Science.gov

Sample records for actuator output force

  1. Microprocessor controlled force actuator

    NASA Technical Reports Server (NTRS)

    Zimmerman, D. C.; Inman, D. J.; Horner, G. C.

    1986-01-01

    The mechanical and electrical design of a prototype force actuator for vibration control of large space structures (LSS) is described. The force actuator is an electromagnetic system that produces a force by reacting against a proof-mass. The actuator has two colocated sensors, a digital microcontroller, and a power amplifier. The total weight of actuator is .998 kg. The actuator has a steady state force output of approximately 2.75 N from approximately 2 Hz to well beyond 1000 Hz.

  2. Elastic actuator for precise force control

    DOEpatents

    Pratt, Gill A.; Williamson, Matthew M.

    1997-07-22

    The invention provides an elastic actuator consisting of a motor and a motor drive transmission connected at an output of the motor. An elastic element is connected in series with the motor drive transmission, and this elastic element is positioned to alone support the full weight of any load connected at an output of the actuator. A single force transducer is positioned at a point between a mount for the motor and an output of the actuator. This force transducer generates a force signal, based on deflection of the elastic element, that indicates force applied by the elastic element to an output of the actuator. An active feedback force control loop is connected between the force transducer and the motor for controlling the motor. This motor control is based on the force signal to deflect the elastic element an amount that produces a desired actuator output force. The produced output force is substantially independent of load motion. The invention also provides a torsional spring consisting of a flexible structure having at least three flat sections each connected integrally with and extending radially from a central section. Each flat section extends axially along the central section from a distal end of the central section to a proximal end of the central section.

  3. Elastic actuator for precise force control

    DOEpatents

    Pratt, G.A.; Williamson, M.M.

    1997-07-22

    The invention provides an elastic actuator consisting of a motor and a motor drive transmission connected at an output of the motor. An elastic element is connected in series with the motor drive transmission, and this elastic element is positioned to alone support the full weight of any load connected at an output of the actuator. A single force transducer is positioned at a point between a mount for the motor and an output of the actuator. This force transducer generates a force signal, based on deflection of the elastic element, that indicates force applied by the elastic element to an output of the actuator. An active feedback force control loop is connected between the force transducer and the motor for controlling the motor. This motor control is based on the force signal to deflect the elastic element an amount that produces a desired actuator output force. The produced output force is substantially independent of load motion. The invention also provides a torsional spring consisting of a flexible structure having at least three flat sections each connected integrally with and extending radially from a central section. Each flat section extends axially along the central section from a distal end of the central section to a proximal end of the central section. 30 figs.

  4. High output paraffin actuators: Utilization in aerospace mechanisms

    NASA Technical Reports Server (NTRS)

    Tibbitts, Scott

    1988-01-01

    High Output Paraffin (HOP) thermal actuators were developed to provide an alternative to conventional aerospace actuators: HOP actuators directly convert temperature changes to useful mechanical work. When fabricated with internal resistance heating elements, they provide an electric linear motor. For applications in which slower response times are acceptable or preferred, HOP actuators have distinct advantages over conventional approaches.

  5. Force control of ionic polymer-metal composite actuators with cellular actuator method

    NASA Astrophysics Data System (ADS)

    Inoue, Yushiro; Kamamichi, Norihiro

    2014-03-01

    Ionic polymer-metal composite (IPMC) is one of the electro-active polymer materials which respond to electric stimuli with shape change. IPMC actuators can be activated with simple driving circuit and common control approach; however, dynamic characteristics change from environmental conditions such as the temperature or humidity. The output force of IPMC is very small, and the stress relaxation exists depending on the type of the counter-ions in the electrolyte. Therefore, it is desirable to construct robust controllers and connection of multiple actuator units to obtain stable and large output force. In this study, we apply a control method for cellular actuators to solve above problems. The cellular actuator is a concept of the actuators which consist of multiple actuator units. The actuator units connect in parallel or series, and each unit is controlled by distributed controllers, which are switched ON/OFF state stochastically depending on the broadcast error signal which is generated in the central controller. In this paper, we verify the control performance of the cellular actuator method through numerical simulations. In the simulations, we assume that the one hundred units of IPMC connected in parallel, the output force is controlled to the desired value. The control performance is investigated in the case of some mixed ratio of units whose counter-ions are Sodium (Na) ion or Tetraethylammonium (TEA). As a result of simulation, it was confirmed that the tracking performance is improved by combining the fast response actuator units of Na ions and the large output actuator units of TEA ions.

  6. Distributed force simulation for arbitrarily shaped IPMC actuators

    NASA Astrophysics Data System (ADS)

    Martinez, M.; Lumia, R.

    2013-07-01

    This paper presents a simulation model that predicts the force output of arbitrarily shaped ionic polymer-metal composite (IPMC) actuators. Theoretical and experimental force measurements are compared for a triangular IPMC actuator with a tip length of 11 mm. The results show that the simulated tip force is within 80% of the experimentally determined value. Simulated electrical results for an artificial shark pectoral fin and a 7 mm × 17 mm actuator are also presented. In each case, the voltage is shown to decrease exponentially from the input point. The results of an ion migration simulation for a 180 μm cubic element of Nafion are presented for both a constant 2 V input and a 2 V 0.25 Hz sine signal. Finally, the simulated deformation of an IPMC shark fin is shown.

  7. Actuation of atomic force microscopy microcantilevers using contact acoustic nonlinearities

    SciTech Connect

    Torello, D.; Degertekin, F. Levent

    2013-11-15

    A new method of actuating atomic force microscopy (AFM) cantilevers is proposed in which a high frequency (>5 MHz) wave modulated by a lower frequency (∼300 kHz) wave passes through a contact acoustic nonlinearity at the contact interface between the actuator and the cantilever chip. The nonlinearity converts the high frequency, modulated signal to a low frequency drive signal suitable for actuation of tapping-mode AFM probes. The higher harmonic content of this signal is filtered out mechanically by the cantilever transfer function, providing for clean output. A custom probe holder was designed and constructed using rapid prototyping technologies and off-the-shelf components and was interfaced with an Asylum Research MFP-3D AFM, which was then used to evaluate the performance characteristics with respect to standard hardware and linear actuation techniques. Using a carrier frequency of 14.19 MHz, it was observed that the cantilever output was cleaner with this actuation technique and added no significant noise to the system. This setup, without any optimization, was determined to have an actuation bandwidth on the order of 10 MHz, suitable for high speed imaging applications. Using this method, an image was taken that demonstrates the viability of the technique and is compared favorably to images taken with a standard AFM setup.

  8. Micromechanism linear actuator with capillary force sealing

    DOEpatents

    Sniegowski, Jeffry J.

    1997-01-01

    A class of micromachine linear actuators whose function is based on gas driven pistons in which capillary forces are used to seal the gas behind the piston. The capillary forces also increase the amount of force transmitted from the gas pressure to the piston. In a major subclass of such devices, the gas bubble is produced by thermal vaporization of a working fluid. Because of their dependence on capillary forces for sealing, such devices are only practical on the sub-mm size scale, but in that regime they produce very large force times distance (total work) values.

  9. Molecular valves actuated by intermolecular forces.

    PubMed

    Snyder, M A; Vlachos, D G

    2005-06-01

    Phase behavior in nanostructured thin films under a gradient in chemical potential is studied via kinetic Monte Carlo simulation. Switching between saturated, partially saturated, and unsaturated states drives precipitous changes in permeation. This phenomenon could render nanostructured thin films as molecular valves, where adsorbate-adsorbate forces actuate the flow of molecules.

  10. Miniature High-Force, Long-Stroke SMA Linear Actuators

    NASA Technical Reports Server (NTRS)

    Cummin, Mark A.; Donakowski, William; Cohen, Howard

    2008-01-01

    Improved long-stroke shape-memory-alloy (SMA) linear actuators are being developed to exert significantly higher forces and operate at higher activation temperatures than do prior SMA actuators. In these actuators, long linear strokes are achieved through the principle of displacement multiplication, according to which there are multiple stages, each intermediate stage being connected by straight SMA wire segments to the next stage so that relative motions of stages are additive toward the final stage, which is the output stage. Prior SMA actuators typically include polymer housings or shells, steel or aluminum stages, and polymer pads between successive stages of displacement-multiplication assemblies. Typical output forces of prior SMA actuators range from 10 to 20 N, and typical strokes range from 0.5 to 1.5 cm. An important disadvantage of prior SMA wire actuators is relatively low cycle speed, which is related to actuation temperature as follows: The SMA wires in prior SMA actuators are typically made of a durable nickel/titanium alloy that has a shape-memory activation temperature of 80 C. An SMA wire can be heated quickly from below to above its activation temperature to obtain a stroke in one direction, but must then be allowed to cool to somewhat below its activation temperature (typically, less than or equal to 60 C in the case of an activation temperature of 80 C) to obtain a stroke in the opposite direction (return stroke). At typical ambient temperatures, cooling times are of the order of several seconds. Cooling times thus limit cycle speeds. Wires made of SMA alloys having significantly higher activation temperatures [denoted ultra-high-temperature (UHT) SMA alloys] cool to the required lower return-stroke temperatures more rapidly, making it possible to increase cycle speeds. The present development is motivated by a need, in some applications (especially aeronautical and space-flight applications) for SMA actuators that exert higher forces, operate

  11. Compact, Low-Force, Low-Noise Linear Actuator

    NASA Technical Reports Server (NTRS)

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

    2012-01-01

    Actuators are critical to all the robotic and manipulation mechanisms that are used in current and future NASA missions, and are also needed for many other industrial, aeronautical, and space activities. There are many types of actuators that were designed to operate as linear or rotary motors, but there is still a need for low-force, low-noise linear actuators for specialized applications, and the disclosed mechanism addresses this need. A simpler implementation of a rotary actuator was developed where the end effector controls the motion of a brush for cleaning a thermal sensor. The mechanism uses a SMA (shape-memory alloy) wire for low force, and low noise. The linear implementation of the actuator incorporates a set of springs and mechanical hard-stops for resetting and fault tolerance to mechanical resistance. The actuator can be designed to work in a pull or push mode, or both. Depending on the volume envelope criteria, the actuator can be configured for scaling its volume down to 4 2 1 cm3. The actuator design has an inherent fault tolerance to mechanical resistance. The actuator has the flexibility of being designed for both linear and rotary motion. A specific configuration was designed and analyzed where fault-tolerant features have been implemented. In this configuration, an externally applied force larger than the design force does not damage the active components of the actuator. The actuator housing can be configured and produced using cost-effective methods such as injection molding, or alternatively, its components can be mounted directly on a small circuit board. The actuator is driven by a SMA -NiTi as a primary active element, and it requires energy on the order of 20 Ws(J) per cycle. Electrical connections to points A and B are used to apply electrical power in the resistive NiTi wire, causing a phase change that contracts the wire on the order of 5%. The actuation period is of the order of a second for generating the stroke, and 4 to 10 seconds

  12. Compact, Low-Force, Low-Noise Linear Actuator

    NASA Technical Reports Server (NTRS)

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

    2012-01-01

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

  13. Contractive tension force stack actuator based on soft dielectric EAP

    NASA Astrophysics Data System (ADS)

    Kovacs, Gabor; Düring, Lukas

    2009-03-01

    Among the electronic polymers EAPs especially the dielectric elastomers are functional materials that have promising potential as muscle-like actuators due to their inherent compliancy and good overall performance. The combination of huge active deformations, high energy densities, good efficiencies and fast response is unique to dielectric elastomers. Furthermore, they are lightweight, have a simple structure and can be easily tailored to various applications. Up to now most scientific research work has been focused on the planar expanding actuation mode due to the fact that the commercially available acrylic material VHB 4910 (3M) can easily be processed to planar actuators and has demonstrated very high actuation performance when pre-strained. Many different actuator designs have been developed and tested which expands in plane when voltage is applied and shrinks back as soon as the applied charges are removed from the electrodes. Obviously the contractive operation mode at activation is required for a wide range of application. Due to the principle of operation of soft DE EAP, mainly two directions to performed work against external loads are possible. Beside of the commonly used expanding actuation in planar direction the contractile actuation in thickness direction of the DE film represents a very promising option in the multilayer configuration. First approaches have been presented by the folded actuator design and by the multilayer tactile display device. In this study a novel approach for active structures driven by soft dielectric EAP is presented, which can perform contractive displacements at external tensile load. The device is composed of an array of equal segments, where the dielectric films are arranged in a pile-up configuration. In order to maintain satisfying structural integrity when external tension load is applied special attention was paid to the compliant electrode design which takes a central importance concerning the force transmission

  14. Tractor controls actuating force limits for Indian operators.

    PubMed

    Mehta, C R; Pandey, M M; Tiwari, P S; Gite, L P; Khadatkar, Abhijit

    2011-01-01

    In four-wheel tractors, proper design of controls is important for comfortable and safe operation of the tractor. The design involves location and dimensions of controls as well as strength limits for operating these controls. The present study was aimed to quantify human strength for operation of tractor controls and to recommend the maximum control actuating forces for normal operation of tractors based on strength capability of 3,423 Indian male agricultural workers. The 5th percentile values of strength parameters i.e. leg strength sitting (left and right), foot strength sitting (right), torque strength (both hands) sitting, push strength (left hand and right hand) sitting and pull strength (left hand and right hand) sitting of agricultural workers collected using a strength measurement set-up were taken into consideration for the study. It was recommended that the maximum actuating forces for normal operation of frequently operated brake and clutch pedals of tractors should not exceed 260 N and 125 N based on 5th percentile values of right and left leg strength of male agricultural workers, respectively. The maximum actuating force required in steering wheel operation should not exceed 51 N based on 5th percentile value of torque strength (both hands) sitting of workers. The maximum actuating forces required for operating frequently operated levers viz. gear selection, speed selection, hydraulic control and hand throttle of Indian tractors should not exceed 46 N, 46 N, 25 N and 25 N, respectively. It may be concluded that the maximum actuating force limits as given in Bureau of Indian Standards IS 10703 are very high as compared to the findings of the study based on strength data of Indian male operators, which highlight the need to revise the standard. PMID:21697615

  15. High bandwidth piezoresistive force probes with integrated thermal actuation

    PubMed Central

    Doll, Joseph C.; Pruitt, Beth L.

    2012-01-01

    We present high-speed force probes with on-chip actuation and sensing for the measurement of pN-scale forces at the microsecond time scale. We achieve a high resonant frequency in water (1–100 kHz) with requisite low spring constants (0.3–40 pN/nm) and low integrated force noise (1–100 pN) by targeting probe dimensions on the order of 300 nm thick, 1–2 μm wide and 30–200 μm long. Forces are measured using silicon piezoresistors while the probes are actuated thermally with an aluminum unimorph and silicon heater. The piezoresistive sensors are designed using open source numerical optimization code that incorporates constraints on operating temperature. Parylene passivation enables operation in ionic media and we demonstrate simultaneous actuation and sensing. The improved design and fabrication techniques that we describe enable a 10–20 fold improvement in force resolution or measurement bandwidth over prior piezoresistive cantilevers of comparable thickness. PMID:23175616

  16. Microstructure actuation and gas sensing by the Knudsen thermal force

    SciTech Connect

    Strongrich, Andrew; Alexeenko, Alina

    2015-11-09

    The generation of forces and moments on structures immersed in rarefied non-isothermal gas flows has received limited practical implementation since first being discovered over a century ago. The formation of significant thermal stresses requires both large thermal gradients and characteristic dimensions which are comparable to the gas molecular mean free path. For macroscopic geometries, this necessitates impractically high temperatures and very low pressures. At the microscale, however, these conditions are easily achieved, allowing the effects to be exploited, namely, for gas-property sensing and microstructure actuation. In this letter, we introduce and experimentally evaluate performance of a microelectromechanical in-plane Knudsen radiometric actuator, a self-contained device having Knudsen thermal force generation, sensing, and tuning mechanisms integrated onto the same platform. Sensitivity to ambient pressure, temperature gradient, as well as gas composition is demonstrated. Results are presented in terms of a non-dimensional force coefficient, allowing measurements to be directly compared to the previous experimental and computational data on out-of-plane cantilevered configurations.

  17. Three-axis force actuator for a magnetic bearing

    NASA Technical Reports Server (NTRS)

    Gondhalekar, Vijay (Inventor)

    1998-01-01

    This invention features a three-axis force actuator that axially, radially and rotatably supports a bearing member for frictionless rotation about an axis of rotation generally coincident with a Z-axis. Also featured is a magnetic bearing having such an actuator. The actuator includes an inner member, a magnetic member and a pole assembly having a ring member and four pole extending therefrom. The poles are equi-angular spaced from each other and radially spaced about the Z-axis. The inner member extends along the Z-axis and is a highly magnetic permeable material. The magnetic member is formed about the inner member outer surface, extends along the Z-axis and is configured so one magnetic pole polarity is located at its outer surface and the other polarity pole is located at its inner surface. Preferably, the magnetic member is a radially magnetized permanent magnet. The inner surface of the ring member is magnetically coupled to the magnetic member and a face of each pole is coupled to the bearing member. The magnetic member, the pole assembly, the inner member and the bearing member cooperate to generate a magnetic field that radially and rotatably supports a rotating member secured to the bearing member. The actuator further includes a plurality of electromagnetic coils. Preferably, a coil is formed about each pole and at least 2 coils are formed about the inner member. When energized, the electromagnetic coils generate a modulated magnetic field that stabilizes the rotating member in the desired operational position.

  18. Active disturbance rejection control for output force creep characteristics of ionic polymer metal composites

    NASA Astrophysics Data System (ADS)

    Xiong, Yan; Chen, Yang; Sun, Zhiyong; Hao, Lina; Dong, Jie

    2014-07-01

    Ionic polymer metal composites (IPMCs) are a type of electroactive polymer (EAP) that can be used as both sensors and actuators. An IPMC has enormous potential application in the field of biomimetic robotics, medical devices, and so on. However, an IPMC actuator has a great number of disadvantages, such as creep and time-variation, making it vulnerable to external disturbances. In addition, the complex actuation mechanism makes it difficult to model and the demand of the control algorithm is laborious to implement. In this paper, we obtain a creep model of the IPMC by means of model identification based on the method of creep operator linear superposition. Although the mathematical model is not approximate to the IPMC accurate model, it is accurate enough to be used in MATLAB to prove the control algorithm. A controller based on the active disturbance rejection control (ADRC) method is designed to solve the drawbacks previously given. Because the ADRC controller is separate from the mathematical model of the controlled plant, the control algorithm has the ability to complete disturbance estimation and compensation. Some factors, such as all external disturbances, uncertainty factors, the inaccuracy of the identification model and different kinds of IPMCs, have little effect on controlling the output block force of the IPMC. Furthermore, we use the particle swarm optimization algorithm to adjust ADRC parameters so that the IPMC actuator can approach the desired block force with unknown external disturbances. Simulations and experimental examples validate the effectiveness of the ADRC controller.

  19. Spring roll dielectric elastomer actuators for a portable force feedback glove

    NASA Astrophysics Data System (ADS)

    Zhang, Rui; Lochmatter, Patrick; Kunz, Andreas; Kovacs, Gabor

    2006-03-01

    Miniature spring roll dielectric elastomer actuators for a novel kinematic-free force feedback concept were manufactured and experimentally characterized. The actuators exhibited a maximum blocking force of 7.2 N and a displacement of 5 mm. The theoretical considerations based on the material's incompressibility were discussed in order to estimate the actuator behavior under blocked-strain activation and free-strain activation. One prototype was built for the demonstration of the proposed force feedback concept.

  20. Output feedback integral control for nano-positioning using piezoelectric actuators

    NASA Astrophysics Data System (ADS)

    Shan, Jinjun; Yang, Liu; Li, Zhan

    2015-04-01

    This paper proposes a robust output feedback controller for a piezoelectrically actuated system with only position sensor. This considered piezoelectric actuator (PEA) system is subjected to model imperfection, creep nonlinearity, hysteresis nonlinearity and other external effects. The designed controller employs a second-order auxiliary system and a discontinuous uncertainty and disturbance estimation term to generate filtered error signals and to compensate for the model uncertainties and system disturbance, respectively. The global stability of the proposed controller is proved through Lyapunov-based stability analysis. The feasibility and effectiveness of the proposed control approach are verified experimentally using a PEA stage. Results demonstrate that both set-point and tracking control without/with external loads are realized with good performance and the PEA system with high-accuracy can be achieved. Moreover, the robustness of the controller is verified and analyzed through the sinusoidal tracking with external disturbance.

  1. 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.

  2. 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.

  3. Enhancing the force capability of permanent magnet latching actuators for electromechanical valve actuation systems

    NASA Astrophysics Data System (ADS)

    Rens, J.; Clark, R. E.; Jewell, G. W.; Howe, D.

    2005-05-01

    This article introduces a topology of parallel-polarized permanent magnet latching actuator for use in electromagnetic valve actuation systems for internal combustion engines. The actuator has a number of advantages over reluctance actuators, commonly employed in such systems, in terms of reduced starting currents and fail-safe capability. The influence of a number of design features on actuator performance, such as tooth tapering, additional magnets to improve the main magnet flux path and prevent the onset of saturation, and mechanical clearances required to protect the permanent magnet from shock loads are investigated. The design study findings are verified by measurements on a prototype actuator.

  4. Evaluation of force generation mechanisms in natural, passive hydraulic actuators.

    PubMed

    Le Duigou, A; Castro, M

    2016-01-01

    Pine cones are well known natural actuators that can move their scales upon humidity gradient. The mechanism manifests itself through a displacement easily observable by the naked eye, but coupled with stress generation. In ancient Egypt, wooden wedges were used to break soft blocks of stone by the generated swelling stress. The purpose of the present study is to evaluate the ability of pine cone scales to generate forces while being wetted. In our experiments, a blocking force of around 3N is measured depending on the position on the pine cone where the scales are extracted. A fairly good agreement is obtained when theoretical results based on bimetallic strip systems are compared with experimental data, even if overestimation is observed arising from the input data considered for dry tissues. Inspired by a simplified pine cone microstructure, a biocomposite analogue is manufactured and tested. Although an adequate blocking force can be generated, it has a lower value compared to natural pine cones which benefit from optimized swelling tissue content and interfacial bond strength between them. This study provides new insights to understand the generation of force by pine cones as well as to develop novel biocomposite functionalities. PMID:26726792

  5. Evaluation of force generation mechanisms in natural, passive hydraulic actuators

    PubMed Central

    Le Duigou, A.; Castro, M.

    2016-01-01

    Pine cones are well known natural actuators that can move their scales upon humidity gradient. The mechanism manifests itself through a displacement easily observable by the naked eye, but coupled with stress generation. In ancient Egypt, wooden wedges were used to break soft blocks of stone by the generated swelling stress. The purpose of the present study is to evaluate the ability of pine cone scales to generate forces while being wetted. In our experiments, a blocking force of around 3N is measured depending on the position on the pine cone where the scales are extracted. A fairly good agreement is obtained when theoretical results based on bimetallic strip systems are compared with experimental data, even if overestimation is observed arising from the input data considered for dry tissues. Inspired by a simplified pine cone microstructure, a biocomposite analogue is manufactured and tested. Although an adequate blocking force can be generated, it has a lower value compared to natural pine cones which benefit from optimized swelling tissue content and interfacial bond strength between them. This study provides new insights to understand the generation of force by pine cones as well as to develop novel biocomposite functionalities. PMID:26726792

  6. Evaluation of force generation mechanisms in natural, passive hydraulic actuators

    NASA Astrophysics Data System (ADS)

    Le Duigou, A.; Castro, M.

    2016-01-01

    Pine cones are well known natural actuators that can move their scales upon humidity gradient. The mechanism manifests itself through a displacement easily observable by the naked eye, but coupled with stress generation. In ancient Egypt, wooden wedges were used to break soft blocks of stone by the generated swelling stress. The purpose of the present study is to evaluate the ability of pine cone scales to generate forces while being wetted. In our experiments, a blocking force of around 3N is measured depending on the position on the pine cone where the scales are extracted. A fairly good agreement is obtained when theoretical results based on bimetallic strip systems are compared with experimental data, even if overestimation is observed arising from the input data considered for dry tissues. Inspired by a simplified pine cone microstructure, a biocomposite analogue is manufactured and tested. Although an adequate blocking force can be generated, it has a lower value compared to natural pine cones which benefit from optimized swelling tissue content and interfacial bond strength between them. This study provides new insights to understand the generation of force by pine cones as well as to develop novel biocomposite functionalities.

  7. Sampled data observer based inter-sample output predictor for Electro-Hydraulic Actuators.

    PubMed

    Sofiane, Ahmed Ali

    2015-09-01

    In this paper, a Sampled Data Disturbance Observer which simultaneously estimates the unmeasurable states and the uncertainties for the Electro-Hydraulic Actuators systems are presented. The novelty of our approach is the use of an inter-sample output predictor which allows the user to increase the frequency acquisition of the piston position sensor without affecting the convergence performance. The stability analysis of the proposed observer is proved using the Lyapunov function adapted to hybrid systems. To show the efficiency of the proposed observer, numerical simulations of a control application which combine the proposed observer and a Proportional Integral controller for the purpose of piston position tracking problem are presented.

