settled disc models without UV excess. A combination of the [O i] 63 line and low J CO lines correlates with several disc properties, such as the average O i gas temperature in

  19. Methodology for artificial microswimming using magnetic actuation

    NASA Astrophysics Data System (ADS)

    Ghanbari, A.; Bahrami, M.; Nobari, M. R. H.

    2011-04-01

    We propose a methodology for swimming at low-Reynolds-number flows based on ciliary motion of a microswimmer using magnetic actuation of artificial cilia. By solving the coupled magnetic-elastic-hydrodynamic problem, we demonstrate nonreciprocal effective and recovery strokes for cilia that nicely mimic natural cilia beating. Cilia drag forces, microswimmer net displacement, velocity, and efficiency are calculated, and we show the model can swim using a prespecified magnetic actuation. The proposed methodology can be used for devising biomedical microdevices that swim in viscous flows inside the human body.

  20. Methodology for artificial microswimming using magnetic actuation.

    PubMed

    Ghanbari, A; Bahrami, M; Nobari, M R H

    2011-04-01

    We propose a methodology for swimming at low-Reynolds-number flows based on ciliary motion of a microswimmer using magnetic actuation of artificial cilia. By solving the coupled magnetic-elastic-hydrodynamic problem, we demonstrate nonreciprocal effective and recovery strokes for cilia that nicely mimic natural cilia beating. Cilia drag forces, microswimmer net displacement, velocity, and efficiency are calculated, and we show the model can swim using a prespecified magnetic actuation. The proposed methodology can be used for devising biomedical microdevices that swim in viscous flows inside the human body.

  1. Stretchable Materials for Robust Soft Actuators towards Assistive Wearable Devices

    NASA Astrophysics Data System (ADS)

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

    2016-09-01

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

  2. Stretchable Materials for Robust Soft Actuators towards Assistive Wearable Devices.

    PubMed

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

    2016-09-27

    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.

  3. Stretchable Materials for Robust Soft Actuators towards Assistive Wearable Devices

    PubMed Central

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

    2016-01-01

    Soft actuators made from elastomeric active materials can find widespread potential implementation in a variety of applications ranging from assistive wearable technologies targeted at biomedical rehabilitation or assistance with activities of daily living, bioinspired and biomimetic systems, to gripping and manipulating fragile objects, and adaptable locomotion. In this manuscript, we propose a novel two-component soft actuator design and design tool that produces actuators targeted towards these applications with enhanced mechanical performance and manufacturability. Our numerical models developed using the finite element method can predict the actuator behavior at large mechanical strains to allow efficient design iterations for system optimization. Based on two distinctive actuator prototypes’ (linear and bending actuators) experimental results that include free displacement and blocked-forces, we have validated the efficacy of the numerical models. The presented extensive investigation of mechanical performance for soft actuators with varying geometric parameters demonstrates the practical application of the design tool, and the robustness of the actuator hardware design, towards diverse soft robotic systems for a wide set of assistive wearable technologies, including replicating the motion of several parts of the human body. PMID:27670953

  4. Numerical modelling of multimode fibre-optic communication lines

    SciTech Connect

    Sidelnikov, O S; Fedoruk, M P; Sygletos, S; Ferreira, F

    2016-01-31

    The results of numerical modelling of nonlinear propagation of an optical signal in multimode fibres with a small differential group delay are presented. It is found that the dependence of the error vector magnitude (EVM) on the differential group delay can be reduced by increasing the number of ADC samples per symbol in the numerical implementation of the differential group delay compensation algorithm in the receiver. The possibility of using multimode fibres with a small differential group delay for data transmission in modern digital communication systems is demonstrated. It is shown that with increasing number of modes the strong coupling regime provides a lower EVM level than the weak coupling one. (fibre-optic communication lines)

  5. a Nonhydrostatic Modeling Analysis of AN Intense Midlatitude Squall Line.

    NASA Astrophysics Data System (ADS)

    Yang, Ming-Jen

    1995-01-01

    Nonhydrostatic modeling shows that the convective cells of a squall line, which occurred over Kansas and Oklahoma on 10-11 June 1985, behaves as gravity waves. In the simulation, the gust front generates a continuous low -level updraft. Updraft cells periodically break away from the gust-front updraft and move at their associated gravity -wave phase speeds. Linear theory shows that waves are trapped in the troposphere because of the strong decrease of Scorer parameter with height. Linear theory predicts the gravity-wave amplitudes, quadrature relations, and the gravity-wave periods. The stronger front-to-rear propagation mode dominates in the mature stage of the storm. The decrease of Scorer parameter with height encountered by the rearward propagating waves is a product of the storm circulation. The drop-off in Scorer parameter with height is a manifestation of the shear between ascending front-to-rear and descending rear-to-front flows of the squall-line system. The squall line produces an environment conducive to trapping rearward propagating gravity waves generated at the gust front. Numerical experiments show that the rear inflow and related aspects of storm structure are sensitive to hydrometer types, ice-phase microphysics, and the midlevel environmental humidity. Ice-phase microphysics is important for the model to produce realistic air motions and precipitation in the stratiform region. With the occurrence of heavy hailstones, there is no enhanced rear-to-front flow at the back edge of the storm. Evaporation is the most important latent cooling process determining the structure and strength of the descending rear inflow and the mesoscale downdraft. Latent cooling by melting snow enhances the strength of the rear -to-front flow at the back edge of storm and the intensity of mesoscale downdraft. Mesoscale downdraft is initiated above the rm 0^circC level by sublimational cooling. With the environmental midlevel moisture reduced by half, mesoscale downdrafts

  6. Dielectric Barrier Discharge Plasma Actuators with Novel Geometries for Flow Modification: Experimental Measurements and Validation with a 2-D Fluid Model

    DTIC Science & Technology

    2013-12-30

    Dielectric barrier discharge ( DBD ) U U U UU 16 Noah Hershkowitz 608-831-5862 SF-298 Abstract / Contract No. FA9550-10-1-0565 Optical characteristics of...surface dielectric barrier discharge ( DBD ) plasma actuators with wire/planar electrodes were studied using an intensified charge-coupled device camera and...grounded planar electrode were observed for the first time. Time resolved velocity measurements of the air flow fields induced by planar DBD actuators

  7. Physics-model-based Actuator Trajectory Optimization and Feedback Control of the Plasma Safety Factor Profile and Internal Energy Dynamics in DIII-D

    NASA Astrophysics Data System (ADS)

    Barton, J. E.; Schuster, E.; Walker, M. L.; Humphreys, D. A.

    2013-10-01

    Simulation and experimental results in DIII-D are presented to demonstrate the potential of integrated physics-model-based q profile and internal energy control algorithms for systematic attainment and repeatability of discharges. Both simulations and experiments demonstrate improved profile control accuracy relative to open loop (feedforward) control alone, by using a combined feedforward + feedback scheme. The scheme is constructed by embedding a nonlinear, first-principles-driven, physics-based model of the plasma dynamics into the control design process. Firstly, a tool to numerically design actuator trajectories that steer the plasma to a desired operating state (feedforward) is developed with the objective of supporting the traditional trial-and-error experimental process of advanced scenario planning. Secondly, an algorithm to track a desired q profile and internal energy evolution (feedback) is developed with the goal of adding robustness to the control scheme. Supported by the US Department of Energy under DE-FG02-09ER55064, DE-FG02-92ER54141 and DE-FC02-04ER54698.

  8. Active-standby servovalue/actuator development

    NASA Technical Reports Server (NTRS)

    Masm, R. K.

    1973-01-01

    A redundant, fail/operate fail/fixed servoactuator was constructed and tested along with electronic models of a servovalve. It was found that a torque motor switch is satisfactory for the space shuttle main engine hydraulic actuation system, and that this system provides an effective failure monitoring technique.

  9. Application of the spectrally integrated Voigt function to line-by-line radiative transfer modelling

    NASA Astrophysics Data System (ADS)

    Quine, B. M.; Abrarov, S. M.

    2013-09-01

    We show that a new approach based on the spectrally integrated Voigt function (SIVF) enables the computation of line-by-line (LBL) radiative transfer at reduced spectral resolution without loss of accuracy. The algorithm provides rapid and accurate computation of area under the Voigt function in a way that preserves spectral radiance and, consequently, radiant intensity. The error analysis we provide shows the high-accuracy of the proposed SIVF approximations. A comparison of the performance of the method with that of the traditional LBL approach is presented. Motivations for the use and advantage of the SIVF as a replacement for conventional line function computations in radiative transfer are discussed.

  10. Design of a two degree of freedom shape memory alloy actuator for mirror positioning

    NASA Astrophysics Data System (ADS)

    Williams, Eric A.; Elahinia, Mohammad H.

    2006-03-01

    Due to improvements in material properties through research, actuation mechanisms utilizing shape memory alloys (SMA) have been attracting more attention. Many actuation mechanisms have utilized the phase transformation of SMA's to generate motion. One new arena for the application of the alloys is the automotive industry, where they can reduce size and cost of the actuator in current models. The three major types of actuators employing SMA wires will be discussed. One such type, the antagonistic actuator, has begun to find applications where position can be controlled through the use of SMA wire. Based on this antagonistic actuator, a novel two degree of freedom SMA actuator is proposed which controls the position of an external rear view mirror. This design would replace the current DC motor design with a cheaper and more compact mechanism. The prototype concept is implemented using an antagonistic actuator based on an SMA wire, a joystick and a microcontroller.

  11. Analytical approach on the performance of helical dielectric elastomer actuator

    NASA Astrophysics Data System (ADS)

    Gbaguidi, Audrey; Konduru, Vamsi Krishna; Kim, Daewon

    2016-04-01

    This study takes the conceptual idea of the helical dielectric elastomer actuator (HDEA) and explores mathematical concepts for the actuator capabilities to provide a reasonable function in an industrial role. In the past, other researchers have demonstrated the contractile capabilities of the HDEA through experimental work and analytical modeling. The researchers in those work fabricated helical dielectric elastomer actuators with helical compliant electrodes interposed in an elastomeric insulator. Although an analytical electromechanical model was described, it was applicable only for relatively small strains and the elastomer was designed as a linearly elastic body. It is desirable to consider large strains for better prediction of the performance of the actuator. We begin our analysis by considering the 3D actuator as a purely hyperelastic model with no viscoelastic effects. The constructed mathematical concepts show the displacement, model capabilities, and also overall functionality of the HDEA. The electromechanical coupling of the actuator is modeled to produce a history of the actuator's strain response for specific activation voltages. The performance of the HDEA is also numerically compared using a commercial grade software.

  12. Microfabricated therapeutic actuator mechanisms

    DOEpatents

    Northrup, M.A.; Ciarlo, D.R.; Lee, A.P.; Krulevitch, P.A.

    1997-07-08

    Electromechanical microstructures (microgrippers), either integrated circuit (IC) silicon-based or precision machined, to extend and improve the application of catheter-based interventional therapies for the repair of aneurysms in the brain or other interventional clinical therapies. These micromechanisms can be specifically applied to release platinum coils or other materials into bulging portions of the blood vessels also known as aneurysms. The ``micro`` size of the release mechanism is necessary since the brain vessels are the smallest in the body. Through a catheter more than one meter long, the micromechanism located at one end of the catheter can be manipulated from the other end thereof. The microgripper (micromechanism) of the invention will also find applications in non-medical areas where a remotely actuated microgripper or similar actuator would be useful or where micro-assembling is needed. 22 figs.

  13. Microfabricated therapeutic actuator mechanisms

    DOEpatents

    Northrup, Milton A.; Ciarlo, Dino R.; Lee, Abraham P.; Krulevitch, Peter A.