  8. Laser Actuation of Cantilevers for Picometre Amplitude Dynamic Force Microscopy

    PubMed Central

    Evans, Drew R.; Tayati, Ponlawat; An, Hongjie; Lam, Ping Koy; Craig, Vincent S. J.; Senden, Tim J.

    2014-01-01

    As nanoscale and molecular devices become reality, the ability to probe materials on these scales is increasing in importance. To address this, we have developed a dynamic force microscopy technique where the flexure of the microcantilever is excited using an intensity modulated laser beam to achieve modulation on the picoscale. The flexure arises from thermally induced bending through differential expansion and the conservation of momentum when the photons are reflected and absorbed by the cantilever. In this study, we investigated the photothermal and photon pressure responses of monolithic and layered cantilevers using a modulated laser in air and immersed in water. The developed photon actuation technique is applied to the stretching of single polymer chains. PMID:24993548

  9. Vibration suppression using a proofmass actuator operating in stroke/force saturation

    NASA Technical Reports Server (NTRS)

    Lindner, D. K.; Celano, T. P.; Ide, E. N.

    1991-01-01

    The design of the control-loop structure for a feedback control system which contains a proofmass actuator for suppressing vibration is discussed. The loop structure is composed of inner control loops, which determine the frequency of the actuator and which are directly related to the actuator and the outer loops which add damping to the structure. When the frequency response of the actuator is matched to the stroke/force saturation curve, the actuator is most effective in the vibration suppression loops, and, since the stroke/force saturation curve is characterized by the stroke length, the mass of the proofmass, and the maximum current delivered by the motor electronics, the size of the actuator can be easily determined. The results of the loop-structure model calculations are verified by examining linear DC motors as proofmass actuators for the Mast in NASA's Control of Flexible Structures program.

  10. Electrostatic microvalves utilizing conductive nanoparticles for improved speed, lower power, and higher force actuation.

    SciTech Connect

    Ten Eyck, Gregory A.; Branson, Eric D.; Kenis, Paul J. A.; Desai, Amit; Schudel, Ben; Givler, Richard C.; Tice, Josh; Collord, Andrew; Apblett, Christopher Alan; Cook, Adam W.

    2009-09-01

    We have designed and built electrostatically actuated microvalves compatible with integration into a PDMS based microfluidic system. The key innovation for electrostatic actuation was the incorporation of carbon nanotubes into the PDMS valve membrane, allowing for electrostatic charging of the PDMS layer and subsequent discharging, while still allowing for significant distention of the valveseat for low voltage control of the system. Nanoparticles were applied to semi-cured PDMS using a stamp transfer method, and then cured fully to make the valve seats. DC actuation in air of these valves yielded operational voltages as low as 15V, by using a supporting structure above the valve seat that allowed sufficient restoring forces to be applied while not enhancing actuation forces to raise the valve actuation potential. Both actuate to open and actuate to close valves have been demonstrated, and integrated into a microfluidic platform, and demonstrated fluidic control using electrostatic valves.

  11. DSMC Simulation of Microstructure Actuation by Knudsen Thermal Force

    NASA Astrophysics Data System (ADS)

    Pikus, Aaron; Sebastiao, Israel; Strongrich, Andrew; Alexeenko, Alina

    2015-11-01

    Compact, low-power and highly accurate vacuum sensors are needed for emerging applications such as high-altitude communication platforms, small satellites and in-vacuum manufacturing processes. A novel MEMS-based pressure and gas sensor - Microelectromechanical In-plane Knudsen Radiometric Actuator (MIKRA) - has been developed at Purdue. MIKRA is based on Knudsen thermal force generated by rarefied flow driven by thermal gradients within the microstructure. The goal of this work is to model the rarefied gas flow in the MIKRA sensor to validate the numerical modeling of rarefied thermally-driven flows and gain insights for sensor design. The Direct Simulation Monte Carlo (DSMC) solver SPARTA is employed to numerically calculate the distribution of the flowfield and surface properties. The resulting forces on the colder shuttle beam are calculated and compared to the available experimental data as well as other numerical solvers. Both DSMC and experimental results suggest that the maximum forces occur at a Knudsen number of approximately 1. The streamlines indicate the presence of two small vortexes between the heated beam and the colder shuttle beam, and a larger one above these two beams. The DSMCsimulations, validated by experimental measurements, help understand the unique flow behaviors encountered in rarefied thermally-driven flows. NSF CBET grant #1055453.

  12. New Actuators Using ER Fluid and Their Applications to Force Display Devices in Virtual Reality and Medical Treatments

    NASA Astrophysics Data System (ADS)

    Furusho, Junji; Sakaguchi, Masamichi

    We developed ER actuators with low inertia. ER actuator is a torque-controllable clutch which uses an electrorheological fluid. It is shown that this actuator has good properties for force display device, physical therapy treatment, etc. We developed new force display devices for virtual reality which use ER actuators.

  13. Output-feedback control for switched linear systems subject to actuator saturation

    NASA Astrophysics Data System (ADS)

    Duan, Chang; Wu, Fen

    2012-10-01

    This article is devoted to the output-feedback ℋ∞ control problem for switched linear systems subject to actuator saturation. We consider both continuous- and discrete-time switched systems. Using the minimal switching rule, nonlinear output feedbacks expressed in the form of quasi-linear parameter varying system are designed to satisfy a pre-specified disturbance attenuation level defined by the regional ℒ2 (ℓ2)-gains over a class of energy-bounded disturbances. The conditions are expressed in bilinear matrix inequalities and can be solved by line search coupled with linear matrix inequalities optimisation. A spherical inverted pendulum example is used to illustrate the effectiveness of the proposed approach.

  14. Control and network system of force actuators for deformable mirror active optics in LAMOST

    NASA Astrophysics Data System (ADS)

    Zhang, Shengtao; Zhang, Zhenchao; Wang, You

    2007-12-01

    The reflecting Schmidt plate M A of LAMOST consists of 24 segmented hexagonal sub-mirrors. Each sub-mirror is 25mm thick and 1.1m in diagonal. There are 34 force actuators on the back of one sub-mirror which need to be controlled to offer precise load to create correct mirror deformation. This paper presents the control method and network configuration of force actuators for one sub-mirror. Master computer running Windows NT operation system and slave controllers running DOS operation system are connected together via Ethernet local area network (ELAN) by means of TCP/IP protocol. Adopting five slave controllers, 34 force actuators are combined into a distributed system. Master computer controls five slave controllers and five slave controllers operate 34 force actuators. Master computer communicates with slave controllers normally, which receives state of each force actuator from slave controllers and sends instructions to slave controllers via Ethernet LAN. Each slave controller operates 8 force actuators to offer correct load. Axial load capacity of force actuator is +/-150N (pull and push) with accuracy RMS <=0.05N. Force sensor is used as close-loop feedback apparatus to detect the micro load of the actuator.

  15. Parallel input parallel output high voltage bi-directional converters for driving dielectric electro active polymer actuators

    NASA Astrophysics Data System (ADS)

    Thummala, P.; Zhang, Z.; Andersen, M. A. E.; Rahimullah, S.

    2014-03-01

    Dielectric electroactive polymer (DEAP) actuators are capacitive devices which provide mechanical motions when charged electrically. The charging characteristics of a DEAP actuator depends on its size, voltage applied to its electrodes, and its operating frequency. The main idea of this paper is to design and implement driving circuits for the DEAP actuators for their use in various applications. This paper presents implementation of parallel input, parallel output, high voltage (~2.5 kV) bi-directional DC-DC converters for driving the DEAP actuators. The topology is a bidirectional flyback DC-DC converter incorporating commercially available high voltage MOSFETs (4 kV) and high voltage diodes (5 kV). Although the average current of the aforementioned devices is limited to 300 mA and 150 mA, respectively, connecting the outputs of multiple converters in parallel can provide a scalable design. This enables operating the DEAP actuators in various static and dynamic applications e.g. positioning, vibration generation or damping, and pumps. The proposed idea is experimentally verified by connecting three high voltage converters in parallel to operate a single DEAP actuator. The experimental results with both film capacitive load and the DEAP actuator are shown for a maximum charging voltage of 2 kV.

  16. Gamma-range corticomuscular coherence during dynamic force output.

    PubMed

    Omlor, Wolfgang; Patino, Luis; Hepp-Reymond, Marie-Claude; Kristeva, Rumyana

    2007-02-01

    The beta-range synchronization between cortical motor and muscular activity as revealed by EEG/MEG-EMG coherence has been extensively investigated for steady-state motor output. However, there is a lack of information on the modulation of the corticomuscular coherence in conjunction with dynamic force output. We addressed this question comparing the EEG-EMG coherence and the cortical motor spectral power in eight healthy subjects in a visuomotor task, in which the subjects exerted a steady-state or periodically modulated dynamic isometric force output with their right-index finger to keep a visual cursor within a target zone. In the static condition, significant coherence was confined to the beta-range. In the dynamic condition, the most distinct coherence occurred in the gamma-range and the significant beta-range coherence was strikingly reduced. The cortical motor power in the beta-range during dynamic force output was decreased, whereas the power in the gamma-range remained without significant change. We conclude that during dynamic force the corticospinal oscillation mode of the sensorimotor system shifts towards higher (principally gamma) frequencies for the rapid integration of the visual and somatosensory information required to produce the appropriate motor command.

  17. Output feedback control of linear fractional transformation systems subject to actuator saturation

    NASA Astrophysics Data System (ADS)

    Ban, Xiaojun; Wu, Fen

    2016-11-01

    In this paper, the control problem for a class of linear parameter varying (LPV) plant subject to actuator saturation is investigated. For the saturated LPV plant depending on the scheduling parameters in linear fractional transformation (LFT) fashion, a gain-scheduled output feedback controller in the LFT form is designed to guarantee the stability of the closed-loop LPV system and provide optimised disturbance/error attenuation performance. By using the congruent transformation, the synthesis condition is formulated as a convex optimisation problem in terms of a finite number of LMIs for which efficient optimisation techniques are available. The nonlinear inverted pendulum problem is employed to demonstrate the effectiveness of the proposed approach. Moreover, the comparison between our LPV saturated approach with an existing linear saturated method reveals the advantage of the LPV controller when handling nonlinear plants.

  18. Comparisons of Force Measurement Methods for DBD Plasma Actuators in Quiescent Air

    NASA Technical Reports Server (NTRS)

    Hoskinson, Alan R.; Hershkowitz, Noah; Ashpis, David E.

    2009-01-01

    We have performed measurements of the force induced by both single (one electrode insulated) and double (both electrodes insulated) dielectric barrier discharge plasma actuators in quiescent air. We have shown that, for single barrier actuators with cylindrical exposed electrodes, as the electrode diameter decrease the force efficiencies increase much faster than a previously reported linear trend. This behavior has been experimentally verified using two different measurement techniques: stagnation probe measurements of the induced flow velocity and direct measurement of the force using an electronic balance. Actuators with rectangular cross-section exposed electrodes do not show the same rapid increase at small thicknesses. We have also shown that the induced force is independent of the material used for the exposed electrode. The same techniques have shown that the induced force of a double barrier actuator increases with decreasing narrow electrode diameter.

  19. Euler force actuation mechanism for siphon valving in compact disk-like microfluidic chips

    PubMed Central

    Deng, Yongbo; Fan, Jianhua; Zhou, Song; Zhou, Teng; Wu, Junfeng; Li, Yin; Liu, Zhenyu; Xuan, Ming; Wu, Yihui

    2014-01-01

    Based on the Euler force induced by the acceleration of compact disk (CD)-like microfluidic chip, this paper presents a novel actuation mechanism for siphon valving. At the preliminary stage of acceleration, the Euler force in the tangential direction of CD-like chip takes the primary place compared with the centrifugal force to function as the actuation of the flow, which fills the siphon and actuates the siphon valving. The Euler force actuation mechanism is demonstrated by the numerical solution of the phase-field based mathematical model for the flow in siphon valve. In addition, experimental validation is implemented in the polymethylmethacrylate-based CD-like microfluidic chip manufactured using CO2 laser engraving technique. To prove the application of the proposed Euler force actuation mechanism, whole blood separation and plasma extraction has been conducted using the Euler force actuated siphon valving. The newly introduced actuation mechanism overcomes the dependence on hydrophilic capillary filling of siphon by avoiding external manipulation or surface treatments of polymeric material. The sacrifice for highly integrated processing in pneumatic pumping technique is also prevented by excluding the volume-occupied compressed air chamber. PMID:24753736

  20. Euler force actuation mechanism for siphon valving in compact disk-like microfluidic chips.

    PubMed

    Deng, Yongbo; Fan, Jianhua; Zhou, Song; Zhou, Teng; Wu, Junfeng; Li, Yin; Liu, Zhenyu; Xuan, Ming; Wu, Yihui

    2014-03-01

    Based on the Euler force induced by the acceleration of compact disk (CD)-like microfluidic chip, this paper presents a novel actuation mechanism for siphon valving. At the preliminary stage of acceleration, the Euler force in the tangential direction of CD-like chip takes the primary place compared with the centrifugal force to function as the actuation of the flow, which fills the siphon and actuates the siphon valving. The Euler force actuation mechanism is demonstrated by the numerical solution of the phase-field based mathematical model for the flow in siphon valve. In addition, experimental validation is implemented in the polymethylmethacrylate-based CD-like microfluidic chip manufactured using CO2 laser engraving technique. To prove the application of the proposed Euler force actuation mechanism, whole blood separation and plasma extraction has been conducted using the Euler force actuated siphon valving. The newly introduced actuation mechanism overcomes the dependence on hydrophilic capillary filling of siphon by avoiding external manipulation or surface treatments of polymeric material. The sacrifice for highly integrated processing in pneumatic pumping technique is also prevented by excluding the volume-occupied compressed air chamber.

  1. Sensitivity of micromechanical actuation on amorphous to crystalline phase transformations under the influence of Casimir forces

    NASA Astrophysics Data System (ADS)

    Sedighi, M.; Broer, W. H.; Palasantzas, G.; Kooi, B. J.

    2013-10-01

    Amorphous to crystalline phase transitions in phase change materials (PCM) can have strong influence on the actuation of microelectromechanical systems under the influence of Casimir forces. Indeed, the bifurcation curves of the stationary equilibrium points and the corresponding phase portraits of the actuation dynamics between gold and AIST (Ag5In5Sb60Te30) PCM, where an increase of the Casimir force of up ˜25% has been measured upon crystallization, show strong sensitivity to changes of the Casimir force as the stiffness of the actuating component decreases and/or the effective interaction area of the Casimir force increases, which can also lead to stiction. However, introduction of intrinsic energy dissipation (associated with a finite quality factor of the actuating system) can prevent stiction by driving the system to attenuated motion towards stable equilibrium depending on the PCM state and the system quality factor.

  2. Casimir and hydrodynamic force influence on microelectromechanical system actuation in ambient conditions

    NASA Astrophysics Data System (ADS)

    Sedighi, Mehdi; Palasantzas, George

    2014-02-01

    Casimir and hydrodynamic dissipation forces can strongly influence the actuation of microelectromechanical systems in ambient conditions. The dissipative and stiction dynamics of an actuating system is shown to depend on surface physical processes related to fluid slip and the size of the actuating components. Using phase change materials the Casimir force magnitude can be modulated via amorphous-crystalline phase transitions. The dissipative motion between amorphous coated phase change material components can be changed towards stiction upon crystallization and suitable choice of restoring spring constants. By contrast, amorphization can augment switching from stiction to dissipative dynamics.

  3. Corticomuscular synchronization with small and large dynamic force output

    PubMed Central

    Andrykiewicz, Agnieszka; Patino, Luis; Naranjo, Jose Raul; Witte, Matthias; Hepp-Reymond, Marie-Claude; Kristeva, Rumyana

    2007-01-01

    Background Over the last few years much research has been devoted to investigating the synchronization between cortical motor and muscular activity as measured by EEG/MEG-EMG coherence. The main focus so far has been on corticomuscular coherence (CMC) during static force condition, for which coherence in beta-range has been described. In contrast, we showed in a recent study [1] that dynamic force condition is accompanied by gamma-range CMC. The modulation of the CMC by various dynamic force amplitudes, however, remained uninvestigated. The present study addresses this question. We examined eight healthy human subjects. EEG and surface EMG were recorded simultaneously. The visuomotor task consisted in isometric compensation for 3 forces (static, small and large dynamic) generated by a manipulandum. The CMC, the cortical EEG spectral power (SP), the EMG SP and the errors in motor performance (as the difference between target and exerted force) were analyzed. Results For the static force condition we found the well-documented, significant beta-range CMC (15–30 Hz) over the contralateral sensorimotor cortex. Gamma-band CMC (30–45 Hz) occurred in both small and large dynamic force conditions without any significant difference between both conditions. Although in some subjects beta-range CMC was observed during both dynamic force conditions no significant difference between conditions could be detected. With respect to the motor performance, the lowest errors were obtained in the static force condition and the highest ones in the dynamic condition with large amplitude. However, when we normalized the magnitude of the errors to the amplitude of the applied force (relative errors) no significant difference between both dynamic conditions was observed. Conclusion These findings confirm that during dynamic force output the corticomuscular network oscillates at gamma frequencies. Moreover, we show that amplitude modulation of dynamic force has no effect on the gamma CMC

  4. A new class of high force, low-voltage, compliant actuation system

    SciTech Connect

    RODGERS,M. STEVEN; KOTA,SRIDHAR; HETRICK,JOEL; LI,ZHE; JENSEN,BRIAN D.; KRYGOWSKI,THOMAS W.; MILLER,SAMUEL L.; BARNES,STEPHEN MATTHEW; BURG,MICHAEL STANLEY

    2000-04-10

    Although many actuators employing electrostatic comb drives have been demonstrated in a laboratory environment, widespread acceptance in mass produced microelectromechanical systems (MEMS) may be limited due to issues associated with low drive force, large real estate demands, high operating voltages, and reliability concerns due to stiction. On the other hand, comb drives require very low drive currents, offer predictable response, and are highly compatible with the fabrication technology. The expand the application space and facilitate the widespread deployment of self-actuated MEMS, a new class of advanced actuation systems has been developed that maintains the highly desirable aspects of existing components, while significantly diminishing the issues that could impede large scale acceptance. In this paper, the authors will present low-voltage electrostatic actuators that offer a dramatic increase in force over conventional comb drive designs. In addition, these actuators consume only a small fraction of the chip area previously used, yielding significant gains in power density. To increase the stroke length of these novel electrostatic actuators, the authors have developed highly efficient compliant stroke amplifiers. The coupling of compact, high-force actuators with fully compliant displacement multipliers sets a new paradigm for highly integrated microelectromechanical systems.

  5. Blocking force of a piezoelectric stack actuator made of single crystal layers (PMN-29PT)

    NASA Astrophysics Data System (ADS)

    Tran, K. S.; Phan, H. V.; Lee, H. Y.; Kim, Yongdae; Park, H. C.

    2016-09-01

    In this study, we fabricated and characterized a stack actuator made of forty layers of 1 mm thick PMN-29PT with a cross-sectional area of 10 × 10 mm2. From the measurement of actuation displacement, we confirmed that the piezoelectric strain constant in the direction of thickness of the material is 2000 pm V‑1, as suggested by the manufacturer. The blocking forces of the actuator are measured to be 230 N, 369 N, and 478 N for 100 V, 200 V, and 300 V, respectively. The measured blocking forces showed large discrepancies from the estimated blocking forces calculated using linear models, especially for a high voltage application. An empirical equation acquired by fitting the measured blocking forces indicates that the blocking force has a nonlinear relationship with the applied voltage. The measured hysteresis showed a slight nonlinear voltage-stroke relationship and small energy loss.

  6. Force Measurements of Single and Double Barrier DBD Plasma Actuators in Quiescent Air

    NASA Technical Reports Server (NTRS)

    Hoskinson, Alan R.; Hershkowitz, Noah; Ashpis, David E.

    2008-01-01

    We have performed measurements of the force induced by both single (one electrode insulated) and double (both electrodes insulated) dielectric barrier discharge plasma actuators in quiescent air. We have shown that, for single barrier actuators, as the electrode diameter decreased below those values previously studied the induced Force increases exponentially rather than linearly. This behavior has been experimentally verified using two different measurement techniques: stagnation probe measurements of the induced flow velocity and direct measurement of the force using an electronic balance. In addition, we have shown the the induced force is independent of the material used for the exposed electrode. The same techniques have shown that the induced force of a double barrier actuator increases with decreasing narrow electrode diameter.

  7. Blocking force of a piezoelectric stack actuator made of single crystal layers (PMN-29PT)

    NASA Astrophysics Data System (ADS)

    Tran, K. S.; Phan, H. V.; Lee, H. Y.; Kim, Yongdae; Park, H. C.

    2016-09-01

    In this study, we fabricated and characterized a stack actuator made of forty layers of 1 mm thick PMN-29PT with a cross-sectional area of 10 × 10 mm2. From the measurement of actuation displacement, we confirmed that the piezoelectric strain constant in the direction of thickness of the material is 2000 pm V-1, as suggested by the manufacturer. The blocking forces of the actuator are measured to be 230 N, 369 N, and 478 N for 100 V, 200 V, and 300 V, respectively. The measured blocking forces showed large discrepancies from the estimated blocking forces calculated using linear models, especially for a high voltage application. An empirical equation acquired by fitting the measured blocking forces indicates that the blocking force has a nonlinear relationship with the applied voltage. The measured hysteresis showed a slight nonlinear voltage-stroke relationship and small energy loss.

  8. Microprocessor controlled proof-mass actuator

    NASA Technical Reports Server (NTRS)

    Horner, Garnett C.

    1987-01-01

    The objective of the microprocessor controlled proof-mass actuator is to develop the capability to mount a small programmable device on laboratory models. This capability will allow research in the active control of flexible structures. The approach in developing the actuator will be to mount all components as a single unit. All sensors, electronic and control devices will be mounted with the actuator. The goal for the force output capability of the actuator will be one pound force. The programmable force actuator developed has approximately a one pound force capability over the usable frequency range, which is above 2 Hz.

  9. Note: Seesaw actuation of atomic force microscope probes for improved imaging bandwidth and displacement range

    SciTech Connect

    Torun, H.; Torello, D.; Degertekin, F. L.

    2011-08-15

    The authors describe a method of actuation for atomic force microscope (AFM) probes to improve imaging speed and displacement range simultaneously. Unlike conventional piezoelectric tube actuation, the proposed method involves a lever and fulcrum ''seesaw'' like actuation mechanism that uses a small, fast piezoelectric transducer. The lever arm of the seesaw mechanism increases the apparent displacement range by an adjustable gain factor, overcoming the standard tradeoff between imaging speed and displacement range. Experimental characterization of a cantilever holder implementing the method is provided together with comparative line scans obtained with contact mode imaging. An imaging bandwidth of 30 kHz in air with the current setup was demonstrated.

  10. Influence of materials' optical response on actuation dynamics by Casimir forces.

    PubMed

    Sedighi, M; Broer, W H; Van der Veeke, S; Svetovoy, V B; Palasantzas, G

    2015-06-01

    The dependence of the Casimir force on the frequency-dependent dielectric functions of interacting materials makes it possible to tailor the actuation dynamics of microactuators. The Casimir force is largest for metallic interacting systems due to the high absorption of conduction electrons in the far-infrared range. For less conductive systems, such as phase change materials or conductive silicon carbide, the reduced force offers the advantage of increased stable operation of MEMS devices against pull-in instabilities that lead to unwanted stiction. Bifurcation analysis with phase portraits has been used to compare the sensitivity of a model actuator when the optical properties are altered.

  11. Influence of materials' optical response on actuation dynamics by Casimir forces

    NASA Astrophysics Data System (ADS)

    Sedighi, M.; Broer, W. H.; Van der Veeke, S.; Svetovoy, V. B.; Palasantzas, G.

    2015-06-01

    The dependence of the Casimir force on the frequency-dependent dielectric functions of interacting materials makes it possible to tailor the actuation dynamics of microactuators. The Casimir force is largest for metallic interacting systems due to the high absorption of conduction electrons in the far-infrared range. For less conductive systems, such as phase change materials or conductive silicon carbide, the reduced force offers the advantage of increased stable operation of MEMS devices against pull-in instabilities that lead to unwanted stiction. Bifurcation analysis with phase portraits has been used to compare the sensitivity of a model actuator when the optical properties are altered.