    1997-01-01

    Electromechanical microstructures (microgrippers), either integrated circuit (IC) silicon-based or precision machined, to extend and improve the application of catheter-based interventional therapies for the repair of aneurysms in the brain or other interventional clinical therapies. These micromechanisms can be specifically applied to release platinum coils or other materials into bulging portions of the blood vessels also known as aneurysms. The "micro" size of the release mechanism is necessary since the brain vessels are the smallest in the body. Through a catheter more than one meter long, the micromechanism located at one end of the catheter can be manipulated from the other end thereof. The microgripper (micromechanism) of the invention will also find applications in non-medical areas where a remotely actuated microgripper or similar actuator would be useful or where micro-assembling is needed.

  14. Electrical Actuation Technology Bridging

    NASA Technical Reports Server (NTRS)

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

    1993-01-01

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

  15. Microfabricated therapeutic actuators

    DOEpatents

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

    1999-01-01

    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.

  16. Microfabricated therapeutic actuators

    DOEpatents

    Lee, A.P.; Northrup, M.A.; Ciarlo, D.R.; Krulevitch, P.A.; Benett, W.J.

    1999-06-15

    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. 8 figs.

  17. Scissor thrust valve actuator

    DOEpatents

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

    2006-08-29

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

  18. Optimal actuator placement and active structure design for control of helicopter airframe vibrations

    NASA Astrophysics Data System (ADS)

    Heverly, David Ellsworth, II

    A comprehensive research program on active control of rotorcraft airframe vibration is detailed in this thesis. A systematic design methodology, to realize an active vibration control system, is proposed and studied. The methodology is a four-part design cycle and relies heavily on numerical computation, modeling, and analysis. The various analytical tools, models, and processes required to execute the methodology are described. Two dynamic models of the helicopter airframe and an optimization procedure for actuator placement are utilized within the methodology. The optimization procedure simultaneously determines the type of actuation, the locations to apply actuation, and the corresponding active control actions. A feasibility study is conducted to examine the effectiveness of helicopter vibration control by distributing actuators at optimal locations within the airframe, rather than confining actuation to a centralized region. Results indicate that distributed actuation is capable of greater vibration suppression and requires less control effort than a centralized actuation configuration. An analytical and experimental investigation is conducted on a scaled model of a helicopter tailboom. The scaled tailboom model is used to study the actuation design and realization issues associated with integrating dual-point actuation into a semi-monocoque airframe structure. A piezoelectric stack actuator configuration is designed and installed within the tailboom model. Experimental tests indicate the stack actuator configuration is able to produce a bending moment within the structure to suppress vibration without causing excessive localized stress in the structure.

  19. Computation of Static Shapes and Voltages for Micromachined Deformable Mirrors with Nonlinear Electrostatic Actuators

    NASA Technical Reports Server (NTRS)

    Wang, P. K. C.; Hadaegh, F. Y.

    1996-01-01

    In modeling micromachined deformable mirrors with electrostatic actuators whose gap spacings are of the same order of magnitude as those of the surface deformations, it is necessary to use nonlinear models for the actuators. In this paper, we consider micromachined deformable mirrors modeled by a membrane or plate equation with nonlinear electrostatic actuator characteristics. Numerical methods for computing the mirror deformation due to given actuator voltages and the actuator voltages required for producing the desired deformations at the actuator locations are presented. The application of the proposed methods to circular deformable mirrors whose surfaces are modeled by elastic membranes is discussed in detail. Numerical results are obtained for a typical circular micromachined mirror with electrostatic actuators.

  20. Dissolution actuated sample container

    SciTech Connect

    Nance, Thomas A.; McCoy, Frank T.

    2013-03-26

    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.

  1. Shape memory alloy actuator

    DOEpatents

    Varma, Venugopal K.

    2001-01-01

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

  2. Thermally actuated thermionic switch

    DOEpatents

    Barrus, Donald M.; Shires, Charles D.

    1988-01-01

    A thermally actuated thermionic switch which responds to an increase of temperature by changing from a high impedance to a low impedance at a predictable temperature set point. The switch has a bistable operation mode switching only on temperature increases. The thermionic material may be a metal which is liquid at the desired operation temperature and held in matrix in a graphite block reservoir, and which changes state (ionizes, for example) so as to be electrically conductive at a desired temperature.

  3. Thermally actuated thermionic switch

    DOEpatents

    Barrus, D.M.; Shires, C.D.

    1982-09-30

    A thermally actuated thermionic switch which responds to an increase of temperature by changing from a high impedance to a low impedance at a predictable temperature set point. The switch has a bistable operation mode switching only on temperature increases. The thermionic material may be a metal which is liquid at the desired operation temperature and held in matrix in a graphite block reservoir, and which changes state (ionizes, for example) so as to be electrically conductive at a desired temperature.

  4. Shape Memory Actuator System

    DTIC Science & Technology

    1998-07-31

    The advantage in utilizing 15 shape-memory cables made of Nitinol for size reduction of the remote control actuator system is 1 Fi well suited for...a submarine environment because of its non-magnetic and corrosion resistance 17 properties. Use of thermoelastic Nitinol introduces other...problems because of the cooling and 18 resetting properties of Nitinol cables. It is therefore an important object of the present invention 19 on to

  5. Passively actuated valve

    SciTech Connect

    Modro, S. Michael; Ougouag, Abderrafi M.

    2005-09-20

    A passively actuated valve for isolating a high pressure zone from a low pressure zone and discontinuing the isolation when the pressure in the high pressure zone drops below a preset threshold. If the pressure in the high pressure zone drops below the preset threshold, the valve opens and allows flow from the high pressure zone to the low pressure zone. The valve remains open allowing pressure equalization and back-flow should a pressure inversion between the two pressure zone occur.

  6. Linear mass actuator

    NASA Technical Reports Server (NTRS)

    Holloway, Sidney E., III (Inventor); Crossley, Edward A., Jr. (Inventor); Jones, Irby W. (Inventor); Miller, James B. (Inventor); Davis, C. Calvin (Inventor); Behun, Vaughn D. (Inventor); Goodrich, Lewis R., Sr. (Inventor)

    1992-01-01

    A linear mass actuator includes an upper housing and a lower housing connectable to each other and having a central passageway passing axially through a mass that is linearly movable in the central passageway. Rollers mounted in the upper and lower housings in frictional engagement with the mass translate the mass linearly in the central passageway and drive motors operatively coupled to the roller means, for rotating the rollers and driving the mass axially in the central passageway.