  12. Corticospinal output and loss of force during motor fatigue.

    PubMed

    Rösler, Kai M; Scheidegger, O; Magistris, M R

    2009-08-01

    The objective of this study was to analyze central motor output changes in relation to contraction force during motor fatigue. The triple stimulation technique (TST, Magistris et al. in Brain 121(Pt 3):437-450, 1998) was used to quantify a central conduction index (CCI = amplitude ratio of central conduction response and peripheral nerve response, obtained simultaneously by the TST). The CCI removes effects of peripheral fatigue from the quantification. It allows a quantification of the percentage of the entire target muscle motor unit pool driven to discharge by a transcranial magnetic stimulus. Subjects (n = 23) performed repetitive maximal voluntary contractions (MVC) of abductor digiti minimi (duration 1 s, frequency 0.5 Hz) during 2 min. TST recordings were obtained every 15 s, using stimulation intensities sufficient to stimulate all cortical motor neurons (MNs) leading to the target muscle, and during voluntary contractions of 20% of the MVC to facilitate the responses. TST was also repetitively recorded during recovery. This basic exercise protocol was modified in a number of experiments to further characterize influences on CCI of motor fatigue (4 min exercise at 50% MVC; delayed fatigue recovery during local hemostasis, "stimulated exercise" by 20 Hz trains of 1 s duration at 0.5 Hz during 2 min). In addition, the cortical silent period was measured during the basic exercise protocol. Force fatigued to approximately 40% of MVC in all experiments and in all subjects. In all subjects, CCI decreased during exercise, but this decrease varied markedly between subjects. On average, CCI reductions preceded force reductions during exercise, and CCI recovery preceded force recovery. Exercising at 50% for 4 min reduced muscle force more markedly than CCI. Hemostasis induced by a cuff delayed muscle force recovery, but not CCI recovery. Stimulated exercise reduced force markedly, but CCI decreased only marginally. Summarized, force reduction and reduction of the CCI

  13. Scaling of maximum net force output by motors used for locomotion.

    PubMed

    Marden, James H

    2005-05-01

    Biological and engineered motors are surprisingly similar in their adherence to two or possibly three fundamental regimes for the mass scaling of maximum force output (Fmax). One scaling regime (Group 1: myosin, kinesin, dynein and RNA polymerase molecules; muscle cells; whole muscles; winches; linear actuators) comprises motors that create slow translational motion with force outputs limited by the axial stress capacity of the motor, which results in Fmax scaling as motor mass0.67 (M0.67). Another scaling regime (Group 2: flying birds, bats and insects; swimming fish; running animals; piston engines; electric motors; jets) comprises motors that cycle rapidly, with significant internal and external accelerations, and for whom inertia and fatigue life appear to be important constraints. The scaling of inertial loads and fatigue life both appear to enforce Fmax scaling as M1.0 in these motors. Despite great differences in materials and mechanisms, the mass specific Fmax of Group 2 motors clusters tightly around a mean of 57 N kg(-1), a region of specific force loading where there appears to be a common transition from high- to low-cycle fatigue. For motors subject to multi-axial stresses, the steepness of the load-life curve in the neighborhood of 50-100 N kg(-1) may overwhelm other material and mechanistic factors, thereby homogenizing the mass specific Fmax of grossly dissimilar animals and machines. Rockets scale with Group 1 motors but for different mechanistic reasons; they are free from fatigue constraints and their thrust is determined by mass flow rates that depend on cross sectional area of the exit nozzle. There is possibly a third scaling regime of Fmax for small motors (bacterial and spermatazoan flagella; a protozoan spring) where viscosity dominates over inertia. Data for force output of viscous regime motors are scarce, but the few data available suggest a gradually increasing scaling slope that converges with the Group 2 scaling relationship at a

  14. An Atomic Force Microscope with Dual Actuation Capability for Biomolecular Experiments

    PubMed Central

    Sevim, Semih; Shamsudhin, Naveen; Ozer, Sevil; Feng, Luying; Fakhraee, Arielle; Ergeneman, Olgaç; Pané, Salvador; Nelson, Bradley J.; Torun, Hamdi

    2016-01-01

    We report a modular atomic force microscope (AFM) design for biomolecular experiments. The AFM head uses readily available components and incorporates deflection-based optics and a piezotube-based cantilever actuator. Jetted-polymers have been used in the mechanical assembly, which allows rapid manufacturing. In addition, a FeCo-tipped electromagnet provides high-force cantilever actuation with vertical magnetic fields up to 0.55 T. Magnetic field calibration has been performed with a micro-hall sensor, which corresponds well with results from finite element magnetostatics simulations. An integrated force resolution of 1.82 and 2.98 pN, in air and in DI water, respectively was achieved in 1 kHz bandwidth with commercially available cantilevers made of Silicon Nitride. The controller and user interface are implemented on modular hardware to ensure scalability. The AFM can be operated in different modes, such as molecular pulling or force-clamp, by actuating the cantilever with the available actuators. The electromagnetic and piezoelectric actuation capabilities have been demonstrated in unbinding experiments of the biotin-streptavidin complex. PMID:27273214

  15. An Atomic Force Microscope with Dual Actuation Capability for Biomolecular Experiments

    NASA Astrophysics Data System (ADS)

    Sevim, Semih; Shamsudhin, Naveen; Ozer, Sevil; Feng, Luying; Fakhraee, Arielle; Ergeneman, Olgaç; Pané, Salvador; Nelson, Bradley J.; Torun, Hamdi

    2016-06-01

    We report a modular atomic force microscope (AFM) design for biomolecular experiments. The AFM head uses readily available components and incorporates deflection-based optics and a piezotube-based cantilever actuator. Jetted-polymers have been used in the mechanical assembly, which allows rapid manufacturing. In addition, a FeCo-tipped electromagnet provides high-force cantilever actuation with vertical magnetic fields up to 0.55 T. Magnetic field calibration has been performed with a micro-hall sensor, which corresponds well with results from finite element magnetostatics simulations. An integrated force resolution of 1.82 and 2.98 pN, in air and in DI water, respectively was achieved in 1 kHz bandwidth with commercially available cantilevers made of Silicon Nitride. The controller and user interface are implemented on modular hardware to ensure scalability. The AFM can be operated in different modes, such as molecular pulling or force-clamp, by actuating the cantilever with the available actuators. The electromagnetic and piezoelectric actuation capabilities have been demonstrated in unbinding experiments of the biotin-streptavidin complex.

  16. Force control of a tri-layer conducting polymer actuator using optimized fuzzy logic control

    NASA Astrophysics Data System (ADS)

    Itik, Mehmet; Sabetghadam, Mohammadreza; Alici, Gursel

    2014-12-01

    Conducting polymers actuators (CPAs) are potential candidates for replacing conventional actuators in various fields, such as robotics and biomedical engineering, due to their advantageous properties, which includes their low cost, light weight, low actuation voltage and biocompatibility. As these actuators are very suitable for use in micro-nano manipulation and in injection devices in which the magnitude of the force applied to the target is of crucial importance, the force generated by CPAs needs to be accurately controlled. In this paper, a fuzzy logic (FL) controller with a Mamdani inference system is designed to control the blocking force of a trilayer CPA with polypyrrole electrodes, which operates in air. The particle swarm optimization (PSO) method is employed to optimize the controller’s membership function parameters and therefore enhance the performance of the FL controller. An adaptive neuro-fuzzy inference system model, which can capture the nonlinear dynamics of the actuator, is utilized in the optimization process. The optimized Mamdani FL controller is then implemented on the CPA experimentally, and its performance is compared with a non-optimized fuzzy controller as well as with those obtained from a conventional PID controller. The results presented indicate that the blocking force at the tip of the CPA can be effectively controlled by the optimized FL controller, which shows excellent transient and steady state characteristics but increases the control voltage compared to the non-optimized fuzzy controllers.

  17. An Atomic Force Microscope with Dual Actuation Capability for Biomolecular Experiments.

    PubMed

    Sevim, Semih; Shamsudhin, Naveen; Ozer, Sevil; Feng, Luying; Fakhraee, Arielle; Ergeneman, Olgaç; Pané, Salvador; Nelson, Bradley J; Torun, Hamdi

    2016-01-01

    We report a modular atomic force microscope (AFM) design for biomolecular experiments. The AFM head uses readily available components and incorporates deflection-based optics and a piezotube-based cantilever actuator. Jetted-polymers have been used in the mechanical assembly, which allows rapid manufacturing. In addition, a FeCo-tipped electromagnet provides high-force cantilever actuation with vertical magnetic fields up to 0.55 T. Magnetic field calibration has been performed with a micro-hall sensor, which corresponds well with results from finite element magnetostatics simulations. An integrated force resolution of 1.82 and 2.98 pN, in air and in DI water, respectively was achieved in 1 kHz bandwidth with commercially available cantilevers made of Silicon Nitride. The controller and user interface are implemented on modular hardware to ensure scalability. The AFM can be operated in different modes, such as molecular pulling or force-clamp, by actuating the cantilever with the available actuators. The electromagnetic and piezoelectric actuation capabilities have been demonstrated in unbinding experiments of the biotin-streptavidin complex. PMID:27273214

  18. Transitory Aerodynamic Forces on a Body of Revolution using Synthetic Jet Actuation

    NASA Astrophysics Data System (ADS)

    Rinehart, Christopher; McMichael, James; Glezer, Ari

    2002-11-01

    The aerodynamic forces and moments on axisymmetric bodies at subsonic speeds are controlled by exploiting local flow attachment using fluidic (synthetic jet) actuation and thereby altering the apparent aerodynamic shape of the surface. Control is effected upstream of the base of the body by an azimuthal array of individually-controlled, aft-facing synthetic jets emanating along an azimuthal Coanda surface. Actuation produces asymmetric aerodynamic forces and moments, with ratios of lift to average jet momentum approaching values typical of conventional jet-based circulation control on two-dimensional airfoils. Momentary forces are achieved using transient (pulsed) actuation and are accompanied by the formation and shedding of vorticity concentrations as a precursor to the turning of the outer flow into the wake region.

  19. Long throw and rotary output electro-thermal actuators based on bent-beam suspensions

    SciTech Connect

    Park, J.S.; Chu, L.L.; Siwapornsathain, E.; Oliver, A.D.; Gianchandani, Y.B.

    1999-11-22

    This paper reports on significant advances in electrothermal bent beam actuators. Designs for long throw linear and rotary actuators are described. Silicon p++ devices showed 20--30 {mu}m displacements with 150 {micro}N loads at actuation levels of 6--8 V, and 250--300 mW. An electroplated version provided 15 {mu}m displacements at 0.8 V and 450 mW. Inchworm type devices are reported that had linear displacements of 100 {micro}m with 200 {micro}N loads. Refinements in the modeling to account for non-linear thermal expansion coefficients and buckling are also reported.

  20. Measurement of transient force produced by a propagating arc magnetohydrodynamic plasma actuator in quiescent atmospheric air

    NASA Astrophysics Data System (ADS)

    Choi, Young Joon; Sirohi, Jayant; Raja, Laxminarayan L.

    2015-10-01

    An experimental study was conducted on a magnetohydrodynamic plasma actuator consisting of two parallel, six inch long, copper electrodes flush mounted on an insulating ceramic plate. An electrical arc is generated by a  ∼1 kA current pulse at  ∼100 V across the electrodes. A self-induced Lorentz force drives the arc along the electrodes. The motion of the arc induces flow in the surrounding air through compression as well as entrainment, and generates a transient force, about  ∼4 ms in duration. Experiments were performed on a prototype actuator in quiescent atmospheric air to characterize the motion of the arc and the momentum transferred to the surrounding air. Measurements included transient force and total impulse generated by the actuator as well as the armature voltage and current. The arc shape and transit velocity were determined by high-speed imaging. A peak force of 0.4 N imparting an impulse of 0.68 mN-s was measured for a peak current of 1.2 kA. The force scaled with the square of the armature current and the impulse scaled linearly with the spent capacitor energy. The results provide insight into the mechanisms of body force generation and momentum transfer of a magnetohydrodynamic plasma actuator.

  1. Investigating Actuation Force Fight with Asynchronous and Synchronous Redundancy Management Techniques

    NASA Technical Reports Server (NTRS)

    Hall, Brendan; Driscoll, Kevin; Schweiker, Kevin; Dutertre, Bruno

    2013-01-01

    Within distributed fault-tolerant systems the term force-fight is colloquially used to describe the level of command disagreement present at redundant actuation interfaces. This report details an investigation of force-fight using three distributed system case-study architectures. Each case study architecture is abstracted and formally modeled using the Symbolic Analysis Laboratory (SAL) tool chain from the Stanford Research Institute (SRI). We use the formal SAL models to produce k-induction based proofs of a bounded actuation agreement property. We also present a mathematically derived bound of redundant actuation agreement for sine-wave stimulus. The report documents our experiences and lessons learned developing the formal models and the associated proofs.

  2. Metrology of electromagnetic static actuation of MEMS microbridge using atomic force microscopy.

    PubMed

    Moczała, M; Majstrzyk, W; Sierakowski, A; Dobrowolski, R; Grabiec, P; Gotszalk, T

    2016-05-01

    The objective of this paper is to describe application of atomic force microscopy (AFM) for characterization and calibration of static deflection of electromagnetically and/or thermally actuated micro-electromechanical (MEMS) bridge. The investigated MEMS structure is formed by a silicon nitride bridge and a thin film metal path enabling electromagnetic and/or thermal deflection actuation. We present how static microbridge deflection can be measured using contact mode AFM technology with resolution of 0.05nm in the range of up to tens of nm. We also analyze, for very small structure deflections and under defined and controlled load force varied in the range up to ca. 32nN, properties of thermal and electromagnetical microbridge deflection actuation schemes.

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

    SciTech Connect

    Long, Christian J.; Cannara, Rachel J.

    2015-07-15

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

  4. Wave-based control of under-actuated flexible structures with strong external disturbing forces

    NASA Astrophysics Data System (ADS)

    O'Connor, William J.; Habibi, Hossein

    2015-09-01

    Wave-based control of under-actuated, flexible systems has many advantages over other methods. It considers actuator motion as launching a mechanical wave into the flexible system which it absorbs on its return to the actuator. The launching and absorbing proceed simultaneously. This simple, intuitive idea leads to robust, generic, highly efficient, precise, adaptable controllers, allowing rapid and almost vibrationless re-positioning of the system, using only sensors collocated at the actuator-system interface. It has been very successfully applied to simple systems such as mass-spring strings, systems of Euler-Bernoulli beams, planar mass-spring arrays, and flexible three-dimensional space structures undergoing slewing motion. In common with most other approaches, this work also assumed that, during a change of position, the forces from the environment were negligible in comparison with internal forces and torques. This assumption is not always valid. Strong external forces considerably complicate the flexible control problem, especially when unknown, unexpected or unmodelled. The current work extends the wave-based strategy to systems experiencing significant external disturbing forces, whether enduring or transient. The work also provides further robustness to sensor errors. The strategy has the controller learn about the disturbances and compensate for them, yet without needing new sensors, measurements or models beyond those of standard wave-based control.

  5. Tool actuation and force feedback on robot-assisted microsurgery system

    NASA Technical Reports Server (NTRS)

    Das, Hari (Inventor); Ohm, Tim R. (Inventor); Boswell, Curtis D. (Inventor); Steele, Robert D. (Inventor)

    2002-01-01

    An input control device with force sensors is configured to sense hand movements of a surgeon performing a robot-assisted microsurgery. The sensed hand movements actuate a mechanically decoupled robot manipulator. A microsurgical manipulator, attached to the robot manipulator, is activated to move small objects and perform microsurgical tasks. A force-feedback element coupled to the robot manipulator and the input control device provides the input control device with an amplified sense of touch in the microsurgical manipulator.

  6. Influence of low optical frequencies on actuation dynamics of microelectromechanical systems via Casimir forces

    NASA Astrophysics Data System (ADS)

    Sedighi, Mehdi; Palasantzas, George

    2015-04-01

    The role of the Casimir force on the analysis of microactuators is strongly influenced by the optical properties of interacting materials. Bifurcation and phase portrait analysis were used to compare the sensitivity of actuators when the optical properties at low optical frequencies were modeled using the Drude and Plasma models. Indeed, for metallic systems, which have strong Casimir attraction, the details of the modeling of the low optical frequency regime can be dramatic, leading to predictions of either stable motion or stiction instability. However, this difference is strongly minimized for weakly conductive systems as are the doped insulators making actuation modeling more certain to predict.

  7. A force compliant surgical robotic tool with IPMC actuator and integrated sensing

    NASA Astrophysics Data System (ADS)

    Fu, Lixue; McDaid, Andrew J.; Aw, Kean C.

    2013-08-01

    A robotic surgical device, actuated by Ionic Polymer-metal Composite (IPMC), integrated with a strain gauge to achieve force control is proposed. Test results have proved the capabilities of this device to conduct surgical procedures. The recent growth of patient acceptance and demand for robotic aided surgery has stimulated the progress of research where in many applications the performance has been proven to surpass human surgeons. A new area which uses the inherently force compliant and back-drivable properties of polymers, IPMC in this case, has shown its potential to undertake precise surgical procedures in delicate environments of medical practice. This is because IPMCs have similar actuation characteristics to real biological systems ensuring the safety of the practice. Nevertheless, little has been done in developing IPMCs as a rotary joint actuators used as functional surgical devices. This research demonstrates the design of a single degree of freedom (1DOF) robotic surgical instrument with one joint mechanism actuated by IPMC with an embedded strain gauge as a feedback unit, and controlled by a scheduled gain PI controller. With the simplicity of the system it was proven to be able to cut to the desired controlled force and hence depth.

  8. A Biomechanical Assessment of Hand/Arm Force with Pneumatic Nail Gun Actuation Systems

    PubMed Central

    Lowe, Brian D.; Albers, James; Hudock, Stephen D.

    2015-01-01

    A biomechanical model is presented, and combined with measurements of tip press force, to estimate total user hand force associated with two pneumatic nail gun trigger systems. The contact actuation trigger (CAT) can fire a nail when the user holds the trigger depressed first and then “bumps” the nail gun tip against the workpiece. With a full sequential actuation trigger (SAT) the user must press the tip against the workpiece prior to activating the trigger. The SAT is demonstrably safer in reducing traumatic injury risk, but increases the duration (and magnitude) of tip force exertion. Time integrated (cumulative) hand force was calculated for a single user from measurements of the tip contact force with the workpiece and transfer time between nails as inputs to a static model of the nail gun and workpiece in two nailing task orientations. The model shows the hand force dependence upon the orientation of the workpiece in addition to the trigger system. Based on standard time allowances from work measurement systems (i.e. Methods-Time Measurement - 1) it is proposed that efficient application of hand force with the SAT in maintaining tip contact can reduce force exertion attributable to the sequential actuation trigger to 2–8% (horizontal nailing) and 9–20% (vertical nailing) of the total hand/arm force. The present model is useful for considering differences in cumulative hand/arm force exposure between the SAT and CAT systems and may explain the appeal of the CAT trigger in reducing the user’s perception of muscular effort. PMID:26321780

  9. Force sharing in high-power parallel servo-actuators

    NASA Technical Reports Server (NTRS)

    Neal, T. P.

    1974-01-01

    The various existing force sharing schemes were examined by conducting a literature survey. A list of potentially applicable concepts was compiled from this survey, and a brief analysis was then made of each concept, which resulted in two competing schemes being selected for in-depth evaluation. A functional design of the equalization logic for the two schemes was undertaken and specific space shuttle application was chosen for experimental evaluation. The application was scaled down so that existing hardware could be utilized. Next, an analog computer study was conducted to evaluate the more important characteristics of the two competing force sharing schemes. On the basis of the computers study, a final configuration was selected. A load simulator was then designed to evaluate this configuration on actual hardware.

  10. Helicopter force-feel and stability augmentation system with parallel servo-actuator

    NASA Technical Reports Server (NTRS)

    Hoh, Roger H. (Inventor)

    2006-01-01

    A force-feel system is implemented by mechanically coupling a servo-actuator to and in parallel with a flight control system. The servo-actuator consists of an electric motor, a gearing device, and a clutch. A commanded cockpit-flight-controller position is achieved by pilot actuation of a trim-switch. The position of the cockpit-flight-controller is compared with the commanded position to form a first error which is processed by a shaping function to correlate the first error with a commanded force at the cockpit-flight-controller. The commanded force on the cockpit-flight-controller provides centering forces and improved control feel for the pilot. In an embodiment, the force-feel system is used as the basic element of stability augmentation system (SAS). The SAS provides a stabilization signal that is compared with the commanded position to form a second error signal. The first error is summed with the second error for processing by the shaping function.

  11. Standardization of Buckypaper composite actuator fabrication process and improvement of force generation

    NASA Astrophysics Data System (ADS)

    DeGraff, Joshua

    The Buckypaper/Nafion composite actuator (BCA) is promising for lightweight and micro-robotic system applications. Lightweight BCA provides an energy-efficient and flexible design to achieve muscle-like actuation for micro-actuator applications. The BCA encompasses of a solid Nafion electrolyte stacked between two conductive carbon nanotube thin thins or Buckypaper (BP) sheets. As an ionic electro-active polymer (iEAP), Nafion's response to an electrical signal is similar to the electrochemical response of biological muscles. The adhesion between the electrolyte film and the electrode materials is critical to the actuator performance. BCA manufacturing avoids the complexities of repetitive metallic plating, as BP supplies a high surface area film of conductive carbon nanotubes. Since the actuator's charging occurs where the constituent materials come in contact, a standard manufacturing process needs to be developed to ensure repeatability. This research includes two focuses. The first focus pertains to optimizing the ion-exchange processes that improve Nafion's ionic transport properties. The second focus is to strengthening the interaction between Nafion and Buckypaper, which will ensure effective charge accumulation at the interface and improve the BCA's mechanical properties relevant to force exertion. The research presents a novel BCA manufacturing approach to achieve excellent repeatability and significantly improves the BCA's mechanical properties.

  12. Measuring blocking force to interpret ionic mechanisms within bucky-gel actuators

    NASA Astrophysics Data System (ADS)

    Kruusamäe, Karl; Sugino, Takushi; Asaka, Kinji

    2015-04-01

    Bucky-gel laminates are tri-layer structures where polymeric electrolyte film is sandwiched between two compliant electrode layers of carbon nanotubes and ionic liquid. The resulting ionic and capacitive structures, being regarded as a type of electromechanically active polymers (EAP), have the perspective of becoming soft bending actuators in the fields such as biomimetic robotics or lab-on-chip technology. A typical electromechanical step response of a bucky-gel actuator in a cantilever configuration exhibits a fast bending displacement followed by some reverse motion referred to as the back-relaxation. It has been proposed that the bending but also the back-relaxation of bucky-gel laminates occur due to the relocation of cations and anions within the tri-layer structure. A great number of modeling about ionic EAP materials aims to predict the amplitude of free bending or the blocking force of the actuator. However, as the bucky-gel laminates are viscoelastic, the translation from generated force to bending amplitude is not always straightforward - it can take the form of an integro-differential equation with speed (i.e. the amplitude and type of the input signal) and temperature (i.e. the electronic conductivity of the material and driving current) as just some of the parameters. In this study we propose to use a so-called two carrier-model to analyze the electromechanical response of a bucky-gel actuator. After modifying the electrical equivalent circuit, the time domain response of blocking force is measured to elaborate the ionic mechanisms during the work-cycle of bucky-gel actuator.

  13. Simulation of body force field effects on airfoil separation control and optimization of plasma actuator

    NASA Astrophysics Data System (ADS)

    Abdoli, A.; Mirzaee, I.; Anvari, A.; Purmahmod, N.

    2008-09-01

    Among all active flow control methods, EHD, MHD and EMHD are the only methods which operate on the basis of body force induction on flow field. The EHD plasma actuator is the proper method which has been used in various flow control applications recently. In this paper, the effects of different body force fields on different domains have been studied for separation control on NACA 0021 and the results have been discussed. The airflow velocity has been assumed to be 35 m s-1 at a post-stall angle of attack of 23°. Three different domains have been used around the airfoil to investigate body forces with different strengths and directions and those which give the best result in separation control have been obtained for each domain. It has been shown that the results could be used for optimizing the plasma actuator by manipulating its electrode configuration. Two non-dimensional numbers, Ab and Dc, have been obtained and validated by different applied body forces. These numbers have been defined for plasma actuators to show their efficiency in different applications.

  14. Nonlinear gain-scheduling output-feedback control for polynomial nonlinear systems subject to actuator saturation

    NASA Astrophysics Data System (ADS)

    Wu, Fen; Hays, Scott

    2013-09-01

    This paper investigates nonlinear gain-scheduling control approaches for a class of polynomial nonlinear systems, containing an output-dependent vector field with input saturation. Using the polytopic differential inclusion and norm-bounded differential inclusion (NDI) of saturation and dead-zone functions, the nonlinear plants are transformed into systems with measurable parameters. For the polytopic differential inclusion description, a quasi-linear parameter varying (quasi-LPV) output-feedback controller will be sought for saturation control. On the other hand, the NDI model leads to a nonlinear fractional transformation (NFT) output-feedback controller for saturated nonlinear systems. The quasi-LPV and NFT output-feedback control synthesis conditions are derived in the forms of output-dependent matrix inequalities. They can be reformulated as sum-of-squares (SOS) optimisations and solved efficiently using SOS programming. The proposed nonlinear gain-scheduling saturation control approaches will be demonstrated using the Van der Pol equation.