  7. Coalescence-induced droplet actuation

    NASA Astrophysics Data System (ADS)

    Sellier, Mathieu; Verdier, Claude; Nock, Volker

    2011-11-01

    This work investigates a little explored driving mechanism to actuate droplets: the surface tension gradient which arises during the coalescence of two droplets of liquid having different compositions and therefore surface tensions. The resulting surface tension gradient gives rise to a Marangoni flow which, if sufficiently large, can displace the droplet. In order to understand, the flow dynamics arising during the coalescence of droplets of different fluids, a model has been developed in the lubrication framework. The numerical results confirm the existence of a self-propulsion window which depends on two dimensionless groups representing competing effects during the coalescence: the surface tension contrast between the droplets which promotes actuation and species diffusion which tends to make the mixture uniform thereby anihilating Marangoni flow and droplet motion. In parallel, experiments have been conducted to confirm this self-propulsion behaviour. The experiment consists in depositing a droplet of distilled water on a ``hydrophilic highway.'' This stripe was obtained by plasma-treating a piece of PDMS shielded in some parts by glass coverslips. This surface functionalization was found to be the most convenient way to control the coalescence. When a droplet of ethanol is deposited near the ``water slug,'' coalescence occurs and a rapid motion of the resulting mixture is observed. The support of the Dumont d'Urville NZ-France Science & Technology program is gratefully acknowledged.

  8. NASA pyrotechnically actuated systems program

    NASA Technical Reports Server (NTRS)

    Schulze, Norman R.

    1993-01-01

    The Office of Safety and Mission Quality initiated a Pyrotechnically Actuated Systems (PAS) Program in FY-92 to address problems experienced with pyrotechnically actuated systems and devices used both on the ground and in flight. The PAS Program will provide the technical basis for NASA's projects to incorporate new technological developments in operational systems. The program will accomplish that objective by developing/testing current and new hardware designs for flight applications and by providing a pyrotechnic data base. This marks the first applied pyrotechnic technology program funded by NASA to address pyrotechnic issues. The PAS Program has been structured to address the results of a survey of pyrotechnic device and system problems with the goal of alleviating or minimizing their risks. Major program initiatives include the development of a Laser Initiated Ordnance System, a pyrotechnic systems data base, NASA Standard Initiator model, a NASA Standard Linear Separation System and a NASA Standard Gas Generator. The PAS Program sponsors annual aerospace pyrotechnic systems workshops.

  9. Optimum Actuator Selection with a Genetic Algorithm for Aircraft Control

    NASA Technical Reports Server (NTRS)

    Rogers, James L.

    2004-01-01

    The placement of actuators on a wing determines the control effectiveness of the airplane. One approach to placement maximizes the moments about the pitch, roll, and yaw axes, while minimizing the coupling. For example, the desired actuators produce a pure roll moment without at the same time causing much pitch or yaw. For a typical wing, there is a large set of candidate locations for placing actuators, resulting in a substantially larger number of combinations to examine in order to find an optimum placement satisfying the mission requirements and mission constraints. A genetic algorithm has been developed for finding the best placement for four actuators to produce an uncoupled pitch moment. The genetic algorithm has been extended to find the minimum number of actuators required to provide uncoupled pitch, roll, and yaw control. A simplified, untapered, unswept wing is the model for each application.

  10. Cylindrical Piezoelectric Fiber Composite Actuators

    NASA Technical Reports Server (NTRS)

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

    2008-01-01

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

  11. Microwave Driven Actuators Power Allocation and Distribution

    NASA Technical Reports Server (NTRS)

    Forbes, Timothy; Song, Kyo D.

    2000-01-01

    Design, fabrication and test of a power allocation and distribution (PAD) network for microwave driven actuators is presented in this paper. Development of a circuit that would collect power from a rectenna array amplify and distribute the power to actuators was designed and fabricated for space application in an actuator array driven by a microwave. A P-SPICE model was constructed initially for data reduction purposes, and was followed by a working real-world model. A voltage up - converter (VUC) is used to amplify the voltage from the individual rectenna. The testing yielded a 26:1 voltage amplification ratio with input voltage at 9 volts and a measured output voltage 230VDC. Future work includes the miniaturization of the circuitry, the use of microwave remote control, and voltage amplification technology for each voltage source. The objective of this work is to develop a model system that will collect DC voltage from an array of rectenna and propagate the voltage to an array of actuators.

  12. Microelectromechanical (MEM) thermal actuator

    DOEpatents

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

    2012-07-31

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

  13. The design and analysis of a MEMS electrothermal actuator

    NASA Astrophysics Data System (ADS)

    Suocheng, Wang; Yongping, Hao; Shuangjie, Liu

    2015-04-01

    This paper introduces a type of out-of-plane microelectrothermal actuator, which is based on the principle of bimetal film thermal expansion in the fuse. A polymer SU-8 material and nickel are used as the functional and structural materials of the actuator. Through heating the resistance wire using electricity, the actuator produces out-of-plane motion in the perpendicular axial direction of the device and the bias layer contact with the substrate, completing signal output. Using Coventorware software to establish the three-dimensional model, the geometric structure is optimized and the electrothermal capabilities are determined theoretically. From electrothermal analysis, the actuator's displacement is 18 μm and the temperature rises from 300 to 440 K under a voltage of 5 V and the response time is 5 ms. The actuator's displacement is 20 μm under a 100000 m/s2 acceleration in the accelerating field. In the coupled field, applying a 3 V voltage, the initial temperature is 300 K, while the acceleration is 50000 m/s2, the driving displacement of the actuator is 23 μm, and temperature rises to 400 K. Finally, through checking the stress in different field sources, the maximum stress of the actuator is smaller than the allowable stress of nickel. The results show that the electrothermal actuator has high reliability.