  15. Analysis, design, and testing of a low cost, direct force command linear proof mass actuator for structural control

    NASA Technical Reports Server (NTRS)

    Slater, G. L.; Shelley, Stuart; Jacobson, Mark

    1993-01-01

    In this paper, the design, analysis, and test of a low cost, linear proof mass actuator for vibration control is presented. The actuator is based on a linear induction coil from a large computer disk drive. Such disk drives are readily available and provide the linear actuator, current feedback amplifier, and power supply for a highly effective, yet inexpensive, experimental laboratory actuator. The device is implemented as a force command input system, and the performance is virtually the same as other, more sophisticated, linear proof mass systems.

  16. Dynamic Reconstruction and Multivariable Control for Force-Actuated, Thin Facesheet Adaptive Optics

    NASA Technical Reports Server (NTRS)

    Grocott, Simon C. O.; Miller, David W.

    1997-01-01

    The Multiple Mirror Telescope (MMT) under development at the University of Arizona takes a new approach in adaptive optics placing a large (0.65 m) force-actuated, thin facesheet deformable mirror at the secondary of an astronomical telescope, thus reducing the effects of emissivity which are important in IR astronomy. However, The large size of the mirror and low stiffness actuators used drive the natural frequencies of the mirror down into the bandwidth of the atmospheric distortion. Conventional adaptive optics takes a quasi-static approach to controlling the, deformable mirror. However, flexibility within the control bandwidth calls for a new approach to adaptive optics. Dynamic influence functions are used to characterize the influence of each actuator on the surface of the deformable mirror. A linearized model of atmospheric distortion is combined with dynamic influence functions to produce a dynamic reconstructor. This dynamic reconstructor is recognized as an optimal control problem. Solving the optimal control problem for a system with hundreds of actuators and sensors is formidable. Exploiting the circularly symmetric geometry of the mirror, and a suitable model of atmospheric distortion, the control problem is divided into a number of smaller decoupled control problems using circulant matrix theory. A hierarchic control scheme which seeks to emulate the quasi-static control approach that is generally used in adaptive optics is compared to the proposed dynamic reconstruction technique. Although dynamic reconstruction requires somewhat more computational power to implement, it achieves better performance with less power usage, and is less sensitive than the hierarchic technique.

  17. A Reconfiguration Scheme for Accommodating Actuator Failures in Multi-Input, Multi-Output Flight Control Systems

    NASA Technical Reports Server (NTRS)

    Siwakosit, W.; Hess, R. A.; Bacon, Bart (Technical Monitor); Burken, John (Technical Monitor)

    2000-01-01

    A multi-input, multi-output reconfigurable flight control system design utilizing a robust controller and an adaptive filter is presented. The robust control design consists of a reduced-order, linear dynamic inversion controller with an outer-loop compensation matrix derived from Quantitative Feedback Theory (QFT). A principle feature of the scheme is placement of the adaptive filter in series with the QFT compensator thus exploiting the inherent robustness of the nominal flight control system in the presence of plant uncertainties. An example of the scheme is presented in a pilot-in-the-loop computer simulation using a simplified model of the lateral-directional dynamics of the NASA F18 High Angle of Attack Research Vehicle (HARV) that included nonlinear anti-wind up logic and actuator limitations. Prediction of handling qualities and pilot-induced oscillation tendencies in the presence of these nonlinearities is included in the example.

  18. Determination of the actuator sensitivity of electromechanical polypropylene films by atomic force microscopy

    NASA Astrophysics Data System (ADS)

    Peltonen, Jouko; Paajanen, Mika; Lekkala, Jukka

    2000-10-01

    The actuator functionality of electromechanical polypropylene films was studied using atomic force microscopy. The film carries a permanent electric charge and includes microbubbles as a result of two-dimensional stretching of the film. The thickness change of various film structures covered with electrodes was measured as a function of external voltage. The dependence was found to be nonlinear, the thickness change in the range 0.001%-0.1% of the total film thickness and affected by the internal charge density of the film. Applying a capacitor model including an air gap within the polymer layer enabled the determination of the Young's modulus, the interfacial charge density and the actuator sensitivity of the studied structures.

  19. Variable area nozzle for gas turbine engines driven by shape memory alloy actuators

    NASA Technical Reports Server (NTRS)

    Rey, Nancy M. (Inventor); Miller, Robin M. (Inventor); Tillman, Thomas G. (Inventor); Rukus, Robert M. (Inventor); Kettle, John L. (Inventor); Dunphy, James R. (Inventor); Chaudhry, Zaffir A. (Inventor); Pearson, David D. (Inventor); Dreitlein, Kenneth C. (Inventor); Loffredo, Constantino V. (Inventor)

    2001-01-01

    A gas turbine engine includes a variable area nozzle having a plurality of flaps. The flaps are actuated by a plurality of actuating mechanisms driven by shape memory alloy (SMA) actuators to vary fan exist nozzle area. The SMA actuator has a deformed shape in its martensitic state and a parent shape in its austenitic state. The SMA actuator is heated to transform from martensitic state to austenitic state generating a force output to actuate the flaps. The variable area nozzle also includes a plurality of return mechanisms deforming the SMA actuator when the SMA actuator is in its martensitic state.

  20. Usefulness of electromagnetic induction type of force transducer and actuator for myofibril mechanics.

    PubMed

    Kimura, Kazushige; Abe, Takahiro; Phan, Kien Nguyen; Kobayashi, Takakazu

    2012-01-01

    A high performance device for measuring force and length change during myofibril contraction is fabricated. The principle of a device depends on the law of electromagnetic induction. Homogenized myofibrils were attached between two wires exposed in the uniform magnetic field by silicon adhesive under an inverted microscope. The purpose of this study is to examine performance whether the electromagnetic induction type of device actually works. Sensitivity and time resolution of force transducer was 50nN and 1ms respectively. Working displacement and time resolution of actuator as length transducer was 1-20 µm and 1.2 ms. We confirmed the performance of the device by showing appropriate force response to changes in length during myofibrils contraction, and possibility of application of the device to myofibril mechanics is discussed.

  1. Synthesis and cyclic force characterization of helical polypyrrole actuators for artificial facial muscles

    NASA Astrophysics Data System (ADS)

    Tadesse, Yonas; Grange, Robert W.; Priya, Shashank

    2009-08-01

    This study focuses on the synthesis and characterization of thick and thin film polypyrrole (PPy)-metal composite actuators for application as artificial muscles in facial robotics. The fabrication method consists of three steps based upon the approach proposed by Ding et al (2003 Synth. Met. 138 391-8): (i) winding the conductive spiral structure around the platinum (Pt) wire core, (ii) deposition of PPy film on the Pt wire core, and (iii) removal of the Pt wire core. This approach yielded good performance from the synthesized actuators, but was complex to implement due to the difficulty in implementing the third step. To overcome the problem of mechanical damage occurring during withdrawal of the Pt wire, the core was replaced with a dispensable gold coated polylactide fiber that could be etched at the end of deposition step. Experimental results indicate that thin film actuators perform better in terms of response time and blocking force. A unique muscle-like structure with smoothly varying cross-section was grown by combining layer by layer deposition with changes in position and orientation of the counter electrode in reference to the working electrode.

  2. Conversion of rotational output to linear force-a transmission

    SciTech Connect

    Montalbano, P.J.

    1991-08-27

    This patent describes a transmission device for converting rotational torque into linear force. It comprises a combination large internally toothed annular gear and large flywheel rotatable within a housing by bearing means, in operative interconnection with a small externally toothed circular gear mounted within it annulus and provided with a source of variable rotary motion for driving the annular gear, a second large internally toothed annular gear, located above the first the annular gear, rotatable within a housing by bearing means and provided with a clutch connection to first annular gear, is in operative connection with three small externally toothed circular gears driven by the second annular gear, a member pivotably supported along the axis of the annular gear and rockable on the axis, the member having an upper and a lower arm, the upper arm in interconnection with two of the respective gears and the lower arm in interconnection with one of the respective gears, the gears driven by the second annular gear, in upper arm the gears causing the rocker element to move two off- centered weights, the first weight rotatable with one of the gears, the second weight rotatable in the opposite direction and mounted within the rocker element driven by an additional small externally toothed circular gear in mesh with one of the small gears, the weights generating centrifugal forces.

  3. Implementation of a three degree of freedom, motor/brake hybrid force output device for virtual environment control tasks

    NASA Technical Reports Server (NTRS)

    Russo, Massimo; Tadros, Alfred; Flowers, Woodie; Zeltzer, David

    1991-01-01

    The advent of high resolution, physical model based computer graphics has left a gap in the design of input/output technology appropriate for interacting with such complex virtual world models. Since virtual worlds consist of physical models, it is appropriate to output the inherent force information necessary for the simulation to the user. The detailed design, construction, and control of a three degree freedom force output joystick will be presented. A novel kinematic design allows all three axes to be uncoupled, so that the system inertia matrix is diagonal. The two planar axes are actuated through an offset gimbal, and the third through a sleeved cable. To compensate for friction and inertia effects, this transmission is controlled by a force feedforward and a closed force feedback proportional loop. Workspace volume is a cone of 512 cubic inches, and the device bandwidth is maximized at 60 Hz for the two planar and 30 Hz for the third axis. Each axis is controlled by a motor/proportional magnetic particle brake combination fixed to the base. The innovative use of motors and brakes allows objects with high resistive torque requirements to be simulated without the stability and related safety issues involved with high torque, energy storing motors alone. Position, velocity, and applied endpoint force are sensed directly. Different control strategies are discussed and implemented, with an emphasis on how virtual environment force information, generated by the MIT Media Lab Computer Graphics and Animation Group BOLIO system, is transmitted to the device controller. The design constraints for a kinesthetic force feedback device can be summarized as: How can the symbiosis between the sense of presence in the virtual environment be maximized without compromising the interaction task under the constraints of the mechanical device limitations? Research in this field will yield insights to the optimal human sensory feedback mix for a wide spectrum of control and

  4. Determination of forces in a magnetic bearing actuator - Numerical computation with comparison to experiment

    NASA Technical Reports Server (NTRS)

    Knight, J. D.; Xia, Z.; Mccaul, E.; Hacker, H., Jr.

    1992-01-01

    Calculations of the forces exerted on a journal by a magnetic bearing actuator are presented, along with comparisons to experimentally measured forces. The calculations are based on two-dimensional solutions for the flux distribution in the metal parts and free space, using finite but constant permeability in the metals. Above a relative permeability of 10,000 the effects of changes in permeability are negligible, but below 10,000 decreases in permeability cause significant decreases in the force. The calculated forces are shown to depend on the metal permeability more strongly when the journal is displaced from its centered position. The predicted forces in the principal attractive direction are in good agreement with experiment when a relatively low value of permeability is chosen. The forces measured normal to the axis of symmetry when the journal is displaced from that axis, however, are significantly higher than predicted by theory, even with a value of relative permeability larger than 5000. These results indicate a need for further work including nonlinear permeability distributions.

  5. Note: A rigid piezo motor with large output force and an effective method to reduce sliding friction force

    SciTech Connect

    Guo, Ying; Lu, Qingyou; Hou, Yubin

    2014-05-15

    We present a completely practical TunaDrive piezo motor. It consists of a central piezo stack sandwiched by two arm piezo stacks and two leg piezo stacks, respectively, which is then sandwiched and spring-clamped by a pair of parallel polished sapphire rods. It works by alternatively fast expanding and contracting the arm/leg stacks while slowly expanding/contracting the central stack simultaneously. The key point is that sufficiently fast expanding and contracting a limb stack can make its two sliding friction forces well cancel, resulting in the total sliding friction force is <10% of the total static friction force, which can help increase output force greatly. The piezo motor's high compactness, precision, and output force make it perfect in building a high-quality harsh-condition (vibration resistant) atomic resolution scanning probe microscope.

  6. Note: A rigid piezo motor with large output force and an effective method to reduce sliding friction force.

    PubMed

    Guo, Ying; Hou, Yubin; Lu, Qingyou

    2014-05-01

    We present a completely practical TunaDrive piezo motor. It consists of a central piezo stack sandwiched by two arm piezo stacks and two leg piezo stacks, respectively, which is then sandwiched and spring-clamped by a pair of parallel polished sapphire rods. It works by alternatively fast expanding and contracting the arm/leg stacks while slowly expanding/contracting the central stack simultaneously. The key point is that sufficiently fast expanding and contracting a limb stack can make its two sliding friction forces well cancel, resulting in the total sliding friction force is <10% of the total static friction force, which can help increase output force greatly. The piezo motor's high compactness, precision, and output force make it perfect in building a high-quality harsh-condition (vibration resistant) atomic resolution scanning probe microscope.

  7. Air microjet system for non-contact force application and the actuation of micro-structures

    NASA Astrophysics Data System (ADS)

    Khare, S. M.; Venkataraman, V.

    2016-01-01

    We demonstrate a non-contact technique to apply calibrated and localized forces in the micro-Newton to milli-Newton range using an air microjet. An electromagnetically actuated diaphragm controlled by a signal generator is used to generate the air microjet. With a nozzle diameter of 150 μm, the microjet diameter was maintained to a maximum of 1 mm at a distance of 5 mm from the nozzle. The force generated by the microjet was measured using a commercial force sensor to determine the velocity profile of the jet. Axial flow velocities of up to 25 m s-1 were obtained at distances as long as 6 mm. The microjet exerted a force up to 1 μN on a poly dimethyl siloxane (PDMS) micropillar (50 μm in diameter, 157 μm in height) and 415 μN on a PDMS membrane (3 mm in diameter, 28 μm thick). We also demonstrate that from a distance of 6 mm our microjet can exert a peak pressure of 187 Pa with a total force of about 84 μN on a flat surface with 8 V operating voltage. Out of the cleanroom fabrication and robust design make this system cost effective and durable.

  8. High-speed tapping-mode atomic force microscopy using a Q-controlled regular cantilever acting as the actuator: Proof-of-principle experiments

    NASA Astrophysics Data System (ADS)

    Balantekin, M.; Satır, S.; Torello, D.; Deǧertekin, F. L.

    2014-12-01

    We present the proof-of-principle experiments of a high-speed actuation method to be used in tapping-mode atomic force microscopes (AFM). In this method, we do not employ a piezotube actuator to move the tip or the sample as in conventional AFM systems, but, we utilize a Q-controlled eigenmode of a cantilever to perform the fast actuation. We show that the actuation speed can be increased even with a regular cantilever.

  9. High-speed tapping-mode atomic force microscopy using a Q-controlled regular cantilever acting as the actuator: Proof-of-principle experiments

    SciTech Connect

    Balantekin, M.; Satır, S.; Torello, D.; Değertekin, F. L.

    2014-12-15

    We present the proof-of-principle experiments of a high-speed actuation method to be used in tapping-mode atomic force microscopes (AFM). In this method, we do not employ a piezotube actuator to move the tip or the sample as in conventional AFM systems, but, we utilize a Q-controlled eigenmode of a cantilever to perform the fast actuation. We show that the actuation speed can be increased even with a regular cantilever.

  10. Optimal force control of an IPMC actuated micromanipulator for safe cell handling

    NASA Astrophysics Data System (ADS)

    McDaid, Andrew J.; Aw, Kean C.; Xie, Sheng Q.; Haemmerle, Enrico

    2011-11-01

    The demand for single cell manipulation to allow scientist to carry out medical researcher is fast increasing. To facilitate this advanced manipulation systems are required to permit both precise and safe handling of the biological cells. Current devices can achieve a high level of precision at the micro/nano scale but as a consequence are highly rigid and this stiffness puts the target cells at risk as there is no compliance or back-drivability. Ionic polymer-metal composites (IPMCs) are naturally compliant, giving them a 'soft touch', and now with recent advances in their fabrication and control IPMCs are showing major promise as safe and accurate cell manipulators. This paper presents the development of an optimally tuned force controller for a 2 degree-of-freedom (2DOF) IPMC actuated micro-manipulator. The control system has been implemented to demonstrate the ability to control the manipulator's applied force as a step towards implementing a truly safe system with active compliance control. The controller is adaptively tuned using a model-free iterative feedback tuning (IFT) approach which is ideal for operation in unknown cellular environments as well as for controlling the complex time-varying behavior of the IPMC actuators themselves. The IFT algorithm tunes the force controller by minimizing the design criteria, a least squares error, by 25% in the horizontal direction and 46% in the vertical direction. Experiments then show that the manipulator can accurately track a reference trajectory up to 4gf or ~40mN in both DOF.

  11. Optimal force control of an IPMC actuated micromanipulator for safe cell handling

    NASA Astrophysics Data System (ADS)

    McDaid, Andrew J.; Aw, Kean C.; Xie, Sheng Q.; Haemmerle, Enrico

    2012-04-01

    The demand for single cell manipulation to allow scientist to carry out medical researcher is fast increasing. To facilitate this advanced manipulation systems are required to permit both precise and safe handling of the biological cells. Current devices can achieve a high level of precision at the micro/nano scale but as a consequence are highly rigid and this stiffness puts the target cells at risk as there is no compliance or back-drivability. Ionic polymer-metal composites (IPMCs) are naturally compliant, giving them a 'soft touch', and now with recent advances in their fabrication and control IPMCs are showing major promise as safe and accurate cell manipulators. This paper presents the development of an optimally tuned force controller for a 2 degree-of-freedom (2DOF) IPMC actuated micro-manipulator. The control system has been implemented to demonstrate the ability to control the manipulator's applied force as a step towards implementing a truly safe system with active compliance control. The controller is adaptively tuned using a model-free iterative feedback tuning (IFT) approach which is ideal for operation in unknown cellular environments as well as for controlling the complex time-varying behavior of the IPMC actuators themselves. The IFT algorithm tunes the force controller by minimizing the design criteria, a least squares error, by 25% in the horizontal direction and 46% in the vertical direction. Experiments then show that the manipulator can accurately track a reference trajectory up to 4gf or ~40mN in both DOF.

  12. Vibration control and sinusoidal external force estimation of a flexible shaft using piezoelectric actuators

    NASA Astrophysics Data System (ADS)

    Suzuki, Y.; Kagawa, Y.

    2012-12-01

    In the balancing of a flexible rotor, insufficient damping for a rotor-bearing system may cause excessive vibrations in trial runs. In addition, conventional modal balancing methods are generally time-consuming because they try to balance the rotor one mode at a time. To overcome these issues, we developed a control system using multilayer piezoelectric actuators in order to suppress the vibration of a flexible rotor and to estimate its modal unbalances simultaneously. The H-infinity controller was designed to achieve robust performance for an uncertainty of the system, and its damping ability was examined in free and forced vibration tests. Large reductions were observed in the response near resonance. Then, steady-state responses of the system excited by sinusoidal forces were measured to investigate the estimation accuracy of sinusoidal external forces, and good agreement was observed between the estimated and the experimental results. Furthermore, it was demonstrated that feedforward plus feedback control using the estimated modal force significantly improved the performance of suppression of flexible shaft vibrations compared with simple feedback control.

  13. A hybrid ultrasonic motor and electrorheological fluid clutch actuator for force-feedback in MRI/fMRI.

    PubMed

    Chapuis, Dominique; Gassert, Roger; Burdet, Etienne; Bleuler, Hannes

    2008-01-01

    This paper presents a safe, electrically powered MR-compatible actuator with a large range of output impedance, which can be used at the entry of the scanner bore. This actuator is composed of an ultrasonic motor (USM) and a torque-controlled electrorheological fluid clutch which modulates the output torque of the USM. This paper describes the developments on the electrorheological fluid (ERF) clutch and its high voltage driver. The performances of the ERF brake constituting the clutch are evaluated, and its torque range is adapted using an epicyclic differential. The transmissible torque of the ERF clutch, i.e., the maximum system output torque, is 94.4 mNm and its drag torque is 2.6 mNm. The MR compatibility of the complete hybrid actuator is shown in extensive tests including subtraction of images and comparison of signal-to-noise ratios in powered and unpowered conditions. This novel MR-compatible actuator may be used to study the neural control of the hand.

  14. Development of femoral bone fracture model simulating muscular contraction force by pneumatic rubber actuator.

    PubMed

    Sen, Shin; Ando, Takehiro; Kobayashi, Etsuko; Miyamoto, Hideaki; Ohashi, Satoru; Tanaka, Sakae; Joung, Sanghyun; Park, Il-Hyung; Sakuma, Ichiro

    2014-01-01

    In femoral fracture reduction, orthopedic surgeons must pull distal bone fragments with great traction force and return them to their correct positions, by referring to 2D-fluoroscopic images. Since this method is physically burdensome, the introduction of robotic assistance is desirable. While such robots have been developed, adequate control methods have not yet been established because of the lack of experimental data. It is difficult to obtain accurate data using cadavers or animals because they are different from the living human body's muscle characteristics and anatomy. Therefore, an experimental model for simulating human femoral characteristics is required. In this research, human muscles are reproduced using a McKibben-type pneumatic rubber actuator (artificial muscle) to develop a model that simulates typical femur muscles using artificial muscles.

  15. On the driving force for crack growth during thermal actuation of shape memory alloys

    NASA Astrophysics Data System (ADS)

    Baxevanis, T.; Parrinello, A. F.; Lagoudas, D. C.

    2016-04-01

    The effect of thermomechanically induced phase transformation on the driving force for crack growth in polycrystalline shape memory alloys is analyzed in an infinite center-cracked plate subjected to a thermal actuation cycle under mechanical load in plain strain. Finite element calculations are carried out to determine the mechanical fields near the static crack and the crack-tip energy release rate using the virtual crack closure technique. A substantial increase of the energy release rate - an order of magnitude for some material systems - is observed during the thermal cycle due to the stress redistribution induced by large scale phase transformation. Thus, phase transformation occurring due to thermal variations under mechanical load may result in crack growth if the crack-tip energy release rate reaches a material specific critical value.

  16. Significance of the Casimir force and surface roughness for actuation dynamics of MEMS

    NASA Astrophysics Data System (ADS)

    Broer, Wijnand; Palasantzas, George; Knoester, Jasper; Svetovoy, Vitaly B.

    2013-03-01

    Using the measured optical response and surface roughness topography as inputs, we perform realistic calculations of the combined effect of Casimir and electrostatic forces on the actuation dynamics of microelectromechanical systems (MEMS). In contrast with the expectations, roughness can influence MEMS dynamics, even at distances between bodies significantly larger than the root-mean-square roughness. This effect is associated with statistically rare high asperities that can be locally close to the point of contact. It is found that even though surface roughness appears to have a detrimental effect on the availability of stable equilibria, it ensures that those equilibria can be reached more easily than in the case of flat surfaces. Hence our findings play a principal role for the stability of microdevices such as vibration sensors, switches, and other related MEM architectures operating at distances below 100 nm.

  17. 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

  18. Bicycle pedalling forces as a function of pedalling rate and power output.

    PubMed

    Patterson, R P; Moreno, M I

    1990-08-01

    Eleven men with recreational bicycling experience rode a bicycle ergometer with instrumented force pedals to determine the effects of pedalling rate and power output on the total resultant pedal force, Fr, and the component of the force perpendicular to the crank arm. The force patterns were obtained at power outputs of 100 W and 200 W for pedalling rates of 40-120 rpm in intervals of 10 rpm. Data were not obtained at 40 rpm at the 200 W power output. The Fr averaged over a crank cycle (Far) was lowest at 90 rpm and 100 W, a value statically different (P less than 0.05) from those at 40, 50, and 120 rpm. At 200 W, the Fr was lowest at 100 rpm, a value statistically different (P less than 0.05) from those at 50, 60, and 70 rpm. The Far varied widely (range of 30% of mean for all subjects) for individuals at a given power output. The results suggest that pedalling at 90-100 rpm may minimize peripheral forces and therefore peripheral muscle fatigue even though this rate may result in higher oxygen uptake.

  19. Performance prediction of circular dielectric electro-active polymers membrane actuators with various geometries

    NASA Astrophysics Data System (ADS)

    Hau, Steffen; York, Alexander; Seelecke, Stefan

    2015-04-01

    Circular dielectric electro-active polymer (DEAP) membrane actuators are easy to manufacture and therefore can be uniquely designed to perform optimally for specific applications. The performance of these actuators is naturally dependent on the materials used, and also dictated by the specific geometry of the circular design. For a given overall actuator size, changing their internal geometry will directly change the force and stroke output. In addition the DEAP technology itself is a promising technology for constructing lightweight, cost and energy efficient sensor and actuator systems. Thus, several potential applications like pressure sensors, pumps, valves, micro-positioners and loudspeakers were already proposed. The circular DEAP membrane actuators used in this study consist of a silicone based elastomer, carbon ink based electrodes, and are held together with a stiff frame. Experimentally collected force-displacement curves for these actuators can be used to determine force and stroke output of the actuators as described by Hodgins et al. in. This work presents an efficient method to predict these force-displacement plots and thus stroke and force output for different actuator geometries. These results than can be used to adapt the actuator geometry to the needs of a specific application with its particular force and stroke requirements. The prediction method is based on an average stress-stretch calculation for training samples. The calculated stress-stretch data is then geometry independent and can be used to predict desired geometry dependent force-displacement data for stroke and force output analysis.