  14. Numerical study on 3D composite morphing actuators

    NASA Astrophysics Data System (ADS)

    Oishi, Kazuma; Saito, Makoto; Anandan, Nishita; Kadooka, Kevin; Taya, Minoru

    2015-04-01

    There are a number of actuators using the deformation of electroactive polymer (EAP), where fewer papers seem to have focused on the performance of 3D morphing actuators based on the analytical approach, due mainly to their complexity. The present paper introduces a numerical analysis approach on the large scale deformation and motion of a 3D half dome shaped actuator composed of thin soft membrane (passive material) and EAP strip actuators (EAP active coupon with electrodes on both surfaces), where the locations of the active EAP strips is a key parameter. Simulia/Abaqus Static and Implicit analysis code, whose main feature is the high precision contact analysis capability among structures, are used focusing on the whole process of the membrane to touch and wrap around the object. The unidirectional properties of the EAP coupon actuator are used as input data set for the material properties for the simulation and the verification of our numerical model, where the verification is made as compared to the existing 2D solution. The numerical results can demonstrate the whole deformation process of the membrane to wrap around not only smooth shaped objects like a sphere or an egg, but also irregularly shaped objects. A parametric study reveals the proper placement of the EAP coupon actuators, with the modification of the dome shape to induce the relevant large scale deformation. The numerical simulation for the 3D soft actuators shown in this paper could be applied to a wider range of soft 3D morphing actuators.

  15. Expansion of Collisional Radiative Model for Helium line ratio spectroscopy

    NASA Astrophysics Data System (ADS)

    Cinquegrani, David; Cooper, Chris; Forest, Cary; Milhone, Jason; Munoz-Borges, Jorge; Schmitz, Oliver; Unterberg, Ezekial

    2015-11-01

    Helium line ratio spectroscopy is a powerful technique of active plasma edge spectroscopy. It enables reconstruction of plasma edge parameters like electron density and temperature by use of suitable Collisional Radiative Models (CRM). An established approach is successful at moderate plasma densities (~1018m-3 range) and temperature (30-300eV), taking recombination and charge exchange to be negligible. The goal of this work is to experimentally explore limitations of this approach to CRM. For basic validation the Madison Plasma Dynamo eXperiment (MPDX) will be used. MPDX offers a very uniform plasma and spherical symmetry at low temperature (5-20 eV) and low density (1016 -1017m-3) . Initial data from MPDX shows a deviation in CRM results when compared to Langmuir probe data. This discrepancy points to the importance of recombination effects. The validated model is applied to first time measurement of electron density and temperature in front of an ICRH antenna at the TEXTOR tokamak. These measurements are important to understand RF coupling and PMI physics at the antenna limiters. Work supported in part by start up funds of the Department of Engineering Physics at the UW - Madison, USA and NSF CAREER award PHY-1455210.

  16. MOSFET Switching Circuit Protects Shape Memory Alloy Actuators

    NASA Technical Reports Server (NTRS)

    Gummin, Mark A.

    2011-01-01

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

  17. Macro Fiber Piezocomposite Actuator Poling Study

    NASA Technical Reports Server (NTRS)

    Werlink, Rudy J.; Bryant, Robert G.; Manos, Dennis

    2002-01-01

    The performance and advantages of Piezocomposite Actuators are to provide a low cost, in-situ actuator/sensor that is flexible, low profile and high strain per volt performance in the same plane of poled voltage. This paper extends reported data for the performance of these Macrofiber Composite (MFC) Actuators to include 4 progressively narrower Intedigitized electrode configurations with several line widths and spacing ratios. Data is reported for max free strain, average strain per applied volt, poling (alignment of the electric dipoles of the PZT ceramic) voltage vs. strain and capacitance, time to poling voltage 95% saturation. The output strain per volt progressively increases as electrode spacing decreases, with saturation occurring at lower poling voltages. The narrowest spacing ratio becomes prone to voltage breakdown or short circuits limiting the spacing width with current fabrication methods. The capacitance generally increases with increasing poling voltage level but has high sensitivity to factors such as temperature, moisture and time from poling which limit its usefulness as a simple indicator. The total time of applied poling voltage to saturate or fully line up the dipoles in the piezoceramic was generally on the order of 5-20 seconds. Less sensitivity to poling due to the applied rate of voltage increase over a 25 to 500 volt/second rate range was observed.

  18. A Generalized Lossy Transmission-Line Model for Tunable Graphene-Based Transmission Lines with Attenuation Phenomenon

    PubMed Central

    Wu, Yongle; Qu, Meijun; Liu, Yuanan

    2016-01-01

    To investigate the frequency shift phenomenon by inserting graphene, a generalized lossy transmission-line model and the related electrical parameter-extraction theory are proposed in this paper. Three kinds of graphene-based transmission lines with attenuation phenomenon including microstrip line, double-side parallel strip line, and uniplanar coplanar waveguide are analyzed under the common conditions where different chemical potentials are loaded on graphene. The values of attenuation constant and phase constant, and the real and imaginary parts of the characteristic impedance of transmission lines are extracted to analyze in details. When the attenuation constant and the reactance part of the characteristic impedance are approximately equal to zero, this kind of transmission line has low or zero insertion loss. On the contrary, the transmission line is under the radiation mode with obvious insertion loss. The phase constant changes linearly under the transmission mode and can be varied with changing of chemical potentials which attributes to the property of frequency tunability. Furthermore, a bandwidth reconfigurable uniplanar coplanar waveguide power divider is simulated to demonstrate that this theory can be applied to the design of three-port devices. In summary, this work provides a strong potential approach and design theory to help design other kinds of terahertz and mid-infrared reconfigurable devices. PMID:27553759

  19. A Generalized Lossy Transmission-Line Model for Tunable Graphene-Based Transmission Lines with Attenuation Phenomenon.