  20. Adaptive optics actuation by means of van der Waals forces: a novel nanotechnology strategy to steer light by light

    NASA Astrophysics Data System (ADS)

    Pinto, Fabrizio

    2008-11-01

    The feasibility to carry out the contactless actuation and control of both continuous facesheet deformable mirrors and MOEMS segmented micromirrors by manipulating van der Waals forces between electrically neutral surfaces is discussed. As we show, appropriately engineering such surface forces allows for adaptive optics strategies that are fully scalable down to the nanostructure level and that are intimately based on the optical properties of the materials involved. Since the magnitude of unretarded van der Waals forces diverges as the third power of the distance between the adaptive surface and the back-facing, actuating boundary, the novel approach proposed herein remains effective as the device size decreases even enabling one to address individual atoms. In some implementations, the actuation mechanism is driven by the dependence of van der Waals forces in semiconductors on illumination. Therefore the possibility exists, with adequate power levels, to design feed-back loops driven exclusively by light. A remarkable property of dispersion forces is their drastic behavior as a function of the topology of the interacting surfaces. This fact, at the frontier of contemporary numerical investigations, leads to the consideration of geometries in which dispersion forces are expected to change from attractive to repulsive. Finally, van der Waals forces exist between all neutral materials and contactless actuation can be achieved, for instance, even if the reflecting surface is not a conductor. This will open new multidimensional parameter space to the use of suitably designed classes of adaptive optics materials, including dielectrics, semiconductors, and multilayered structures, such as photonic-band-gap crystals.

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

    NASA Astrophysics Data System (ADS)

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

    2009-08-01

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

  2. Muscle force output and electromyographic activity in squats with various unstable surfaces.

    PubMed

    Saeterbakken, Atle H; Fimland, Marius S

    2013-01-01

    The purpose of the study was to compare force output and muscle activity of leg and trunk muscles in isometric squats executed on stable surface (i.e., floor), power board, BOSU ball, and balance cone. Fifteen healthy men (23.3 ± 2.7 years, mass: 80.5 ± 8.5 kg, height: 1.81 ± 0.09 m) volunteered. The force output and electromyographic (EMG) activities of the rectus femoris, vastus medialis, vastus lateralis, biceps femoris, soleus, rectus abdominis, oblique external, and erector spinae were assessed. The order of the surfaces was randomized. One familiarization session was executed before the experimental test. Compared with stable surface (749 ± 222 N), the force output using power board was similar (-7%, p = 0.320) but lower for BOSU ball (-19%, p = 0.003) and balance cone (-24%, p ≤ 0.001). The force output using BOSU ball and balance cone was approximately 13% (p = 0.037) and approximately 18% (p = 0.001) less than the power board. There were similar EMG activities between the surfaces in all muscles except for rectus femoris, in which stable squat provided greater EMG activity than did the other exercises (p = 0.004-0.030). Lower EMG activity was observed in the rectus femoris using balance cone compared with the BOSU ball (p = 0.030). In conclusion, increasing the instability of the surface during maximum effort isometric squats usually maintains the muscle activity of lower-limb and superficial trunk muscles although the force output is reduced. This suggests that unstable surfaces in the squat may be beneficial in rehabilitation and as a part of periodized training programs, because similar muscle activity can be achieved with reduced loads.

  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. Developing Snow Model Forcing Data From WRF Model Output to Aid in Water Resource Forecasting

    NASA Astrophysics Data System (ADS)

    Havens, S.; Marks, D. G.; Watson, K. A.; Masarik, M.; Flores, A. N.; Kormos, P.; Hedrick, A. R.

    2015-12-01

    Traditional operational modeling tools used by water managers in the west are challenged by more frequently occurring uncharacteristic stream flow patterns caused by climate change. Water managers are now turning to new models based on the physical processes within a watershed to combat the increasing number of events that do not follow the historical patterns. The USDA-ARS has provided near real time snow water equivalent (SWE) maps using iSnobal since WY2012 for the Boise River Basin in southwest Idaho and since WY2013 for the Tuolumne Basin in California that feeds the Hetch Hetchy reservoir. The goal of these projects is to not only provide current snowpack estimates but to use the Weather Research and Forecasting (WRF) model to drive iSnobal in order to produce a forecasted stream flow when coupled to a hydrology model. The first step is to develop methods on how to create snow model forcing data from WRF outputs. Using a reanalysis 1km WRF dataset from WY2009 over the Boise River Basin, WRF model results like surface air temperature, relative humidity, wind, precipitation, cloud cover, and incoming long wave radiation must be downscaled for use in iSnobal. iSnobal results forced with WRF output are validated at point locations throughout the basin, as well as compared with iSnobal results forced with traditional weather station data. The presentation will explore the differences in forcing data derived from WRF outputs and weather stations and how this affects the snowpack distribution.

  5. 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.

  6. 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

  7. The force output of handle and pedal in different bicycle-riding postures.

    PubMed

    Chen, Chia-Hsiang; Wu, Yu-Kuang; Chan, Ming-Sheng; Shih, Yo; Shiang, Tzyy-Yuang

    2016-01-01

    The purpose of this study was to analyse the force output of handle and pedal as well as the electromyography (EMG) of lower extremity in different cycling postures. Bilateral pedalling asymmetry indices of force and EMG were also determined in this study. Twelve healthy cyclists were recruited for this study and tested for force output and EMG during steady state cycling adopting different pedalling and handle bar postures. The standing posture increased the maximal stepping torque (posture 1: 204.2 ± 47.0 Nm; posture 2: 212.5 ± 46.1 Nm; posture 3: 561.5 ± 143.0 Nm; posture 4: 585.5 ± 139.1 Nm), stepping work (posture 1: 655.2 ± 134.6 Nm; posture 2: 673.2 ± 116.3 Nm; posture 3: 1852.3 ± 394.4 Nm; posture 4: 1911.3 ± 432.9 Nm), and handle force (posture 1: 16.6 ± 3.6 N; posture 2: 16.4 ± 3.6 N; posture 3: 26.5 ± 8.2 N; posture 4: 41.4 ± 11.1 N), as well as muscle activation (posture 1: 13.6-25.1%; posture 2: 13.0-23.9%; posture 3: 23.6-61.8%; posture 4: 22.5-65.8%) in the erector spine, rectus femoris, tibialis anterior, and soleus. However, neither a sitting nor a standing riding posture affected the hamstring. The riding asymmetry was detected between the right and left legs only in sitting conditions. When a cyclist changes posture from sitting to standing, the upper and lower extremities are forced to produce more force output because of the shift in body weight. These findings suggest that cyclists can switch between sitting and standing postures during competition to increase cycling efficiency in different situations. Furthermore, coaches and trainers can modify sitting and standing durations to moderate cycling intensity, without concerning unbalanced muscle development. PMID:26967311

  8. Sleeve muscle actuator and its application in transtibial prostheses.

    PubMed

    Zheng, Hao; Shen, Xiangrong

    2013-06-01

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

  9. Conducting IPN actuators for biomimetic vision system

    NASA Astrophysics Data System (ADS)

    Festin, Nicolas; Plesse, Cedric; Chevrot, Claude; Teyssié, Dominique; Pirim, Patrick; Vidal, Frederic

    2011-04-01

    In recent years, many studies on electroactive polymer (EAP) actuators have been reported. One promising technology is the elaboration of electronic conducting polymers based actuators with Interpenetrating Polymer Networks (IPNs) architecture. Their many advantageous properties as low working voltage, light weight and high lifetime (several million cycles) make them very attractive for various applications including robotics. Our laboratory recently synthesized new conducting IPN actuators based on high molecular Nitrile Butadiene Rubber, poly(ethylene oxide) derivative and poly(3,4-ethylenedioxithiophene). The presence of the elastomer greatly improves the actuator performances such as mechanical resistance and output force. In this article we present the IPN and actuator synthesis, characterizations and design allowing their integration in a biomimetic vision system.

  10. Force Outputs during Squats Performed Using a Rotational Inertia Device under Stable versus Unstable Conditions with Different Loads.

    PubMed

    Vázquez-Guerrero, Jairo; Moras, Gerard; Baeza, Jennifer; Rodríguez-Jiménez, Sergio

    2016-01-01

    The purpose of the study was to compare the force outputs achieved during a squat exercise using a rotational inertia device in stable versus unstable conditions with different loads and in concentric and eccentric phases. Thirteen male athletes (mean ± SD: age 23.7 ± 3.0 years, height 1.80 ± 0.08 m, body mass 77.4 ± 7.9 kg) were assessed while squatting, performing one set of three repetitions with four different loads under stable and unstable conditions at maximum concentric effort. Overall, there were no significant differences between the stable and unstable conditions at each of the loads for any of the dependent variables. Mean force showed significant differences between some of the loads in stable and unstable conditions (P < 0.010) and peak force output differed between all loads for each condition (P < 0.045). Mean force outputs were greater in the concentric than in the eccentric phase under both conditions and with all loads (P < 0.001). There were no significant differences in peak force between concentric and eccentric phases at any load in either stable or unstable conditions. In conclusion, squatting with a rotational inertia device allowed the generation of similar force outputs under stable and unstable conditions at each of the four loads. The study also provides empirical evidence of the different force outputs achieved by adjusting load conditions on the rotational inertia device when performing squats, especially in the case of peak force. Concentric force outputs were significantly higher than eccentric outputs, except for peak force under both conditions. These findings support the use of the rotational inertia device to train the squatting exercise under unstable conditions for strength and conditioning trainers. The device could also be included in injury prevention programs for muscle lesions and ankle and knee joint injuries. PMID:27111766

  11. Force Outputs during Squats Performed Using a Rotational Inertia Device under Stable versus Unstable Conditions with Different Loads.

    PubMed

    Vázquez-Guerrero, Jairo; Moras, Gerard; Baeza, Jennifer; Rodríguez-Jiménez, Sergio

    2016-01-01

    The purpose of the study was to compare the force outputs achieved during a squat exercise using a rotational inertia device in stable versus unstable conditions with different loads and in concentric and eccentric phases. Thirteen male athletes (mean ± SD: age 23.7 ± 3.0 years, height 1.80 ± 0.08 m, body mass 77.4 ± 7.9 kg) were assessed while squatting, performing one set of three repetitions with four different loads under stable and unstable conditions at maximum concentric effort. Overall, there were no significant differences between the stable and unstable conditions at each of the loads for any of the dependent variables. Mean force showed significant differences between some of the loads in stable and unstable conditions (P < 0.010) and peak force output differed between all loads for each condition (P < 0.045). Mean force outputs were greater in the concentric than in the eccentric phase under both conditions and with all loads (P < 0.001). There were no significant differences in peak force between concentric and eccentric phases at any load in either stable or unstable conditions. In conclusion, squatting with a rotational inertia device allowed the generation of similar force outputs under stable and unstable conditions at each of the four loads. The study also provides empirical evidence of the different force outputs achieved by adjusting load conditions on the rotational inertia device when performing squats, especially in the case of peak force. Concentric force outputs were significantly higher than eccentric outputs, except for peak force under both conditions. These findings support the use of the rotational inertia device to train the squatting exercise under unstable conditions for strength and conditioning trainers. The device could also be included in injury prevention programs for muscle lesions and ankle and knee joint injuries.

  12. Force Outputs during Squats Performed Using a Rotational Inertia Device under Stable versus Unstable Conditions with Different Loads

    PubMed Central

    Vázquez-Guerrero, Jairo; Moras, Gerard

    2016-01-01

    The purpose of the study was to compare the force outputs achieved during a squat exercise using a rotational inertia device in stable versus unstable conditions with different loads and in concentric and eccentric phases. Thirteen male athletes (mean ± SD: age 23.7 ± 3.0 years, height 1.80 ± 0.08 m, body mass 77.4 ± 7.9 kg) were assessed while squatting, performing one set of three repetitions with four different loads under stable and unstable conditions at maximum concentric effort. Overall, there were no significant differences between the stable and unstable conditions at each of the loads for any of the dependent variables. Mean force showed significant differences between some of the loads in stable and unstable conditions (P < 0.010) and peak force output differed between all loads for each condition (P < 0.045). Mean force outputs were greater in the concentric than in the eccentric phase under both conditions and with all loads (P < 0.001). There were no significant differences in peak force between concentric and eccentric phases at any load in either stable or unstable conditions. In conclusion, squatting with a rotational inertia device allowed the generation of similar force outputs under stable and unstable conditions at each of the four loads. The study also provides empirical evidence of the different force outputs achieved by adjusting load conditions on the rotational inertia device when performing squats, especially in the case of peak force. Concentric force outputs were significantly higher than eccentric outputs, except for peak force under both conditions. These findings support the use of the rotational inertia device to train the squatting exercise under unstable conditions for strength and conditioning trainers. The device could also be included in injury prevention programs for muscle lesions and ankle and knee joint injuries. PMID:27111766

  13. A novel linear elastic actuator for minimally invasive surgery: development of a surgical gripper

    NASA Astrophysics Data System (ADS)

    Gerboni, G.; Brancadoro, M.; Tortora, G.; Diodato, A.; Cianchetti, M.; Menciassi, A.

    2016-10-01

    Minimally invasive surgery (MIS) applications require lightweight actuators that can generate a high force in a limited volume. Among pressure driven actuators, fluid elastic actuators demonstrate high potential for use in the medical field. They are characterized by nearly no friction and wear and they can be made of low-cost biocompatible elastomers. However, when compared to traditional piston-cylinder fluid actuators, fluid elastic actuators often result in smaller output forces as well as weaker return forces. This work is about the design of a linear elastic actuator (LEA) which is able to develop relevant pulling-pushing force in one direction. The LEA is composed of entirely disposable materials and it requires a simple manufacturing process. Thanks to its design, the LEA can be compared to traditional piston-cylinders actuators in terms of output forces (up to 7 N) with the advantage of using relative low working pressures (0, 2 MPa). The actuator has been used for the actuation of a gripper for MIS, as a case study. The whole range of gripping forces developed by the tool actated by the LEA has been evaluated, thus verifying that the gripping device, is able to meet the force requirements for accomplishing typical surgical tasks.

  14. 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.

  15. Finite-time H∞ control for discrete-time switched singular time-delay systems subject to actuator saturation via static output feedback

    NASA Astrophysics Data System (ADS)

    Ma, Yuechao; Fu, Lei

    2016-10-01

    This study employs the multiple Lyapunov-like function method and the average dwell-time concept of switching signal to investigate the finite-time H∞ static output-feedback (SOF) control problem for a class of discrete-time switched singular time-delay systems subject to actuator saturation. First, sufficient conditions are presented to guarantee the discrete-time switched singular time-delay system regular, causal and finite-time boundedness. Meanwhile, sufficient conditions are presented to ensure the H∞ disturbance attenuation level, and the design method of H∞ SOF controller is developed by solving matrix inequalities optimisation problem without any decompositions of system matrices and equivalent transformation. Finally, the effectiveness and merit of the theoretical results are shown through some numerical examples and several vivid illustrations.

  16. Feedforward and output feedback control of a highly oscillating and nonlinear 2-DOF piezoelectric actuator by using input shaping compensator and a linear quadratic regulator

    NASA Astrophysics Data System (ADS)

    Al Hamidi, Yasser; Rakotondrabe, Micky

    2016-05-01

    This paper deals with the control of a two degrees of freedom (2-DOF) piezoelectric cantilever actuator which is characterized by badly damped oscillations, hysteresis nonlinearity and cross-couplings. First, a feedforward control scheme based on the zero placement technique is introduced to annihilate the oscillations. Then a disturbance observer and a disturbance compensator are introduced to reduce the effects of low frequencies phenomena (hysteresis and creep) which were approximated by a fictive disturbance. Finally an output feedback scheme based on the linear quadratic regulator is added in order to reduce the cross-couplings effects to improve the tracking performances, and eventually to add robustness. Experiments were carried out and confirm the predicted performances.

  17. Active Joint Mechanism Driven by Multiple Actuators Made of Flexible Bags: A Proposal of Dual Structural Actuator

    PubMed Central

    Inou, Norio

    2013-01-01

    An actuator is required to change its speed and force depending on the situation. Using multiple actuators for one driving axis is one of the possible solutions; however, there is an associated problem of output power matching. This study proposes a new active joint mechanism using multiple actuators. Because the actuator is made of a flexible bag, it does not interfere with other actuators when it is depressurized. The proposed joint achieved coordinated motion of multiple actuators. This report also discusses a new actuator which has dual cylindrical structure. The cylinders are composed of flexible bags with different diameters. The joint torque is estimated based on the following factors: empirical formula for the flexible actuator torque, geometric relationship between the joint and the actuator, and the principle of virtual work. The prototype joint mechanism achieves coordinated motion of multiple actuators for one axis. With this motion, small inner actuator contributes high speed motion, whereas large outer actuator generates high torque. The performance of the prototype joint is examined by speed and torque measurements. The joint showed about 30% efficiency at 2.0 Nm load torque under 0.15 MPa air input. PMID:24385868

  18. Measurement and analysis of force-time outputs of pyrotechnic nuts

    NASA Technical Reports Server (NTRS)

    Neubert, V. H.

    1973-01-01

    The dynamic loadings produced by two standard pyrotechnic nuts were compared with loadings produced by four recently developed low-shock nuts. The nuts were manufactured by separate contractors. Each nut was given a number designation, the number having no special significance. The results show that the use of the Hopkinson bar to measure force-time outputs of the nuts at stud and housing sides aided greatly in understanding the events occurring in the nuts. Acceleration data appear to be dependable, for the most part, but of more limited value. The low-shock designs show considerable improvement over the standard designs above 4,000 Hz when the results are plotted in shock spectrum form. They involve some penalties with regard to weight and cost.

  19. Control logic to track the outputs of a command generator or randomly forced target

    NASA Technical Reports Server (NTRS)

    Trankle, T. L.; Bryson, A. E., Jr.

    1977-01-01

    A procedure is presented for synthesizing time-invariant control logic to cause the outputs of a linear plant to track the outputs of an unforced (or randomly forced) linear dynamic system. The control logic uses feed-forward of the reference system state variables and feedback of the plant state variables. The feed-forward gains are obtained from the solution of a linear algebraic matrix equation of the Liapunov type. The feedback gains are the usual regulator gains, determined to stabilize (or augment the stability of) the plant, possibly including integral control. The method is applied here to the design of control logic for a second-order servomechanism to follow a linearly increasing (ramp) signal, an unstable third-order system with two controls to track two separate ramp signals, and a sixth-order system with two controls to track a constant signal and an exponentially decreasing signal (aircraft landing-flare or glide-slope-capture with constant velocity).

  20. Rapid release of growth factors regenerates force output in volumetric muscle loss injuries.

    PubMed

    Grasman, Jonathan M; Do, Duc M; Page, Raymond L; Pins, George D

    2015-12-01

    A significant challenge in the design and development of biomaterial scaffolds is to incorporate mechanical and biochemical cues to direct organized tissue growth. In this study, we investigated the effect of hepatocyte growth factor (HGF) loaded, crosslinked fibrin (EDCn-HGF) microthread scaffolds on skeletal muscle regeneration in a mouse model of volumetric muscle loss (VML). The rapid, sustained release of HGF significantly enhanced the force production of muscle tissue 60 days after injury, recovering more than 200% of the force output relative to measurements recorded immediately after injury. HGF delivery increased the number of differentiating myoblasts 14 days after injury, and supported an enhanced angiogenic response. The architectural morphology of microthread scaffolds supported the ingrowth of nascent myofibers into the wound site, in contrast to fibrin gel implants which did not support functional regeneration. Together, these data suggest that EDCn-HGF microthreads recapitulate several of the regenerative cues lost in VML injuries, promote remodeling of functional muscle tissue, and enhance the functional regeneration of skeletal muscle. Further, by strategically incorporating specific biochemical factors and precisely tuning the structural and mechanical properties of fibrin microthreads, we have developed a powerful platform technology that may enhance regeneration in other axially aligned tissues.

  1. Development and evaluation of a new bicycle instrument for measurements of pedal forces and power output in cycling.

    PubMed

    Stapelfeldt, B; Mornieux, G; Oberheim, R; Belli, A; Gollhofer, A

    2007-04-01

    Determination of pedal forces is a prerequisite to analyse cycling performance capability from a biomechanical point of view. Comparing existing pedal force measurement systems, there are methodological or practical limitations regarding the requirements of scientific sports performance research and enhancement. Therefore, the aim of this study was to develop and to validate a new bicycle instrument that enables pedal forces as well as power output measurements with a free choice of pedal system. The instrument (Powertec-System) is based on force transducer devices, using the Hall-Effect and being mounted between the crank and the pedal. Validation of the method was evaluated by determining the accuracy, the cross talk effect, the influence of lateral forces, the reproducibility and, finally, a possible drift under static conditions. Dynamic tests were conducted to validate the power output measurement in reference to the SRM-System. The mean error of the present system was -0.87 +/- 4.09 % and -1.86 +/- 6.61 % for, respectively, the tangential and radial direction. Cross talk, lateral force influence, reproducibility and drift mean values were < +/- 7 %, < or = 2.4 %, < 0.8 % and 0.02 N x min (-1), respectively. In dynamic conditions, the power output measurement error could be kept below 2.35 %. In conclusion, this method offers the possibility for both valid pedal forces and power output measurements. Moreover, the instrument allows measurements with every pedal system. This method has an interesting potential for biomechanical analyses in cycling research and performance enhancement.

  2. Damage of MEMS thermal actuators heated by laser irradiation.

    SciTech Connect

    Walraven, Jeremy Allen; Klody, Kelly Anne; Sackos, John T.; Phinney, Leslie Mary

    2005-01-01

    Optical actuation of microelectromechanical systems (MEMS) is advantageous for applications for which electrical isolation is desired. Thirty-two polycrystalline silicon opto-thermal actuators, optically-powered MEMS thermal actuators, were designed, fabricated, and tested. The design of the opto-thermal actuators consists of a target for laser illumination suspended between angled legs that expand when heated, providing the displacement and force output. While the amount of displacement observed for the opto-thermal actuators was fairly uniform for the actuators, the amount of damage resulting from the laser heating ranged from essentially no damage to significant amounts of damage on the target. The likelihood of damage depended on the target design with two of the four target designs being more susceptible to damage. Failure analysis of damaged targets revealed the extent and depth of the damage.

  3. Damage of MEMS thermal actuators heated by laser irradiation.

    SciTech Connect

    Walraven, Jeremy Allen; Klody, Kelly Anne; Sackos, John T.; Phinney, Leslie Mary

    2004-11-01

    Optical actuation of microelectromechanical systems (MEMS) is advantageous for applications for which electrical isolation is desired. Thirty-two polycrystalline silicon opto-thermal actuators, optically-powered MEMS thermal actuators, were designed, fabricated, and tested. The design of the opto-thermal actuators consists of a target for laser illumination suspended between angled legs that expand when heated, providing the displacement and force output. While the amount of displacement observed for the opto-thermal actuators was fairly uniform for the actuators, the amount of damage resulting from the laser heating ranged from essentially no damage to significant amounts of damage on the target. The likelihood of damage depended on the target design with two of the four target designs being more susceptible to damage. Failure analysis of damaged targets revealed the extent and depth of the damage.

  4. Actuating Fibers: Design and Applications.

    PubMed

    Stoychev, Georgi V; Ionov, Leonid

    2016-09-21

    Actuators are devices capable of moving or controlling objects and systems by applying mechanical force on them. Among all kinds of actuators with different shapes, fibrous ones deserve particular attention. In spite of their apparent simplicity, actuating fibers allow for very complex actuation behavior. This review discusses different approaches for the design of actuating fibers, and their advantages and disadvantages. We also discuss the prospects for the design of fibers with advanced architectures and complex actuation behavior. PMID:27571481

  5. AMSD Cryo Actuator Testing

    NASA Technical Reports Server (NTRS)

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

    2002-01-01

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

  6. A needle-free technique for interstitial fluid sample acquisition using a lorentz-force actuated jet injector.

    PubMed

    Chang, Jean H; Hogan, N Catherine; Hunter, Ian W

    2015-08-10

    We present a novel method of quickly acquiring dermal interstitial fluid (ISF) samples using a Lorentz-force actuated needle-free jet injector. The feasibility of the method is first demonstrated on post-mortem porcine tissue. The jet injector is used to first inject a small volume of physiological saline to breach the skin, and the back-drivability of the actuator is utilized to create negative pressure in the ampoule and collect ISF. The effect of the injection and extraction parameters on sample dilution and extracted volumes is investigated. A simple finite element model is developed to demonstrate why this acquisition method results in faster extractions than conventional sampling methods. Using this method, we are able to collect a sample that contains up to 3.5% ISF in 3.1s from post-mortem skin. The trends revealed from experimentation on post-mortem skin are then used to identify the parameters for a live animal study. The feasibility of the acquisition process is successfully demonstrated using live rats; the process is revealed to extract samples that have been diluted by a factor of 111-125.