    PubMed

    Wu, Yongle; Qu, Meijun; Liu, Yuanan

    2016-08-24

    To investigate the frequency shift phenomenon by inserting graphene, a generalized lossy transmission-line model and the related electrical parameter-extraction theory are proposed in this paper. Three kinds of graphene-based transmission lines with attenuation phenomenon including microstrip line, double-side parallel strip line, and uniplanar coplanar waveguide are analyzed under the common conditions where different chemical potentials are loaded on graphene. The values of attenuation constant and phase constant, and the real and imaginary parts of the characteristic impedance of transmission lines are extracted to analyze in details. When the attenuation constant and the reactance part of the characteristic impedance are approximately equal to zero, this kind of transmission line has low or zero insertion loss. On the contrary, the transmission line is under the radiation mode with obvious insertion loss. The phase constant changes linearly under the transmission mode and can be varied with changing of chemical potentials which attributes to the property of frequency tunability. Furthermore, a bandwidth reconfigurable uniplanar coplanar waveguide power divider is simulated to demonstrate that this theory can be applied to the design of three-port devices. In summary, this work provides a strong potential approach and design theory to help design other kinds of terahertz and mid-infrared reconfigurable devices.

  20. Telescoping cylindrical piezoelectric fiber composite actuator assemblies

    NASA Technical Reports Server (NTRS)

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

    2010-01-01

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

  1. Investigating wind turbine impacts on near-wake flow using profiling Lidar data and large-eddy simulations with an actuator disk model

    SciTech Connect

    Mirocha, Jeffrey D.; Rajewski, Daniel A.; Marjanovic, Nikola; Lundquist, Julie K.; Kosovic, Branko; Draxl, Caroline; Churchfield, Matthew J.

    2015-08-27

    In this study, wind turbine impacts on the atmospheric flow are investigated using data from the Crop Wind Energy Experiment (CWEX-11) and large-eddy simulations (LESs) utilizing a generalized actuator disk (GAD) wind turbine model. CWEX-11 employed velocity-azimuth display (VAD) data from two Doppler lidar systems to sample vertical profiles of flow parameters across the rotor depth both upstream and in the wake of an operating 1.5 MW wind turbine. Lidar and surface observations obtained during four days of July 2011 are analyzed to characterize the turbine impacts on wind speed and flow variability, and to examine the sensitivity of these changes to atmospheric stability. Significant velocity deficits (VD) are observed at the downstream location during both convective and stable portions of four diurnal cycles, with large, sustained deficits occurring during stable conditions. Variances of the streamwise velocity component, σu, likewise show large increases downstream during both stable and unstable conditions, with stable conditions supporting sustained small increases of σu , while convective conditions featured both larger magnitudes and increased variability, due to the large coherent structures in the background flow. Two representative case studies, one stable and one convective, are simulated using LES with a GAD model at 6 m resolution to evaluate the compatibility of the simulation framework with validation using vertically profiling lidar data in the near wake region. Virtual lidars were employed to sample the simulated flow field in a manner consistent with the VAD technique. Simulations reasonably reproduced aggregated wake VD characteristics, albeit with smaller magnitudes than observed, while σu values in the wake are more significantly underestimated. The results illuminate the limitations of using a GAD in combination with coarse model resolution in the simulation of near wake physics, and validation thereof using VAD data.

  2. Investigating wind turbine impacts on near-wake flow using profiling Lidar data and large-eddy simulations with an actuator disk model

    DOE PAGES

    Mirocha, Jeffrey D.; Rajewski, Daniel A.; Marjanovic, Nikola; ...

    2015-08-27

    In this study, wind turbine impacts on the atmospheric flow are investigated using data from the Crop Wind Energy Experiment (CWEX-11) and large-eddy simulations (LESs) utilizing a generalized actuator disk (GAD) wind turbine model. CWEX-11 employed velocity-azimuth display (VAD) data from two Doppler lidar systems to sample vertical profiles of flow parameters across the rotor depth both upstream and in the wake of an operating 1.5 MW wind turbine. Lidar and surface observations obtained during four days of July 2011 are analyzed to characterize the turbine impacts on wind speed and flow variability, and to examine the sensitivity of thesemore » changes to atmospheric stability. Significant velocity deficits (VD) are observed at the downstream location during both convective and stable portions of four diurnal cycles, with large, sustained deficits occurring during stable conditions. Variances of the streamwise velocity component, σu, likewise show large increases downstream during both stable and unstable conditions, with stable conditions supporting sustained small increases of σu , while convective conditions featured both larger magnitudes and increased variability, due to the large coherent structures in the background flow. Two representative case studies, one stable and one convective, are simulated using LES with a GAD model at 6 m resolution to evaluate the compatibility of the simulation framework with validation using vertically profiling lidar data in the near wake region. Virtual lidars were employed to sample the simulated flow field in a manner consistent with the VAD technique. Simulations reasonably reproduced aggregated wake VD characteristics, albeit with smaller magnitudes than observed, while σu values in the wake are more significantly underestimated. The results illuminate the limitations of using a GAD in combination with coarse model resolution in the simulation of near wake physics, and validation thereof using VAD data.« less

  3. Modeling a multivariable reactor and on-line model predictive control.

    PubMed

    Yu, D W; Yu, D L

    2005-10-01

    A nonlinear first principle model is developed for a laboratory-scaled multivariable chemical reactor rig in this paper and the on-line model predictive control (MPC) is implemented to the rig. The reactor has three variables-temperature, pH, and dissolved oxygen with nonlinear dynamics-and is therefore used as a pilot system for the biochemical industry. A nonlinear discrete-time model is derived for each of the three output variables and their model parameters are estimated from the real data using an adaptive optimization method. The developed model is used in a nonlinear MPC scheme. An accurate multistep-ahead prediction is obtained for MPC, where the extended Kalman filter is used to estimate system unknown states. The on-line control is implemented and a satisfactory tracking performance is achieved. The MPC is compared with three decentralized PID controllers and the advantage of the nonlinear MPC over the PID is clearly shown.

  4. Direct drive field actuator motors

    DOEpatents

    Grahn, A.R.