  7. Design and control of multi-actuated atomic force microscope for large-range and high-speed imaging.

    PubMed

    Soltani Bozchalooi, I; Careaga Houck, A; AlGhamdi, J; Youcef-Toumi, K

    2016-01-01

    This paper presents the design and control of a high-speed and large-range atomic force microscopy (AFM). A multi-actuation scheme is proposed where several nano-positioners cooperate to achieve the range and speed requirements. A simple data-based control design methodology is presented to effectively operate the AFM scanner components. The proposed controllers compensate for the coupled dynamics and divide the positioning responsibilities between the scanner components. As a result, the multi-actuated scanner behavior is equivalent to that of a single X-Y-Z positioner with large range and high speed. The scanner of the designed AFM is composed of five nano-positioners, features 6 μm out-of-plane and 120 μm lateral ranges and is capable of high-speed operation. The presented AFM has a modular design with laser spot size of 3.5 μm suitable for small cantilever, an optical view of the sample and probe, a conveniently large waterproof sample stage and a 20 MHz data throughput for high resolution image acquisition at high imaging speeds. This AFM is used to visualize etching of calcite in a solution of sulfuric acid. Layer-by-layer dissolution and pit formation along the crystalline lines in a low pH environment is observed in real time. PMID:26547505

  8. The effects of circadian rhythmicity of salivary cortisol and testosterone on maximal isometric force, maximal dynamic force, and power output.

    PubMed

    Teo, Weipeng; McGuigan, Michael R; Newton, Michael J

    2011-06-01

    The study investigated the effects of circadian rhythm of cortisol (C) and testosterone (T) on maximal force production (Fpeak) and power output (Ppeak). Twenty male university students (mean age = 23.8 ± 3.6 years, height = 177.5 ± 6.4 cm, weight = 78.9 ± 11.2 kg) performed 4 time-of-day testing sessions consisting of countermovement jumps (CMJs), squat jumps (SJ), isometric midthigh pulls (IMTPs), and a 1-repetition maximum (1RM) squat. Saliva samples were collected at 0800, 1200, 1600, and 2000 hours to assess T and C levels on each testing day. Session rate-of-perceived exertion (RPE) scores were collected after each session. The results showed that Fpeak and Ppeak presented a clear circadian rhythm in CMJ and IMTP but not in SJ. One repetition maximum squat did not display a clear circadian rhythm. Session RPE scores collected at 0800 and 2000 hours were significantly (p ≤ 0.05) higher than those obtained at 1200 and 1600 hours. Salivary T and C displayed a clear circadian rhythm with highest values at 0800 hours and lowest at 2000 hours; however, no significant correlation was found between T and C with Fpeak and Ppeak. A very strong correlation was found between Taural with Fpeak of CMJ and IMTP and Ppeak of CMJ (r = 0.86, r = 0.84 and r = 0.8, p ≤ 0.001). The study showed the existence of a circadian rhythm in Fpeak and Ppeak in CMJ and IMTP. The evidence suggests that strength and power training or testing should be scheduled later during the day. The use of Taural seemed to be a more effective indicator of physical performance than hormonal measures, and the use of session RPE should also be closely monitored because it may present a circadian rhythm.

  9. On the origin and the calculation of the force in electrostatic actuators

    NASA Astrophysics Data System (ADS)

    Jakoby, Bernhard

    2016-07-01

    This paper reviews fundamental ways to calculate the forces between charged electrodes as they appear, e.g., in electrostatic drives. In particular the consideration of the force acting on the surface charge layers on the electrodes, the principle of virtual displacement, and the Maxwell stress tensor are considered for two examples: a parallel plate capacitor and an electrostatic comb drive featuring interdigitated electrodes.

  10. Propellant-powered actuator for gas generators

    NASA Technical Reports Server (NTRS)

    Makowski, M. J.

    1972-01-01

    Hydrazine operated monopropellant generators are used for spacecraft rocket engines and propellant pressurization systems. Measured work output of monopropellant actuators compares favorably with output of squib-type actuators.

  11. 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.

  12. Evaluation of new actuators in a buffet loads environment

    NASA Astrophysics Data System (ADS)

    Moses, Robert W.; Wieseman, Carol D.; Bent, Aaron A.; Pizzochero, Alessandro E.

    2001-06-01

    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 wind-tunnel 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 actuator's capacity. Details of the wind-tunnel model and results of the wind- tunnel test are provided herein.

  13. Sensor-less force-reflecting macro-micro telemanipulation systems by piezoelectric actuators.

    PubMed

    Amini, H; Farzaneh, B; Azimifar, F; Sarhan, A A D

    2016-09-01

    This paper establishes a novel control strategy for a nonlinear bilateral macro-micro teleoperation system with time delay. Besides position and velocity signals, force signals are additionally utilized in the control scheme. This modification significantly improves the poor transparency during contact with the environment. To eliminate external force measurement, a force estimation algorithm is proposed for the master and slave robots. The closed loop stability of the nonlinear micro-micro teleoperation system with the proposed control scheme is investigated employing the Lyapunov theory. Consequently, the experimental results verify the efficiency of the new control scheme in free motion and during collision between the slave robot and the environment of slave robot with environment, and the efficiency of the force estimation algorithm. PMID:27329852

  14. Sensor-less force-reflecting macro-micro telemanipulation systems by piezoelectric actuators.

    PubMed

    Amini, H; Farzaneh, B; Azimifar, F; Sarhan, A A D

    2016-09-01

    This paper establishes a novel control strategy for a nonlinear bilateral macro-micro teleoperation system with time delay. Besides position and velocity signals, force signals are additionally utilized in the control scheme. This modification significantly improves the poor transparency during contact with the environment. To eliminate external force measurement, a force estimation algorithm is proposed for the master and slave robots. The closed loop stability of the nonlinear micro-micro teleoperation system with the proposed control scheme is investigated employing the Lyapunov theory. Consequently, the experimental results verify the efficiency of the new control scheme in free motion and during collision between the slave robot and the environment of slave robot with environment, and the efficiency of the force estimation algorithm.

  15. 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.

  16. Self-Assembled DNA Structures for Molecular Force Measurement: A Magnetically Actuated Approach

    NASA Astrophysics Data System (ADS)

    Armstrong, M.; Lauback, S.; Miller, C.; Peace, C.; Castro, C.; Sooryakumar, R.

    2015-03-01

    Understanding molecular forces is important to comprehend many of the underlying properties of molecular machines and biological processes. The relevant forces in these cases often lie in the picoNewton range, and thus experiments on individual biomolecules must integrate techniques capable of measuring such forces. A mechanical system to measure molecular forces associated with interacting DNA strands is being developed by using self-assembled DNA nanostructures and super-paramagnetic beads. The DNA nanostructure consists of single-stranded DNA molecules which can be folded into a precise compact geometry using hundreds of short oligonucleotides, i.e., staples, via programmed molecular self-assembly. These nanostructures can be polymerized into micron-scale filaments. By functionalizing the filament ends with bispecific conjugate staples, the structure can be attached to a surface as well as labeled with magnetic beads in order to apply a force on the system. External magnetic fields provide the means to maneuver and manipulate the magnetically labeled DNA structures. Preliminary findings associated with the DNA constructs and their manipulation lay the groundwork to establish real-time control of DNA nanodevices with micromanipulation.

  17. R5FORCE/MOD3s: A program to compute fluid induced forces using hydrodynamic output from the RELAP5/MOD3 code

    SciTech Connect

    Watkins, J.C.

    1990-09-01

    This report describes an update of a computer program which operates on hydrodynamic output from the RELAPS/MOD3 program and computes piping hydrodynamic force/time histories for input into various structural analysis codes. This version of the program is compatible with RELAPS/MOD3 and the Micro Vax computing environment whereas an earlier version of the program was compatible with RELAPS/MOD1. The report describes the force calculation theory, showing the development of a general force equation and the solution of this equation within the RELAPS output structure. To illustrate the calculational method and provide results for discussion, a sample problem is presented. A detailed user manual for the computer program is included as an appendix. 10 refs., 17 figs.

  18. Differential-damper topologies for actuators in rehabilitation robotics.

    PubMed

    Tucker, Michael R; Gassert, Roger

    2012-01-01

    Differential-damper (DD) elements can provide a high bandwidth means for decoupling a high inertia, high friction, non-backdrivable actuator from its output and can enable high fidelity force control. In this paper, a port-based decomposition is used to analyze the energetic behavior of such actuators in various physical domains. The general concepts are then applied to a prototype DD actuator for illustration and discussion. It is shown that, within physical bounds, the output torque from a DD actuator can be controlled independently from the input speed. This concept holds the potential to be scaled up and integrated in a compact and lightweight package powerful enough for incorporation with a portable lower limb orthotic or prosthetic device. PMID:23366576

  19. Polymer-based actuators for virtual reality devices

    NASA Astrophysics Data System (ADS)

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

    2004-07-01

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

  20. Multiple-input single-output closed-loop isometric force control using asynchronous intrafascicular multi-electrode stimulation.

    PubMed

    Frankel, Mitchell A; Dowden, Brett R; Mathews, V John; Normann, Richard A; Clark, Gregory A; Meek, Sanford G

    2011-06-01

    Although asynchronous intrafascicular multi-electrode stimulation (IFMS) can evoke fatigue-resistant muscle force, a priori determination of the necessary stimulation parameters for precise force production is not possible. This paper presents a proportionally-modulated, multiple-input single-output (MISO) controller that was designed and experimentally validated for real-time, closed-loop force-feedback control of asynchronous IFMS. Experiments were conducted on anesthetized felines with a Utah Slanted Electrode Array implanted in the sciatic nerve, either acutely or chronically ( n = 1 for each). Isometric forces were evoked in plantar-flexor muscles, and target forces consisted of up to 7 min of step, sinusoidal, and more complex time-varying trajectories. The controller was successful in evoking steps in force with time-to-peak of less than 0.45 s, steady-state ripple of less than 7% of the mean steady-state force, and near-zero steady-state error even in the presence of muscle fatigue, but with transient overshoot of near 20%. The controller was also successful in evoking target sinusoidal and complex time-varying force trajectories with amplitude error of less than 0.5 N and time delay of approximately 300 ms. This MISO control strategy can potentially be used to develop closed-loop asynchronous IFMS controllers for a wide variety of multi-electrode stimulation applications to restore lost motor function.

  1. Optical pendulum generator based on photomechanical liquid-crystalline actuators.

    PubMed

    Tang, Rong; Liu, Ziyi; Xu, Dandan; Liu, Jian; Yu, Li; Yu, Haifeng

    2015-04-29

    For converting light energy into electricity, an optical pendulum generator was designed by combining photomechanical movement of liquid-crystalline actuator (LCA) with Faraday's law of electromagnetic induction. Bilayer cantilever actuators were first fabricated with LDPE and LCA. Their photomechanical movement drove the attached copper coils to cut magnetic line of force generating electricity. The output electricity was proportional to the changing rate of the magnetic flux, which was greatly influenced by light intensity, film thickness, and sample size. Continuous electrical output was also achieved. This simple strategy may expand applications of photoactive materials in the capture and storage of light energy.

  2. Optical pendulum generator based on photomechanical liquid-crystalline actuators.

    PubMed

    Tang, Rong; Liu, Ziyi; Xu, Dandan; Liu, Jian; Yu, Li; Yu, Haifeng

    2015-04-29

    For converting light energy into electricity, an optical pendulum generator was designed by combining photomechanical movement of liquid-crystalline actuator (LCA) with Faraday's law of electromagnetic induction. Bilayer cantilever actuators were first fabricated with LDPE and LCA. Their photomechanical movement drove the attached copper coils to cut magnetic line of force generating electricity. The output electricity was proportional to the changing rate of the magnetic flux, which was greatly influenced by light intensity, film thickness, and sample size. Continuous electrical output was also achieved. This simple strategy may expand applications of photoactive materials in the capture and storage of light energy. PMID:25875214

  3. Characterization and Comparison of Control Units for Piezo Actuators to be used for Lorentz Force Compensation inth ILC

    SciTech Connect

    Bhattacharyya, Sampriti; Pilipenko, Roman; /Fermilab

    2010-01-01

    Superconducting accelerators, such as the International Linear Collider (ILC), rely on very high Q accelerating cavities to achieve high electric fields at low RF power. Such cavities have very narrow resonances: a few kHz with a 1.3GHz resonance frequency for the ILC. Several mechanical factors cause tune shifts much larger than this: pressure variations in the liquid helium bath; microphonics from pumps and other mechanical devices; and for a pulsed machine such as the ILC, Lorentz force detuning (pressure from the contained RF field). Simple passive stiffening is limited by many manufacturing and material considerations. Therefore, active tuning using piezo actuators is needed. Here we study a supply for their operation. Since commercial power amplifiers are expensive, we analyzed the characteristics of four power amplifiers: (iPZD) built by Istituto Nazionale di Fisica Nucleare (Sezione di Pisa); and a DC-DC converter power supply built in Fermilab (Piezo Master); and two commercial amplifiers, Piezosystem jena and Piezomechanik. This paper presents an analysis and characterization of these amplifiers to understand the cost benefit and reliability when using in a large scale, pulsed beam accelerator like the ILC.

  4. Effects of carbohydrate supplementation on force output and time to exhaustion during static leg contractions superimposed with electromyostimulation.

    PubMed

    Wax, Benjamin; Brown, Stanley P; Webb, Heather E; Kavazis, Andreas N

    2012-06-01

    The purpose of this study was to investigate the effects of carbohydrate ingestion on force output and time to exhaustion using single leg static contractions superimposed with brief periods of electromyostimulation. Six trained male subjects participated in a randomized, counterbalanced, double-blind study. The subjects were randomly assigned to placebo (PL) or carbohydrate (CHO). The subjects in CHO consumed 1 g of carbohydrate per kilogram of body mass loading dose and 0.17 g of carbohydrate per kilogram of body mass every 6 minutes during the exercise protocol. The PL received an equal volume of a solution made of saccharin and aspartame. The exercise protocol consisted of repeated 20-second static contractions of quadriceps muscle at 50% maximal voluntary contraction followed by 40-second rest until failure occurred. Importantly, the force output during quadriceps maximal voluntary contraction strength with superimposed electromyostimulation was measured in the beginning and every 5 minutes during the last 3 seconds of static contractions throughout the exercise protocol. Venous blood samples were taken preexercise, immediately postexercise, and at 5 minutes postexercise and analyzed for blood lactate. Our results indicate that time to exhaustion (PL = 16.0 ± 8.1 minutes; CHO = 29.0 ± 13.1 minutes) and force output (PL = 3,638.7 ± 524.5 N; CHO = 5,540.1 ± 726.1 N) were significantly higher (p < 0.05) in CHO compared with that in PL. Data suggest that carbohydrate ingestion before and during static muscle contractions can increase force output and increase time to exhaustion. Therefore, our data suggest that carbohydrate supplementation before and during resistance exercise might help increase the training volume of athletes.

  5. Distributed forcing flow control in the wake of a blunt trailing edge profiled body using plasma actuators

    NASA Astrophysics Data System (ADS)

    Naghib-Lahouti, A.; Hangan, H.; Lavoie, P.

    2015-03-01

    A modern flow control technique for reducing the drag associated with the periodic shedding of von Kármán vortices in the wake of a blunt trailing edge profiled body is presented. The technique involves distributed forcing of the wake flow using an array of dielectric barrier discharge plasma actuators, with a spanwise spacing matched to the spanwise wavelength of the dominant secondary wake instability. The experiments include measurement of the velocity field in multiple vertical and horizontal planes in the wake using particle image velocimetry, as well as base pressure, at Reynolds numbers of 2000, 3000, and 5000 based on trailing edge thickness. The flow control technique causes elongation of the vortex formation region across the span, and significant reduction of the fluctuating and total drag forces, up to a maximum of 94% and 18%, respectively. The effectiveness of the flow control technique is shown to be dependent on the induced momentum coefficient. Proper orthogonal decomposition analysis is used to investigate the mechanism of interaction of the flow control technique with the wake flow. Two distinct flow regimes are observed depending on the induced momentum coefficient. The effect of the control on the wake flow structure in the first regime is similar to those observed in previous studies involving mild spanwise-periodic geometric perturbations at the trailing edge, where control leads to streamwise displacement of the vortices and a shift in shedding frequency. However, an incremental increase in the momentum coefficient leads to a second flow regime similar to those previously observed in the case of large-amplitude geometric perturbations, with an almost complete attenuation of vortex shedding in the near-wake region.

  6. 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.

  7. 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.

  8. Augmented force output in skeletal muscle fibres of Xenopus following a preceding bout of activity.

    PubMed Central

    Bruton, J D; Westerblad, H; Katz, A; Lännergren, J

    1996-01-01

    1. The effect of a brief period of activity on subsequent isometric tetanic force production was investigated in single muscle fibres of Xenopus laevis. 2. Following a train of ten tetani separated by 4 s intervals, tetanic force was significantly augmented by about 10%. The tetanic force augmentation persisted for at least 15 min and then slowly subsided. A similar potentiation was seen following trains of five and twenty tetani. 3. During the period of tetanic force potentiation, tetanic calcium was reduced by more than 30%, and intracellular pH was reduced from 7.15 +/- 0.07 to 7.03 +/- 0.11 (n = 4). 4. Fibre swelling was greatest at 1 min and then subsided over 15-20 min and possibly accounted for a small part of the observed force potentiation. 5. A reduction in the inorganic phosphate (P1) concentration of more than 40% was found in fibres frozen in liquid nitrogen at the peak of force potentiation compared with resting fibres. 6. It is concluded that the augmentation of tetanic force found after a brief preceding bout of activity is due to a reduction in inorganic phosphate. This mechanism may underlie the improved performance observed in athletes after warm-up. Images Figure 2 PMID:8735706

  9. 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.

  10. Part Design of Giant Magnetostrictive Actuator

    NASA Astrophysics Data System (ADS)

    Sun, Zhonglei; Zhao, Meiying; Yin, Zidong

    The key parts of giant magnetostrictive actuator, flexure hinge and pre-stress disc spring, were designed and analyzed. Rotation stiffness and strength characteristics of flexure hinge were analyzed, calculation equations for rotation stiffness and strength were established as well. Fatigue characteristic was also analyzed as flexure hinge usually worked under high frequency situation. In order to improve output efficiency of the giant magnetostrictive actuator and reduce energy loss, an ideal spring force-deformation curve, whose shape was bilinear broken line, of the pre- stress disc spring was put forward, and a disc spring was designed by configuring its geometric parameters to make its spring force-deformation curve was approximate to the ideal spring force-deformation curve.

  11. Modeling and design of a normal stress electromagnetic actuator with linear characteristics for fast steering mirror

    NASA Astrophysics Data System (ADS)

    Long, Yongjun; Wei, Xiaohui; Wang, Chunlei; Dai, Xin; Wang, Shigang

    2014-05-01

    A new rotary normal stress electromagnetic actuator for fast steering mirror (FSM) is presented. The study includes concept design, actuating torque modeling, actuator design, and validation with numerical simulation. To achieve an FSM with compact structure and high bandwidth, the actuator is designed with a cross armature magnetic topology. By introducing bias flux generated by four permanent magnets (PMs), the actuator has high-force density similar to a solenoid but also has essentially linear characteristics similar to a voice coil actuator, leading to a simply control algorithm. The actuating torque output is a linear function of both driving current and rotation angle and is formulated with equivalent magnetic circuit method. To improve modeling accuracy, both the PM flux and coil flux leakages are taken into consideration through finite element simulation. Based on the established actuator model, optimal design of the actuator is presented to meet the requirement of our FSM. Numerical simulation is then presented to validate the concept design, established actuator model, and designed actuator. It is shown that the calculated results are in a good agreement with the simulation results.

  12. Electropneumatic actuator, phase 1

    NASA Astrophysics Data System (ADS)

    Bloomfield, D. P.

    1989-10-01

    The program demonstrated the feasibility of an electropneumatic actuator which can be used in manufacturing applications. The electropneumatic actuator, an alternative to the electric, hydraulic, and pneumatic actuators used in industry, consists of an electrochemical compressor, a power supply, and an actuator. The electrochemical compressor working fluid is hydrogen and a solvent such as water or ammonia. The compressor has no moving parts and runs on low voltage DC. The actuator is a conventional, commercially available unit. Researchers designed, constructed, and tested the electrochemical compressor in conjunction with the actuator, power supply, and computerized control. The one inch actuator can lift a fifty pound weight a distance of ten inches in about 1.5 minutes. The electrochemically powered system is capable of driving its loaded actuator to a prescribed location at a controlled rate. A defined set of design changes will combine the compressor and actuator in the same housing, and will develop two orders of magnitude increased actuator speed at the same or higher force levels.

  13. Comparison of treadmill and cycle ergometer measurements of force-velocity relationships and power output.

    PubMed

    Jaskólska, A; Goossens, P; Veenstra, B; Jaskólski, A; Skinner, J S

    1999-04-01

    Since body balance and weight-bearing factors present while running on the treadmill might cause additional muscle recruitment and thus could influence the force-velocity relationship and power, the present study was undertaken to find out whether the F-V and F-P relationships measured while running on the treadmill are different from the respective indices measured during cycling. On two separate occasions, 32 male subjects were tested using a series of 5 sec, all-out sprints against different braking forces on the Gymrol Sprint treadmill and on the Monark ergometer. The maximal peak power (PPmax) and maximal mean power (MPmax) were measured. The equation: EP = 0.5 maximal force (Fo) x0.5 maximal velocity (Vo) was used to calculate the estimated values of peak power (EPP) and mean power (EMP). The F-V relationship was linear in both cycle ergometer and treadmill measurements. PPmax, MPmax, EPP, and EMP values on the treadmill were lower than the respective values on the ergometer. EPP on the ergometer and on the treadmill, as well as EMP values on the ergometer, were slightly higher than the corresponding measured values of PPmax and MPmax. The levels of braking force at which PP, MP, PPmax, and MPmax were obtained were lower on the ergometer than on the treadmill. High correlation coefficients were found between PPmax, MPmax, EPP, and EMP measured on the ergometer and on the treadmill (r = 0.86, r = 0.84, r = 0.71, r = 0.78, respectively, P<0.01). In both tests, significant relationships between PPmax, MPmax, EPP, and EMP were observed. It is concluded that independent of the type of ergometry the force-velocity relationship is similar in the measured range of velocities which suggests that the number of muscle groups and joints engaged in movement are more important than body balance and weight-bearing factors present while running on a treadmill.

  14. Variable Frequency Diverter Actuation for Flow Control

    NASA Technical Reports Server (NTRS)

    Culley, Dennis E.

    2006-01-01

    The design and development of an actively controlled fluidic actuator for flow control applications is explored. The basic device, with one input and two output channels, takes advantage of the Coanda effect to force a fluid jet to adhere to one of two axi-symmetric surfaces. The resultant flow is bi-stable, producing a constant flow from one output channel, until a disturbance force applied at the control point causes the flow to switch to the alternate output channel. By properly applying active control the output flows can be manipulated to provide a high degree of modulation over a wide and variable range of frequency and duty cycle. In this study the momentary operative force is applied by small, high speed isolation valves of which several different types are examined. The active fluidic diverter actuator is shown to work in several configurations including that in which the operator valves are referenced to atmosphere as well as to a source common with the power stream.

  15. Position control system for use with micromechanical actuators

    DOEpatents

    Guckel, Henry; Stiers, Eric W.

    2000-01-01

    A positioning system adapted for use with micromechanical actuators provides feedback control of the position of the movable element of the actuator utilizing a low Q sensing coil. The effective inductance of the sensing coil changes with position of the movable element to change the frequency of oscillation of a variable oscillator. The output of the variable oscillator is compared in a phase detector to a reference oscillator signal. The phase detector provides a pulsed output having a pulse duty cycle related to the phase or frequency difference between the oscillator signals. The output of the phase detector is provided to a drive coil which applies a magnetic force to the movable element which balances the force of a spring. The movable element can be displaced to a new position by changing the frequency of the reference oscillator.

  16. A piezo motor based on a new principle with high output force, rigidity and integrity: The Tuna Drive

    NASA Astrophysics Data System (ADS)

    Liu, Xiaolong; Lu, Qingyou

    2012-11-01

    We present a linear piezoelectric motor as simple as one piezoelectric scanner tube (PST) spring-clamping a central shaft at both ends with roughly equal clamping forces. The clamping points are aligned with ±X electrodes at one end and ±Y electrodes at the other end. Thus, the ±X (or ±Y) push-pull motions of the PST can cause the push-pull motions of the clamping points on the shaft (called push-pull rubbing), which reduces the total dynamic friction force at one (or the other) end of the PST. This new piezo motor advances one step by fast push-pull rubbing at one end while slowly retracting the PST followed by fast push-pull rubbing at the other end while slowly elongating the PST. Apart from the obvious advantages of simplicity, rigidity, integrity, etc., we will also show that this motor can produce a large output force, which we believe is because of the huge drop of the clamping friction force when the push-pull rubbing occurs.