    1998-03-10

    A positive-drive field actuator motor is described which includes a stator carrying at least one field actuator which changes in dimension responsive to application of an energy field, and at least one drive shoe movable by the dimensional changes of the field actuator to contact and move a rotor element with respect to the stator. Various embodiments of the motor are disclosed, and the rotor element may be moved linearly or arcuately. 62 figs.

  5. Fault-tolerant rotary actuator

    DOEpatents

    Tesar, Delbert

    2006-10-17

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

  6. Linear Proof-Mass Actuator

    NASA Technical Reports Server (NTRS)

    Holloway, Sidney E., III; Crossley, Edward A.; Miller, James B.; Jones, Irby W.; Davis, C. Calvin; Behun, Vaughn D.; Goodrich, Lewis R., Sr.

    1995-01-01

    Linear proof-mass actuator (LPMA) is friction-driven linear mass actuator capable of applying controlled force to structure in outer space to damp out oscillations. Capable of high accelerations and provides smooth, bidirectional travel of mass. Design eliminates gears and belts. LPMA strong enough to be used terrestrially where linear actuators needed to excite or damp out oscillations. High flexibility designed into LPMA by varying size of motors, mass, and length of stroke, and by modifying control software.

  7. Direct drive field actuator motors

    SciTech Connect

    Grahn, Allen R.

    1998-01-01

    A positive-drive field actuator motor including a stator carrying at least one field actuator which changes in dimension responsive to application of an energy field, and at least one drive shoe movable by the dimensional changes of the field actuator to contact and move a rotor element with respect to the stator. Various embodiments of the motor are disclosed, and the rotor element may be moved linearly or arcuately.

  8. Nonlinear friction modelling and compensation control of hysteresis phenomena for a pair of tendon-sheath actuated surgical robots

    NASA Astrophysics Data System (ADS)

    Do, T. N.; Tjahjowidodo, T.; Lau, M. W. S.; Phee, S. J.

    2015-08-01

    Natural Orifice Transluminal Endoscopic Surgery (NOTES) is a special method that allows surgical operations via natural orifices like mouth, anus, and vagina, without leaving visible scars. The use of flexible tendon-sheath mechanism (TSM) is common in these systems because of its light weight in structure, flexibility, and easy transmission of power. However, nonlinear friction and backlash hysteresis pose many challenges to control of such systems; in addition, they do not provide haptic feedback to assist the surgeon in the operation of the systems. In this paper, we propose a new dynamic friction model and backlash hysteresis nonlinearity for a pair of TSM to deal with these problems. The proposed friction model, unlike current approaches in the literature, is smooth and able to capture the force at near zero velocity when the system is stationary or operates at small motion. This model can be used to estimate the friction force for haptic feedback purpose. To improve the system tracking performances, a backlash hysteresis model will be introduced, which can be used in a feedforward controller scheme. The controller involves a simple computation of the inverse hysteresis model. The proposed models are configuration independent and able to capture the nonlinearities for arbitrary tendon-sheath shapes. A representative experimental setup is used to validate the proposed models and to demonstrate the improvement in position tracking accuracy and the possibility of providing desired force information at the distal end of a pair of TSM slave manipulator for haptic feedback to the surgeons.

  9. Biomimetic jellyfish-inspired underwater vehicle actuated by ionic polymer metal composite actuators

    NASA Astrophysics Data System (ADS)

    Najem, Joseph; Sarles, Stephen A.; Akle, Barbar; Leo, Donald J.

    2012-09-01

    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.

  10. Electrolysis-based diaphragm actuators

    NASA Astrophysics Data System (ADS)

    Pang, C.; Tai, Y.-C.; Burdick, J. W.; Andersen, R. A.

    2006-02-01

    This work presents a new electrolysis-based microelectromechanical systems (MEMS) diaphragm actuator. Electrolysis is a technique for converting electrical energy to pneumatic energy. Theoretically electrolysis can achieve a strain of 136 000% and is capable of generating a pressure above 200 MPa. Electrolysis actuators require modest electrical power and produce minimal heat. Due to the large volume expansion obtained via electrolysis, small actuators can create a large force. Up to 100 µm of movement was achieved by a 3 mm diaphragm. The actuator operates at room temperature and has a latching and reversing capability.

  11. Modelling boron-lined proportional counter response to neutrons.

    PubMed

    Shahri, A; Ghal-Eh, N; Etaati, G R

    2013-09-01

    The detailed Monte Carlo simulation of a boron-lined proportional counter response to a neutron source has been presented. The MCNP4C and experimental data on different source-moderator geometries have been given for comparison. The influence of different irradiation geometries and boron-lining thicknesses on the detector response has been studied.

  12. IUE observations of Si and C lines and comparison with non-LTE models

    NASA Technical Reports Server (NTRS)

    Kamp, L. W.

    1982-01-01

    Classical model atmosphere techniques are applied to analyze IUE spectra, and to determine abundances, effective temperatures and gravities. Measurements of the equivalent widths and other properties of the line profiles of 24 photospheric lines of Si II, Si III, Si IV, C II, C III and C IV are presented in the range of 1175-1725 A for seven B and two O stars. Observed line profiles are compared with theoretical profiles computed using non-LTE theory and models, and using line-blanketed model atmospheres. Agreement is reasonably good, although strong lines are calculated to be systematically stronger than those observed, while the reverse occurs for weak lines, and empirical profiles have smaller wings than theoretical profiles. It is concluded that the present theory of line formation when used with solar abundances, represents fairly well observed UV photospheric lines of silicon and carbon ions in the atmospheres of main sequence stars of types B5-O9.

  13. Development of a Meso-Scale SMA-Based Torsion Actuator for Image-Guided Procedures.

    PubMed

    Sheng, Jun; Gandhi, Dheeraj; Gullapalli, Rao; Simard, J Marc; Desai, Jaydev P

    2017-02-01

    This paper presents the design, modeling, and control of a meso-scale torsion actuator based on shape memory alloy (SMA) for image-guided surgical procedures. Developing a miniature torsion actuator is challenging, but it opens the possibility of significantly enhancing the robot agility and maneuverability. The proposed torsion actuator is bi-directionally actuated by a pair of antagonistic SMA torsion springs through alternate Joule heating and natural cooling. The torsion actuator is integrated into a surgical robot prototype to demonstrate its working performance in the humid environment under C-Arm CT image guidance.

  14. Lead screw linear actuator

    NASA Technical Reports Server (NTRS)

    Perkins, Gerald S. (Inventor)

    1980-01-01

    A linear actuator which can apply high forces is described, which includes a reciprocating rod having a threaded portion engaged by a nut that is directly coupled to the rotor of an electric motor. The nut is connected to the rotor in a manner that minimizes loading on the rotor, by the use of a coupling that transmits torque to the nut but permits it to shift axially and radially with respect to the rotor. The nut has a threaded hydrostatic bearing for engaging the threaded rod portion, with an oilcarrying groove in the nut being interrupted.

  15. Piezoelectric actuated gimbal

    DOEpatents

    Tschaggeny, Charles W.; Jones, Warren F.; Bamberg, Eberhard

    2011-09-13

    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.

  16. Performance Comparison of Sweeping/Steady Jet Actuators

    NASA Astrophysics Data System (ADS)

    Hirsch, Damian; Mercier, Justin; Noca, Flavio; Gharib, Morteza

    2015-11-01

    Flow control through the use of steady jet actuators has been used on various aircraft models since the late 1950's. However, the focus of recent studies has shifted towards the use of sweeping jets (fluidic oscillators) rather than steady jet actuators. In this work, experiments using various jet actuator designs were conducted at GALCIT's Lucas Wind Tunnel on a NACA 0012 vertical tail model similar to that of the Boeing 767 vertical stabilizer at Reynolds numbers ranging from 0.5 to 1.2 million. The rudder angle was fixed at 20 degrees. A total of 32 jet actuators were installed along the wingspan perpendicular to the trailing edge and the rudder shoulder of the vertical stabilizer. It is known that these types of flow control prevent separation. However, the goal of this work is to compare different jet designs and evaluate their performance. Parameters such as the number of actuators, their volumetric flow, and the wind tunnel speed were varied. The lift generation capabilities of steady and sweeping jet actuators were then compared. Another set of experiments was conducted to compare a new sweeping jet actuator design with one of the standard versions. Supported by Boeing.

  17. Dynamics of electrostatic microelectromechanical systems actuators

    NASA Astrophysics Data System (ADS)

    Yang, Yisong; Zhang, Ruifeng; Zhao, Le

    2012-02-01

    Electrostatic actuators are simple but important switching devices for microelectromechanical systems applications. Due to the difficulties associated with the electrostatic nonlinearity, precise mathematical description is often hard to obtain for the dynamics of these actuators. Here we present two sharp theorems concerning the dynamics of an undamped electrostatic actuator with one-degree of freedom, subject to linear and nonlinear elastic forces, respectively. We prove that both situations are characterized by the onset of one-stagnation-point periodic response below a well-defined pull-in voltage and a finite-time touch-down or collapse of the actuator above this pull-in voltage. In the linear-force situation, the stagnation level, pull-in voltage, and pull-in coordinate of the movable electrode may all be determined explicitly, following the recent work of Leus and Elata based on numerics. Furthermore, in the nonlinear-force situation, the stagnation level, pull-in voltage, and pull-in coordinate may be described completely in terms of the electrostatic and mechanical parameters of the model so that they approach those in the linear-force situation monotonically in the zero nonlinear-force limit.

  18. Dynamic analysis of dielectric elastomer actuators

    NASA Astrophysics Data System (ADS)

    Xu, Bai-Xiang; Mueller, Ralf; Theis, Anika; Klassen, Markus; Gross, Dietmar

    2012-03-01

    An analytical model is proposed for the dynamic analysis of a homogeneously deformed dielectric elastomer actuator (DEA) with a standard sandwich structure. The equation of motion for the DEA is obtained by the Euler-Lagrange equation. Numerical results of the model are presented to show the vibration and oscillation behaviour of the system. Resonance phenomenon and damping effects are investigated. Results are discussed in comparison with those of the related topics in the literature.

  19. Fluidic Actuation and Control of Munition Aerodynamics

    DTIC Science & Technology

    2009-08-31

    compute the vorticity and turbulent kinetic energy. Hot wire anemometry measurements were taken in the wake of the model, for the model with control at...constructed of strain gages. A temperature compensation algorithm, much like the temperature compensation procedure for hot - wire anemometry , is...is characterized by the PIV and hot - wire anemometry . IV.1 Actuation by a Single Jet The variation of the magnitude of the normal force coefficient

  20. Wind tunnel measurements of wake structure and wind farm power for actuator disk model wind turbines in yaw

    NASA Astrophysics Data System (ADS)

    Howland, Michael; Bossuyt, Juliaan; Kang, Justin; Meyers, Johan; Meneveau, Charles

    2016-11-01

    Reducing wake losses in wind farms by deflecting the wakes through turbine yawing has been shown to be a feasible wind farm control approach. In this work, the deflection and morphology of wakes behind a wind turbine operating in yawed conditions are studied using wind tunnel experiments of a wind turbine modeled as a porous disk in a uniform inflow. First, by measuring velocity distributions at various downstream positions and comparing with prior studies, we confirm that the nonrotating wind turbine model in yaw generates realistic wake deflections. Second, we characterize the wake shape and make observations of what is termed a "curled wake," displaying significant spanwise asymmetry. Through the use of a 100 porous disk micro-wind farm, total wind farm power output is studied for a variety of yaw configurations. Strain gages on the tower of the porous disk models are used to measure the thrust force as a substitute for turbine power. The frequency response of these measurements goes up to the natural frequency of the model and allows studying the spatiotemporal characteristics of the power output under the effects of yawing. This work has been funded by the National Science Foundation (Grants CBET-113380 and IIA-1243482, the WINDINSPIRE project). JB and JM are supported by ERC (ActiveWindFarms, Grant No. 306471).