  17. Biomimetic actuator

    NASA Astrophysics Data System (ADS)

    Bouda, Vaclav; Boudova, Lea; Haluzikova, Denisa

    2005-05-01

    The aim of the presentation is to propose an alternative model of mammalian skeletal muscle function, which reflects the simplicity of nature and can be applied in engineering. Van der Waals attractive and repulsive electrostatic forces are assumed to control the design of internal structures and functions of contractile units of the muscles - sarcomere. The role of myosin heads is crucial for the higher order formation. The model of the myosin head lattice is the working model for the sarcomere contraction interpretation. The contraction is interpreted as a calcium induced phase transition of the lattice, which results in relative actin-myosin sliding and/or force generation. The model should provide the engineering science with a simple analogy to technical actuators of high performance.

  18. Behavioral Implications of Piezoelectric Stack Actuators for Control of Micromanipulation

    NASA Technical Reports Server (NTRS)

    Goldfarb, Michael; Celanovic, Nikola

    1996-01-01

    A 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 addition to describing the input-output dynamic behavior, the proposed model explains aspects of non-intuitive behavioral phenomena evinced by piezoelectric actuators, such as the input-output rate-independent hysteresis and the change in mechanical stiffness that results from altering electrical load. The authors incorporate 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.

  19. Comprehensive piezoceramic actuator review

    NASA Astrophysics Data System (ADS)

    Taylor, Chris J.; Washington, Gregory N.

    2002-07-01

    Piezoceramic actuation has become an area of increased interest in the past ten years. Having been used for many years as sensors in such applications as pressure transducers and smoke detectors, piezoceramics are now being used as prime movers in fuel injectors and valve lifters. In an effort to aid the engineering community, this paper will conduct a comprehensive review of several piezoceramic actuators. Classical design parameters will be derived for each actuator such as blocked force and free stroke. In addition, more esoteric entities such as mechanical efficiency and energy density will also be derived. The result will be design metrics of popular piezoceramic actuators containing vital design equations, validated with empirical data. Of the many different configurations of piezoceramic actuators, this paper will investigate the bimorph and unimorph bender. These actuator types are finding increased use in semi-active structural damping, energy harvesting and vibration control. The work in this paper will show experimental verification of various actuator types as well as theoretical derivations. In addition to unimorphs, bimorphs and stack actuators a novel type of unimorph bender, the THUNDER actuator (developed and licensed by NASA) will be included in the review.

  20. External work output and force generation during synchronized intermittent mechanical ventilation. Effect of machine assistance on breathing effort.

    PubMed

    Marini, J J; Smith, T C; Lamb, V J

    1988-11-01

    We measured the mechanical work performed by 12 acutely ill patients during synchronized intermittent mandatory ventilation to determine the influence of volume-cycled machine assistance on inspiratory timing, respiratory muscle force development, and external work output. The frequency and tidal volume of spontaneous breaths increased at lower levels of mechanical ventilation, but inspiratory time fraction did not vary across the spectrum of machine support. As machine support was withdrawn, inspiratory work and pressure-time product increased progressively for both spontaneous and assisted breathing cycles. On a per cycle basis, work output was greater for assisted than for spontaneous breaths at all levels of comparison. Although the mean pressure developed by the patient during assisted cycles averaged approximately equal to 20% less than during adjacent unassisted cycles, contraction time averaged approximately equal to 20% longer, so that the pressure-time products were nearly equivalent for both types of cycle. Two indices of force reserve indicated that our patients taxed their maximal ventilatory capability at all but the highest levels of support. We conclude that under the conditions of this study the ventilatory pump continued to be active at all levels of machine assistance. Although work per liter related linearly to the proportion of minute ventilation borne by the patient, force generation differed little for spontaneous and machine-aided breaths at any specified level of support. Whether judged on the basis of mean developed pressure (work per liter of ventilation) or pressure-time product, little effort adaptation to volume-cycled machine assistance appears to occur on a breath-by-breath basis.

  1. 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.

  2. Actuator-valve interface optimization

    SciTech Connect

    Burchett, O.L.; Jones, R.L.

    1986-01-01

    A computer code, Actuator Valve Response (AVR), has been developed to optimize the explosive actuator-valve interface parameters so that the valve plunger velocity is at a maximum when the plunger reaches the valve tubes. The code considers three forces to act on the valve plunger before the plunger reaches the valve tubes. These are the pressure force produced by the actuator, the shear force necessary to shear the seal disks on the actuator and the valve plunger, and the friction force caused by friction between the plunger and the plunger bore. The three forces are modeled by expressions that are explicitly functions of the plunger displacement. A particular actuator-valve combination was analyzed with the computer code AVR with four different combinations of valve plunger seal disk shear strength and initial friction force. (LEW)

  3. Contact position sensor using constant contact force control system

    NASA Technical Reports Server (NTRS)

    Sturdevant, Jay (Inventor)

    1995-01-01

    A force control system (50) and method are provided for controlling a position contact sensor (10) so as to produce a constant controlled contact force therewith. The system (50) includes a contact position sensor (10) which has a contact probe (12) for contacting the surface of a target to be measured and an output signal (V.sub.o) for providing a position indication thereof. An actuator (30) is provided for controllably driving the contact position sensor (10) in response to an actuation control signal (I). A controller (52) receives the position indication signal (V.sub.o) and generates in response thereto the actuation control signal (I) so as to provide a substantially constant selective force (F) exerted by the contact probe (12). The actuation drive signal (I) is generated further in response to substantially linear approximation curves based on predetermined force and position data attained from the sensor (10) and the actuator (30).

  4. Design and reliability of a MEMS thermal rotary actuator.

    SciTech Connect

    Baker, Michael Sean; Corwin, Alex David

    2007-09-01

    A new rotary MEMS actuator has been developed and tested at Sandia National Laboratories that utilizes a linear thermal actuator as the drive mechanism. This actuator was designed to be a low-voltage, high-force alternative to the existing electrostatic torsional ratcheting actuator (TRA) [1]. The new actuator, called the Thermal Rotary Actuator (ThRA), is conceptually much simpler than the TRA and consists of a gear on a hub that is turned by a linear thermal actuator [2] positioned outside of the gear. As seen in Figure 1, the gear is turned through a ratcheting pawl, with anti-reverse pawls positioned around the gear for unidirectional motion (see Figure 1). A primary consideration in the design of the ThRA was the device reliability and in particular, the required one-to-one relationship between the ratcheting output motion and the electrical input signal. The electrostatic TRA design has been shown to both over-drive and under-drive relative to the number of input pulses [3]. Two different ThRA designs were cycle tested to measure the skip rate. This was done in an automated test setup by using pattern matching to measure the angle of rotation of the output gear after a defined number of actuation pulses. By measuring this gear angle over time, the number of skips can be determined. Figure 2 shows a picture of the ThRA during testing, with the pattern-matching features highlighted. In the first design tested, it was found that creep in the thermal actuator limited the number of skip-free cycles, as the rest position of the actuator would creep forward enough to prevent the counter-rotation pawls from fully engaging (Figure 3). Even with this limitation, devices were measured with up to 100 million cycles with no skipping. A design modification was made to reduce the operating temperature of the thermal actuator which has been shown in a previous study [2] to reduce the creep rate. In addition, changes were made to the drive ratchet design and actuation

  5. A novel compact compliant actuator design for rehabilitation robots.

    PubMed

    Yu, Haoyong; Huang, Sunan; Thakor, Nitish V; Chen, Gong; Toh, Siew-Lok; Sta Cruz, Manolo; Ghorbel, Yassine; Zhu, Chi

    2013-06-01

    Rehabilitation robots have direct physical interaction with human body. Ideally, actuators for rehabilitation robots should be compliant, force controllable, and back drivable due to safety and control considerations. Various designs of Series Elastic Actuators (SEA) have been developed for these applications. However, current SEA designs face a common performance limitation due to the compromise on the spring stiffness selection. This paper presents a novel compact compliant force control actuator design for portable rehabilitation robots to overcome the performance limitations in current SEAs. Our design consists of a servomotor, a ball screw, a torsional spring between the motor and the ball screw, and a set of translational springs between the ball screw nut and the external load. The soft translational springs are used to handle the low force operation and reduce output impedance, stiction, and external shock load. The torsional spring, being in the high speed range, has high effective stiffness and improves the system bandwidth in large force operation when the translational springs are fully compressed. This design is also more compact due to the smaller size of the springs. We explain the construction and the working principle of our new design, followed by the dynamic modeling and analysis of the actuator. We also show the preliminary testing results of a prototype actuator designed for a lower limb exoskeleton for gait rehabilitation.

  6. Miniature osmotic actuators for controlled maxillofacial distraction osteogenesis

    NASA Astrophysics Data System (ADS)

    Li, Yu-Hsien; Su, Yu-Chuan

    2010-06-01

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

  7. Behavior of ionic conducting IPN actuators in simulated space conditions

    NASA Astrophysics Data System (ADS)

    Fannir, Adelyne; Plesse, Cédric; Nguyen, Giao T. M.; Laurent, Elisabeth; Cadiergues, Laurent; Vidal, Frédéric

    2016-04-01

    The presentation focuses on the performances of flexible all-polymer electroactive actuators under space-hazardous environmental factors in laboratory conditions. These bending actuators are based on high molecular weight nitrile butadiene rubber (NBR), poly(ethylene oxide) (PEO) derivative and poly(3,4-ethylenedioxithiophene) (PEDOT). The electroactive PEDOT is embedded within the PEO/NBR membrane which is subsequently swollen with an ionic liquid as electrolyte. Actuators have been submitted to thermal cycling test between -25 to 60°C under vacuum (2.4 10-8 mbar) and to ionizing Gamma radiations at a level of 210 rad/h during 100 h. Actuators have been characterized before and after space environmental condition ageing. In particular, the viscoelasticity properties and mechanical resistance of the materials have been determined by dynamic mechanical analysis and tensile tests. The evolution of the actuation properties as the strain and the output force have been characterized as well. The long-term vacuuming, the freezing temperature and the Gamma radiations do not affect significantly the thermomechanical properties of conducting IPNs actuators. Only a slight decrease on actuation performances has been observed.

  8. Electrostatic Linear Actuator

    NASA Technical Reports Server (NTRS)

    Collins, Earl R., Jr.; Curry, Kenneth C.

    1990-01-01

    Electrically charged helices attract or repel each other. Proposed electrostatic linear actuator made with intertwined dual helices, which holds charge-bearing surfaces. Dual-helix configuration provides relatively large unbroken facing charged surfaces (relatively large electrostatic force) within small volume. Inner helix slides axially in outer helix in response to voltages applied to conductors. Spiral form also makes components more rigid. Actuator conceived to have few moving parts and to be operable after long intervals of inactivity.

  9. Preparation and characterization of sulfonated carbon nanotube/Nafion IPMC actuators

    NASA Astrophysics Data System (ADS)

    Ru, Jie; Wang, Yanjie; Chang, Longfei; Chen, Hualing; Li, Bo; Jia, Shuhai

    2016-04-01

    In this paper, we developed a new kind of ionic polymer metal composite (IPMC) actuator by doping sulfonated carbon nanotube (SCNT) into Nafion matrix to overcome some major drawbacks, such as low output force and short air-operation time, which restrict applications of conventional Nafion IPMC actuators. Firstly, SCNT was synthesized by coupled reaction of multi-walled carbon nanotubes and azo compounds and then doped into Nafion matrix by casting method. Subsequently, several key parameters of the SCNT-reinforced Nation matrix, water uptake ratio and equivalent stiffness, were revealed and the inner morphology of the membranes were observed by scanning electron microscopy. Finally, the effects of the SCNT on the electromechanical properties of IPMC actuators, especially the actuating performance, were evaluated experimentally and analyzed systematically. The results showed that SCNT was evenly dispersed in Nafion matrix and a small amount of SCNT could improve the performance of IPMC actuators significantly.

  10. Experimental performance and feasibility of a miniature single-degree-of-freedom rotary joint with integrated IPMC actuator

    NASA Astrophysics Data System (ADS)

    Manley, Sean; McDaid, Andrew; Aw, Kean; Xie, Shane; Haemmerle, Enrico

    2009-03-01

    Ionic Polymer Metal Composite (IPMC) materials are bending actuators that can achieve large tip displacements at voltages less than 10V, but with low force output. Their advantages over traditional actuators include very low mass and size; flexibility; direct conversion of electricity to mechanical energy; biocompatibility; and the potential to build integrated sensing/actuation devices, using their inherent sensing properties. It therefore makes sense to pursue them as a replacement to traditional actuators where the lack of force is less significant, such as micro-robotics; bio-mimetics; medical robotics; and non-contact applications such as positioning of sensors. However, little research has been carried out on using them to drive mechanisms such as the rotary joints. This research explores the potential for applying IPMC to driving a single degree-of-freedom rotary mechanism, for a small-force robotic manipulator or positioning system. Practical issues such as adequate force output and friction are identified and tackled in the development of the mechanical apparatus, to study the feasibility of the actuator once attached to the mechanism. Rigid extensions are then applied to the tip of the IPMC, as well as doubling- and tripling the actuators in a stack to increase force output. Finally, feasibility of the entire concept is considered by comparing the maximum achievable forces and combining the actuator with the mechanism. It is concluded that while the actuator is capable of moving the mechanism, it is non-repeatable and does not achieve a level that allows feedback control to be applied.

  11. Anaerobic and aerobic peak power output and the force-velocity relationship in endurance-trained athletes: effects of aging.

    PubMed

    Chamari, K; Ahmaidi, S; Fabre, C; Massé-Biron, J; Préfaut, C

    1995-01-01

    The aim of this investigation was to test the hypothesis that the anaerobic peak power output (Pan, peak) declines more than the peak aerobic power (Paer, peak) with increasing age. In addition, the force-velocity (F-v) relationship was studied to determine which of these two factors is primarily responsible for the expected alterations in anaerobic power. The Pan, peak, the maximal F when v is equal to zero (F0) and the maximal v when F is equal to zero (v0) were assessed by F-v test i.e. a brief intense intermittent exercise test using incremental braking forces. The Paer, peak was measured by a maximal increment exercise test. A group of 12 young athletes (YA) and 12 master athletes (MA) mean age 24.8 (SEM 1.3) and 65.1 (SEM 1.2) years, respectively, participated in this study. The YA and MA had similar body masses, heights and endurance training schedules. The results showed that Pan, peak was 42.7% lower in the older subjects, corresponding to mean values of 1089 (SEM 40) compared to 624 (SEM 33) W (t = 8.9, P < 0.001) for YA compared to MA, respectively. The F0 and V0 indices showed values that were lower by 30.3% and 15.2%, respectively. The Paer, peak was 35% lower with mean values of 323 (SEM 12) W for YA compared to 210 (SEM 6) W for MA (t = 8.3, P < 0.001). The mean maximal oxygen uptake was 34.7% lower with 4240 (SEM 160) ml.min-1 for YA compared to 2770 (SEM 120) ml.min-1 for MA (t = 7.2, P < 0.001).(ABSTRACT TRUNCATED AT 250 WORDS)

  12. MEMS Actuated Deformable Mirror

    SciTech Connect

    Papavasiliou, A; Olivier, S; Barbee, T; Walton, C; Cohn, M

    2005-11-10

    This ongoing work concerns the creation of a deformable mirror by the integration of MEMS actuators with Nanolaminate foils through metal compression boning. These mirrors will use the advantages of these disparate technologies to achieve dense actuation of a high-quality, continuous mirror surface. They will enable advanced adaptive optics systems in large terrestrial telescopes. While MEMS actuators provide very dense actuation with high precision they can not provide large forces typically necessary to deform conventional mirror surfaces. Nanolaminate foils can be fabricated with very high surface quality while their extraordinary mechanical properties enable very thin, flexible foils to survive the rigors of fabrication. Precise metal compression bonding allows the attachment of the fragile MEMS actuators to the thin nanolaminate foils without creating distortions at the bond sites. This paper will describe work in four major areas: (1) modeling and design, (2) bonding development, (3) nanolaminate foil development, (4) producing a prototype. A first-principles analytical model was created and used to determine the design parameters. A method of bonding was determined that is both strong, and minimizes the localized deformation or print through. Work has also been done to produce nanolaminate foils that are sufficiently thin, flexible and flat to be deformed by the MEMS actuators. Finally a prototype was produced by bonding thin, flexible nanolaminate foils to commercially available MEMS actuators.

  13. 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.

  14. High power thrust vector actuation

    NASA Astrophysics Data System (ADS)

    Kittock, M. J.

    1993-06-01

    Modern missile programs are frequently favoring electro-mechanical (EM) thrust vector actuation (TVA) over hydraulic for a variety of reasons. However, actuation system performance requirements are not relaxed for EM systems. Thus the development of EM systems with greater power output is required. The configuration of EM actuator studied consists of a DC brushless motor driving a spur gear train, which drives a ballscrew that converts rotary motion to rectilinear motion. This design produces an actuator with high levels of performance in a compact mechanical package. Design for manufacturability and assembly (DFMA) was part of the design process, resulting in an actuator that can be assembled easily and will operate reliably. This paper will discuss the mechanical details of the resultant actuator and report test results on a prototype derivative.

  15. Actuation of polypyrrole nanowires

    NASA Astrophysics Data System (ADS)

    Lee, Alexander S.; Peteu, Serban F.; Ly, James V.; Requicha, Aristides A. G.; Thompson, Mark E.; Zhou, Chongwu

    2008-04-01

    Nanoscale actuators are essential components of the NEMS (nanoelectromechanical systems) and nanorobots of the future, and are expected to become a major area of development within nanotechnology. This paper demonstrates for the first time that individual polypyrrole (PPy) nanowires with diameters under 100 nm exhibit actuation behavior, and therefore can potentially be used for constructing nanoscale actuators. PPy is an electroactive polymer which can change volume on the basis of its oxidation state. PPy-based macroscale and microscale actuators have been demonstrated, but their nanoscale counterparts have not been realized until now. The research reported here answers positively the fundamental question of whether PPy wires still exhibit useful volume changes at the nanoscale. Nanowires with a 50 nm diameter and a length of approximately 6 µm, are fabricated by chemical polymerization using track-etched polycarbonate membranes as templates. Their actuation response as a function of oxidation state is investigated by electrochemical AFM (atomic force microscopy). An estimate of the minimum actuation force is made, based on the displacement of the AFM cantilever.

  16. Actuation of polypyrrole nanowires.

    PubMed

    Lee, Alexander S; Peteu, Serban F; Ly, James V; Requicha, Aristides A G; Thompson, Mark E; Zhou, Chongwu

    2008-04-23

    Nanoscale actuators are essential components of the NEMS (nanoelectromechanical systems) and nanorobots of the future, and are expected to become a major area of development within nanotechnology. This paper demonstrates for the first time that individual polypyrrole (PPy) nanowires with diameters under 100 nm exhibit actuation behavior, and therefore can potentially be used for constructing nanoscale actuators. PPy is an electroactive polymer which can change volume on the basis of its oxidation state. PPy-based macroscale and microscale actuators have been demonstrated, but their nanoscale counterparts have not been realized until now. The research reported here answers positively the fundamental question of whether PPy wires still exhibit useful volume changes at the nanoscale. Nanowires with a 50 nm diameter and a length of approximately 6 µm, are fabricated by chemical polymerization using track-etched polycarbonate membranes as templates. Their actuation response as a function of oxidation state is investigated by electrochemical AFM (atomic force microscopy). An estimate of the minimum actuation force is made, based on the displacement of the AFM cantilever.

  17. 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.

  18. 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.

  19. Actuation performance of cellulose based electro-active papers

    NASA Astrophysics Data System (ADS)

    Kim, Jaehwan; Song, Chunseok; Bae, Seung-Hun

    2005-05-01

    Electro-Active Paper (EAPap) is attractive as an EAP actuator material due to its merits in terms of lightweight, dry condition, large displacement output, low actuation voltage and low power consumption. This paper presents the fabrication and performance test of EAPap actuators. EAPap material has been made from cellulose materials. Cellulose fiber is dissolved into a solution and made into a sheet by using a spin coater. Thin electrodes are deposited on the cellophane sheet to comprise an EAPap. Next the EAPap is made into plate or beam specimens cut along a specific orientation to enhance the actuator performance. The EAPap is clamped on electric power connector and placed in an environmental chamber and the tip displacement of EAPap is measured with laser sensor. Also the blocking force of EAPap sample is measured. The measured force is compared with a theoretical beam model. These measurements are performed under a variety of environmental and input factors including frequency, actuation voltage, temperature and humidity. Characteristics of EAPap in terms of fibrous nature, their crystallinity, and mechanical, physical and electrochemical characteristics are presented.

  20. High-pressure microhydraulic actuator

    DOEpatents

    Mosier, Bruce P [San Francisco, CA; Crocker, Robert W [Fremont, CA; Patel, Kamlesh D [Dublin, CA

    2008-06-10

    Electrokinetic ("EK") pumps convert electric to mechanical work when an electric field exerts a body force on ions in the Debye layer of a fluid in a packed bed, which then viscously drags the fluid. Porous silica and polymer monoliths (2.5-mm O.D., and 6-mm to 10-mm length) having a narrow pore size distribution have been developed that are capable of large pressure gradients (250-500 psi/mm) when large electric fields (1000-1500 V/cm) are applied. Flowrates up to 200 .mu.L/min and delivery pressures up to 1200 psi have been demonstrated. Forces up to 5 lb-force at 0.5 mm/s (12 mW) have been demonstrated with a battery-powered DC-DC converter. Hydraulic power of 17 mW (900 psi@ 180 uL/min) has been demonstrated with wall-powered high voltage supplies. The force and stroke delivered by an actuator utilizing an EK pump are shown to exceed the output of solenoids, stepper motors, and DC motors of similar size, despite the low thermodynamic efficiency.

  1. Development of X-Y Servo Pneumatic-Piezoelectric Hybrid Actuators for Position Control with High Response, Large Stroke and Nanometer Accuracy

    PubMed Central

    Chiang, Mao-Hsiung

    2010-01-01

    This study aims to develop a X-Y dual-axial intelligent servo pneumatic-piezoelectric hybrid actuator for position control with high response, large stroke (250 mm, 200 mm) and nanometer accuracy (20 nm). In each axis, the rodless pneumatic actuator serves to position in coarse stroke and the piezoelectric actuator compensates in fine stroke. Thus, the overall control systems of the single axis become a dual-input single-output (DISO) system. Although the rodless pneumatic actuator has relatively larger friction force, it has the advantage of mechanism for multi-axial development. Thus, the X-Y dual-axial positioning system is developed based on the servo pneumatic-piezoelectric hybrid actuator. In addition, the decoupling self-organizing fuzzy sliding mode control is developed as the intelligent control strategies. Finally, the proposed novel intelligent X-Y dual-axial servo pneumatic-piezoelectric hybrid actuators are implemented and verified experimentally. PMID:22319266

  2. The LDCM actuator for vibration suppression

    NASA Technical Reports Server (NTRS)

    Ide, Eric N.; Lindner, Douglas K.

    1988-01-01

    A linear dc motor (LDCM) has been proposed as an actuator for the COFS I mast and the COFS program ground test Mini-Mast. The basic principles of operation of the LDCM as an actuator for vibration suppression in large flexible structures are reviewed. Because of force and stroke limitations, control loops are required to stabilize the actuator, which results in a non-standard actuator-plant configuration. A simulation model that includes LDCM actuator control loops and a finite element model of the Mast is described, with simulation results showing the excitation capability of the actuator.

  3. Actuating critical care therapeutics.

    PubMed

    Stone, David J; Csete, Marie

    2016-10-01

    Viewing the intensive care unit (ICU) as a control system with inputs (patients) and outputs (outcomes), we focus on actuation (therapies) of the system and how to enhance our understanding of status of patients and their trajectory in the ICU. To incorporate the results of these analytics meaningfully, we feel that a reassessment of predictive scoring systems and of ways to optimally characterize and display the patient's "state space" to clinicians is important. Advances in sensing (diagnostics) and computation have not yet led to significantly better actuation, and so we focus on ways that data can be used to improve actuation in the ICU, in particular by following therapeutic burden along with disease severity. This article is meant to encourage discussion about how the critical care community can best deal with the data they see each day, and prepare for recommendations that will inevitably arise from application of major federal and state initiatives in big data analytics and precision medicine.

  4. "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.

  5. Smart actuators with piezoelectric materials

    NASA Astrophysics Data System (ADS)

    Janocha, Hartmut; Jendritza, Daniel J.; Scheer, Peter

    1996-04-01

    Piezoelectric solid-state actuators continue to gain in technical and economic significance for a great variety of applications such as quick fine-positioning tasks, control of structural stability and active noise and vibration control due to the high driving forces, short reaction times and compact construction of these actuators. Microelectronics and signal processing must be combined intelligently to form `smart actuators' in order to do justice to the growing demand for precision, miniaturization, efficiency and cost. Energy transducers with piezoelectric PZT ceramics (PZT: lead-zirconate-titanate) simultaneously possess actuator and sensor capacities. An important requirement for the construction of smart actuators is fulfilled by separating the sensor information (charge approximately external force) from the actuator control quantities (elongation approximately electric field strength). A closed-loop control structure with digital signal processing and a voltage controlled power amplifier were developed to enable nearly load-independent linearization of the actuator's response characteristic (elongation-voltage curve) even under dynamic operating conditions by making use of the `self-sensing' effect and without using extra force or displacement sensors. The effectiveness of the developed approach for realizing smart actuators was verified and specified with the help of a computerized large-signal measurement set-up using a low-voltage piezoelectric ceramic stack as an example.

  6. Self-sensing McKibben actuators using dielectric elastomer sensors

    NASA Astrophysics Data System (ADS)

    Goulbourne, N. C.; Son, S.; Fox, J. W.

    2007-04-01

    In this paper, a self-sensing McKibben actuator using dielectric elastomer sensors is presented. Fiber-reinforced cylindrical actuators offer one potential solution to the low-force output problem that plagues many artificial muscle actuators. Placing a cylindrical dielectric elastomer sensor in direct contact with the inner surface of the McKibben actuator facilitates in situ monitoring of actuator strains and loads. The deformation of the McKibben actuator and hence the cylindrical dielectric elastomer sensor results in a change in the electrical signal read from the electroded surfaces of the dielectric elastomer. In this paper, we present a model for predicting the response of fiber reinforced cylindrical constructs (McKibben actuators) that are actuated by an inflation pressure, which is used to support an axial load. The model is based on Adkins and Rivlin's large deformation model for the inflation and contraction of tubes reinforced with inextensible fibers. In this model, the McKibben actuator is considered as a surface of revolution since the initially near cylindrical shape is nearly always compromised during mechanical loading. A series of experiments measuring the force versus contraction behavior of the actuators are used to validate the numerical model. The material constants for an Ogden model were determined by uni-axial extension of cylindrical samples. A comparison of the numerical and experimental results shows that the correlation is good. The model enables a number of key analyses such as the effect of the braid angle and the tension generated in the fibers.

  7. Active drag, useful mechanical power output and hydrodynamic force coefficient in different swimming strokes at maximal velocity.

    PubMed

    Kolmogorov, S V; Duplishcheva, O A

    1992-03-01

    By comparing the time of the same distance swum with and without an added resistance, under the assumption of an equal power output in both cases, the drag of 73 top swimmers was estimated. The active drag Fr(a.d.) at maximal swimming velocities varied considerably across strokes and individuals. In the females Fr(a.d.) ranged from 69.78 to 31.16 N in the front-crawl, from 83.04 to 37.78 N in dolphin, from 93.56 to 45.19 N in breaststroke, and from 65.51 to 37.79 N in back-stroke. In the males Fr(a.d.) ranged from 167.11 to 42.23 N in front-crawl, from 156.09 to 46.95 N in dolphin, from 176.87 to 55.61 N in breaststroke, and from 146.28 to 46.36 N in back-stroke. Also, the ratio of Fr(a.d.) to the passive drag Fr(a.d.) as determined for the analogical velocity in a tugging condition (in standard body position-front gliding) shows considerable individual variations. In the female swimmers variations in Fr(a.d.)/Fr(p.d.) ranged from 145.17 to 59.94% in front-crawl, from 192.39 to 85.57% in dolphin, from 298.03 to 124.50% in breaststroke, and from 162.87 to 85.61% in back-stroke. In the male swimmers variations in Fr(a.d.)/Fr(p.d.) ranged from 162.24 to 62.39% in front-crawl, from 191.70 to 70.38% in dolphin, from 295.57 to 102.83% in breaststroke, and from 198.82 to 74.48% in back-stroke. The main reason for such variations is found in the individual features of swimming technique and can be quantitatively estimated with the hydrodynamic force coefficient, which thus provides an adequate index of technique. PMID:1564064

  8. 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.

  9. Torsional Ratcheting Actuating System

    SciTech Connect

    BARNES,STEPHEN MATTHEW; MILLER,SAMUEL L.; RODGERS,M. STEVEN; BITSIE,FERNANDO

    2000-01-24

    A new type of surface micromachined ratcheting actuation system has been developed at the Microelectronics Development Laboratory at Sandia National Laboratories. The actuator uses a torsional electrostatic comb drive that is coupled to an external ring gear through a ratcheting scheme. The actuator can be operated with a single square wave, has minimal rubbing surfaces, maximizes comb finger density, and can be used for open-loop position control. The prototypes function as intended with a minimum demonstrated operating voltage of 18V. The equations of motion are developed for the torsional electrostatic comb drive. The resonant frequency, voltage vs. displacement and force delivery characteristics are predicted and compared with the fabricated device's performance.

  10. Tiny Feel: A New Miniature Tactile Module Using Elastic and Electromagnetic Force for Mobile Devices

    NASA Astrophysics Data System (ADS)

    Yang, Tae-Heon; Kim, Sang-Youn; Book, Wayne J.; Kwon, Dong-Soo

    For tactile feedback in mobile devices, the size and the power consumption of tactile modules are the dominant factors. Thus, vibration motors have been widely used in mobile devices to provide tactile sensation. However, the vibration motor cannot sufficiently generate a great amount of tactile sensation because the magnitude and the frequency of the vibration motor are coupled. For the generation of a wide variety of tactile sensations, this paper presents a new tactile actuator that incorporates a solenoid, a permanent magnet and an elastic spring. The feedback force in this actuator is generated by elastic and electromagnetic force. This paper also proposes a tiny tactile module with the proposed actuators. To construct a tiny tactile module, the contactor gap of the module is minimized without decreasing the contactor stroke, the output force, and the working frequency. The elastic springs of the actuators are separated into several layers to minimize the contactor gap without decreasing the performance of the tactile module. Experiments were conducted to investigate each contactor output force as well as the frequency response of the proposed tactile module. Each contactor of the tactile module can generate enough output force to stimulate human mechanoreceptors. As the contactors are actuated in a wide range of frequency, the proposed tactile module can generate various tactile sensations. Moreover, the size of the proposed tactile module is small enough to be embedded it into a mobile device, and its power consumption is low. Therefore, the proposed tactile actuator and module have good potential in many interactive mobile devices.

  11. 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.

  12. Pneumatic artificial muscle actuators for compliant robotic manipulators

    NASA Astrophysics Data System (ADS)

    Robinson, Ryan Michael

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

  13. The viscoelastic effect in bending bucky-gel actuators

    NASA Astrophysics Data System (ADS)

    Kruusamäe, Karl; Mukai, Ken; Sugino, Takushi; Asaka, Kinji

    2014-03-01

    Electromechanically active polymers (EAP) are considered a good actuator candidate for a variety of reasons, e.g. they are soft, easy to miniaturize and operate without audible noise. The main structural component in EAPs is, as the name states, a type of deformable polymer. As polymers are known to exhibit a distinct mechanical response, the nature of polymer materials should never be neglected when characterizing and modeling the performance of EAP actuators. Bucky-gel actuators are a subtype of EAPs where ion-containing polymer membrane acts as an electronically insulating separator between two electrodes of carbon nanotubes and ionic liquid. In many occasions, the electrodes also contain polymer for the purpose of binding it together. Therefore, mechanically speaking, bucky-gel actuators are composite structures with layers of different mechanical nature. The viscoelastic response and the shape change property are perhaps the most characteristic effects in polymers. These effects are known to have high dependence on factors such as the type of polymer, the concentration of additives and the structural ratio of different layers. At the same time, most reports about optimization of EAP actuators describe the alteration of electromechanical performance dependent on the same factors. In this paper, the performance of bucky-gel actuators is measured as a function between the output force and bending deflection. It is observed that effective stiffness of these actuators depends on the input voltage. This finding is also supported by dynamic mechanical analysis which demonstrates that the viscoelastic response of bucky-gel laminate depends on both frequency and temperature. Moreover, the dynamic mechanical analysis reveals that in the range of standard operation temperatures, tested samples were in their glass transition region, which made it possible to alter their shape by using mechanical fixing. The mechanical fixity above 90% was obtained when high

  14. Design, Fabrication, and Calibration of an Embedded Piezoceramic Actuator for Active Control Applications

    NASA Technical Reports Server (NTRS)

    Koopmann, Gary H.; Lesieutre, George A.; Yoshikawa, Shoko; Chen, Weicheng; Fahnline, John B.; Pai, Suresh; Dershem, Brian

    1996-01-01

    In this presentation, the authors describe the design and fabrication processes for a PZT strain actuator that evolved during the initial stages of a research effort to synthesize and process intelligent, cost effective structures (SPICES). The actuator performance requirements were similar to those of conventional actuators, e.g., it had to be robust, highly efficient with adequate force and stroke, as lightweight as possible, and most importantly, affordable. Further, since the actuator was to be integrated within a composite structure, it had to be compatible with the host material and easily embeddable during the fabrication process. In control applications employing strain devices as actuators, a good bond between this actuator and host material is critical to their successful operation. This criterion is often difficult to achieve when attempting to join ceramics with metals or polymers with dissimilar properties such as Young's moduli, thermal expansion coefficients, etc. One unique feature of the actuator design that evolved in this project is that the need for direct bonding between the PZT ceramic and polymers was circumvented, i.e. the strain transfer to the host material was achieved via a frame surrounding the ceramic. Consequently, the frame material could be selected (or coated) for compatibility with the host material. A second feature is that the frame enclosed a co-fired, multilayered, PZT stack that was used to minimize the voltage requirements while maximizing the output strain.

  15. A multi-responsive water-driven actuator with instant and powerful performance for versatile applications

    NASA Astrophysics Data System (ADS)

    Mu, Jiuke; Hou, Chengyi; Zhu, Bingjie; Wang, Hongzhi; Li, Yaogang; Zhang, Qinghong

    2015-03-01

    Mechanical actuators driven by water that respond to multiple stimuli, exhibit fast responses and large deformations, and generate high stress have potential in artificial muscles, motors, and generators. Meeting all these requirements in a single device remains a challenge. We report a graphene monolayer paper that undergoes reversible deformation. Its graphene oxide cells wrinkle and extend in response to water desorption and absorption, respectively. Its fast (~0.3 s), powerful (>100 MPa output stress, 7.5 × 105 N kg-1 unit mass force), and controllable actuation can be triggered by moisture, heat, and light. The graphene monolayer paper has potential in artificial muscles, robotic hands, and electromagnetic-free generators.

  16. On-chip magnetically actuated robot with ultrasonic vibration for single cell manipulations.

    PubMed

    Hagiwara, Masaya; Kawahara, Tomohiro; Yamanishi, Yoko; Masuda, Taisuke; Feng, Lin; Arai, Fumihito

    2011-06-21

    This paper presents an innovative driving method for an on-chip robot actuated by permanent magnets in a microfluidic chip. A piezoelectric ceramic is applied to induce ultrasonic vibration to the microfluidic chip and the high-frequency vibration reduces the effective friction on the MMT significantly. As a result, we achieved 1.1 micrometre positioning accuracy of the microrobot, which is 100 times higher accuracy than without vibration. The response speed is also improved and the microrobot can be actuated with a speed of 5.5 mm s(-1) in 3 degrees of freedom. The novelty of the ultrasonic vibration appears in the output force as well. Contrary to the reduction of friction on the microrobot, the output force increased twice as much by the ultrasonic vibration. Using this high accuracy, high speed, and high power microrobot, swine oocyte manipulations are presented in a microfluidic chip.

  17. T-Slide Linear Actuators

    NASA Technical Reports Server (NTRS)

    Vranish, John

    2009-01-01

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

  18. Actuated atomizer

    NASA Technical Reports Server (NTRS)

    Tilton, Charles (Inventor); Weiler, Jeff (Inventor); Palmer, Randall (Inventor); Appel, Philip (Inventor)

    2008-01-01

    An actuated atomizer is adapted for spray cooling or other applications wherein a well-developed, homogeneous and generally conical spray mist is required. The actuated atomizer includes an outer shell formed by an inner ring; an outer ring; an actuator insert and a cap. A nozzle framework is positioned within the actuator insert. A base of the nozzle framework defines swirl inlets, a swirl chamber and a swirl chamber. A nozzle insert defines a center inlet and feed ports. A spool is positioned within the coil housing, and carries the coil windings having a number of turns calculated to result in a magnetic field of sufficient strength to overcome the bias of the spring. A plunger moves in response to the magnetic field of the windings. A stop prevents the pintle from being withdrawn excessively. A pintle, positioned by the plunger, moves between first and second positions. In the first position, the head of the pintle blocks the discharge passage of the nozzle framework, thereby preventing the atomizer from discharging fluid. In the second position, the pintle is withdrawn from the swirl chamber, allowing the atomizer to release atomized fluid. A spring biases the pintle to block the discharge passage. The strength of the spring is overcome, however, by the magnetic field created by the windings positioned on the spool, which withdraws the plunger into the spool and further compresses the spring.

  19. Actuator mechanism

    NASA Technical Reports Server (NTRS)

    Stange, W. C. (Inventor)

    1978-01-01

    An actuator mechanism is described, having a frame with a rotatable shaft supported in the frame, a positioning mechanism coupled to the shaft for rotating the shaft in two rotary positions, disposed approximately 180 degrees apart, and a pair of plungers coupled to the shaft. Each plunger is responsive to a control signal for applying bi-directional rotation to the shaft.

  20. Laser safety evaluation and output measurements for the VITAL -2 Variable Intensity Tactical Aiming Light (laser) used with the Proforce M-4 system in force-on-force exercises.

    SciTech Connect

    Augustoni, Arnold L.

    2004-02-01

    A laser safety hazard evaluation and pertinent output measurements were performed (June 2003 through August 2003) on several VITAL-2 Variable Intensity Tactical Aiming Light--infrared laser, associated with the Proforce M-4 system used in force-on-force exercises. The VITAL-2 contains two diode lasers presenting 'Extended Source' viewing out to a range on the order of 1.3 meters before reverting to a 'Small Source' viewing hazard. Laser hazard evaluation was performed in concert with the ANSI Std. Z136.1-2000 for the safe use of lasers and the ANSI Std. Z136.6-2000 for the safe use of lasers outdoors. The results of the laser hazard analysis for the VITAL-2, indicates that this Tactical Aiming IR laser presents a Class 1 laser hazard to personnel in the area of use. Field measurements performed on 71 units confirmed that the radiant outputs were at all times below the Allowable Emission Limit and that the irradiance of the laser spot was at all locations below the Maximum Exposure Limit. This system is eye-safe and it may be used under current SNL policy in force-on-force exercises. The VITAL-2 Variable Intensity Tactical Aiming Light does not present a laser hazard greater than Class 1, to aided viewing with binoculars.

  1. 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.

  2. Design of an innovative dielectric elastomer actuator for space applications

    NASA Astrophysics Data System (ADS)

    Branz, Francesco; Sansone, Francesco; Francesconi, Alessandro

    2014-03-01

    The capability of Dielectric Elastomers to show large deformations under high voltage loads has been deeply investigated to develop a number of actuators concepts. From a space systems point of view, the advantages introduced by this class of smart materials are considerable and include high conversion efficiency, distributed actuation, self-sensing capability, light weight and low cost. This paper focuses on the design of a solid-state actuator capable of high positioning resolution. The use of Electroactive Polymers makes this device interesting for space mechanisms applications, such as antenna and sensor pointing, solar array orientation, attitude control, adaptive structures and robotic manipulators. In particular, such actuation suffers neither wear, nor fatigue issues and shows highly damped vibrations, thus requiring no maintenance and transferring low disturbance to the surrounding structures. The main weakness of this actuator is the relatively low force/torque values available. The proposed geometry allows two rotational degrees of freedom, and simulations are performed to measure the expected instant angular deflection at zero load and the stall torque of the actuator under a given high voltage load. Several geometric parameters are varied and their influence on the device behaviour is studied. Simplified relations are extrapolated from the numerical results and represent useful predicting tools for design purposes. Beside the expected static performances, the dynamic behaviour of the device is also assessed and the input/output transfer function is estimated. Finally, a prototype design for laboratory tests is presented; the experimental activity aims to validate the preliminary results obtained by numerical analysis.

  3. Space shuttle rudder/speedbrake actuation subsystem

    NASA Technical Reports Server (NTRS)

    Naber, R. A.

    1985-01-01

    The Rudder/Speedbrake (R/SB) Actuation Subsystem for use on the NASA Space Shuttle Orbiter is an electro-hydro-mechanical system which provides the control and positionary capability of the orbiter aero-dynamic primary flight control surface. The system is located in the vehicle's vertical stabilizer. The geared rotary actuators provide a power hinge feature of the split panel rudder. Actuation of both panels in the same direction provides conventional rudder control; actuating the panels differentially provides a speedbrake function intended to control both speed and pitch. The commands may be superimposed on one another. The system consists of one power drive unit which responds to quadredundant avionic signals to generate a rotary output, four geared rotary actuators, which develop rotary position and torque as outputs, and ten torque transmitting drive-shifts.

  4. IPMC actuator array as a 3D haptic display

    NASA Astrophysics Data System (ADS)

    Nakano, Masanori; Mazzone, Andrea; Piffaretti, Filippo; Gassert, Roger; Nakao, Masayuki; Bleuler, Hannes

    2005-05-01

    Based on the concept of Mazzone et al., we have designed a novel system to be used simultaneously as an input and output device for designing, presenting, or recognizing objects in three-dimensional space. Unlike state of the art stereoscopic display technologies that generate a virtual image of a three-dimensional object, the proposed system, a "digital clay" like device, physically imitates the desired object. The object can not only be touched and explored intuitively but also deform itself physically. In order to succeed in developing such a deformable structure, self-actuating ionic polymer-metal composite (IPMC) materials are proposed. IPMC is a type of electro active polymer (EAP) and has recently been drawing much attention. It has high force to weight ratio and shape flexibility, making it ideal for robotic applications. This paper introduces the first steps and results in the attempt of developing such a structure. A strip consisting of four actuators arranged in line was fabricated and evaluated, showing promising capabilities in deforming two-dimensionally. A simple model to simulate the deformation of an IPMC actuator using finite element methods (FEM) is also proposed and compared with the experimental results. The model can easily be implemented into computer aided engineering (CAE) software. This will expand the application possibilities of IPMCs. Furthermore, a novel method for creating multiple actuators on one membrane with a laser machining tool is introduced.

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

    NASA Astrophysics Data System (ADS)

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

    2016-05-01

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

  6. Fluidic self-actuating control assembly

    DOEpatents

    Grantz, Alan L.

    1979-01-01

    A fluidic self-actuating control assembly for use in a reactor wherein no external control inputs are required to actuate (scram) the system. The assembly is constructed to scram upon sensing either a sudden depressurization of reactor inlet flow or a sudden increase in core neutron flux. A fluidic control system senses abnormal flow or neutron flux transients and actuates the system, whereupon assembly coolant flow reverses, forcing absorber balls into the reactor core region.

  7. Design and experimental study of a novel giant magnetostrictive actuator

    NASA Astrophysics Data System (ADS)

    Xue, Guangming; Zhang, Peilin; He, Zhongbo; Li, Dongwei; Huang, Yingjie; Xie, Wenqiang

    2016-12-01

    Giant magnetostrictive actuator has been widely used in precise driving occasions for its excellent performance. However, in driving a switching valve, especially the ball-valve in an electronic controlled injector, the actuator can't exhibit its good performance for limits in output displacement and responding speed. A novel giant magnetostrictive actuator, which can reach its maximum displacement for being exerted with no bias magnetic field, is designed in this paper. Simultaneously, elongating of the giant magetostrictive material is converted to shortening of the actuator's axial dimension with the help of an output rod in "T" type. Furthermore, to save responding time, the driving voltage with high opening voltage while low holding voltage is designed. Responding time and output displacement are studied experimentally with the help of a measuring system. From measured results, designed driving voltage can improve the responding speed of actuator displacement quite effectively. And, giant magnetostrictive actuator can output various steady-state displacements to reach more driving effects.

  8. Microwave Power for Smart Membrane Actuators

    NASA Technical Reports Server (NTRS)

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

    2002-01-01

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

  9. Microelectromechanical (MEM) thermal actuator

    DOEpatents

    Garcia, Ernest J.; Fulcher, Clay W. G.

    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.

  10. Carbon nanotube photo-thermo-mechanical actuator.

    PubMed

    Nagar, Rupali; Teki, Ranganath; Srivastava, Iti; Singh, Jitendra P; Koratkar, Nikhil

    2011-02-01

    Carbon nanotubes show a remarkable tendency for direct (rapid) temperature increase of the order of hundreds of degrees when exposed to near infra-red light. The reason is local confinement of the heat wave in their 1D structure which generates rapid temperature rise. Here we demonstrate that these high temperatures can be exploited to generate large deformation and force output by anchoring the nanotubes to a substrate. We report energy density (i.e., work done per unit mass) of the nanotube actuator as approximately 4268 J/Kg which is significantly larger than piezoceramic (approximately 4.25 J/Kg), magnetostrictive (approximately 21.6 J/Kg), lead-zinc-niobate/lead-titanate single-crystals (approximately 131 J/Kg), polyvinylidene fluoride trifluoro-ethylene copolymers (approximately 160 J/Kg) and shape memory alloys (approximately 1337 J/Kg).

  11. An investigation of electrochemomechanical actuation of conductive Polyacrylonitrile (PAN) nanofiber composites

    NASA Astrophysics Data System (ADS)

    Gonzalez, Mark A.; Walter, Wayne W.

    2014-03-01

    A polymer-based nanofiber composite actuator designed for contractile actuation was fabricated by electrospinning, stimulated by electrolysis, and characterized by electrochemical and mechanical testing to address performance limitations and understand the activation processing effects on actuation performance. Currently, Electroactive polymers (EAPs) have provided uses in sensory and actuation technology, but have either low force output or expand rather than contract, falling short in capturing the natural kinetics and mechanics of muscle needed to provide breakthroughs in the bio-medical and robotic fields. In this study, activated Polyacrylonitrile (PAN) fibers have demonstrated biomimetic functionalities similar to the sarcomere contraction responsible for muscle function. Activated PAN has also been shown to contract and expand by electrolysis when in close vicinity to the anode and cathode, respectively. PAN nanofibers (~500 nm) especially show faster response to changes in environmental pH and improved mechanical properties compared to larger diameter fibers. Tensile testing was conducted to examine changes in mechanical properties between annealing and hydrolysis processing. Voltage driven transient effects of localized pH were examined to address pHdefined actuation thresholds of PAN fibers. Electrochemical contraction rates of the PAN/Graphite composite actuator demonstrated up to 25%/min. Strains of 58.8%, ultimate stresses up to 77.1 MPa, and moduli of 0.21 MPa were achieved with pure PAN nanofiber mats, surpassing mechanical properties of natural muscles. Further improvements, however, to contraction rates and Young's moduli were found essential to capture the function and performance of skeletal muscles appropriately.

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

    NASA Astrophysics Data System (ADS)

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

    2015-07-01

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

  13. Design and fabrication of a MEMS chevron-type thermal actuator

    SciTech Connect

    Baracu, Angela; Voicu, Rodica; Müller, Raluca; Avram, Andrei; Pustan, Marius Chiorean, Radu Birleanu, Corina Dudescu, Cristian

    2015-02-17

    This paper presents the design and fabrication of a MEMS chevron-type thermal actuator. The device was designed for fabrication in the standard MEMS technology, where the topography of the upper layers depends on the patterns of structural and sacrificial layers underneath. The proposed actuator presents some advantages over usual thermal vertical chevron actuators by means of low operating voltages, high output force and linear movement without deformation of the shaft. The device simulations were done using COVENTOR software. The movement obtained by simulation was 12 μm, for a voltage of 0.2 V and the current intensity of 257 mA. The design optimizes the in-plane displacement by fixed anchors and beam inclination angle. Heating is provided by Joule dissipation. The material used for manufacture of chevron-based actuator was aluminum due to its thermal and mechanical properties. The release of the movable part was performed using isotropic dry etching by Reactive Ion Etching (RIE). A first inspection was achieved using Scanning Electron Microscope (SEM). In order to obtain the in-plane displacement we carried out electrical measurements. The thermal actuator can be used for a variety of optical and microassembling applications. This kind of thermal actuator could be integrated easily with other micro devices since its fabrication is compatible with the general semiconductor processes.

  14. Bucky gel actuators optimization towards haptic applications

    NASA Astrophysics Data System (ADS)

    Bubak, Grzegorz; Ansaldo, Alberto; Ceseracciu, Luca; Hata, Kenji; Ricci, Davide

    2014-03-01

    An ideal plastic actuator for haptic applications should generate a relatively large displacement (minimum 0.2-0.6 mm, force (~50 mN/cm2) and a fast actuation response to the applied voltage. Although many different types of flexible, plastic actuators based on electroactive polymers (EAP) are currently under investigation, the ionic EAPs are the only ones that can be operated at low voltage. This property makes them suitable for applications that require inherently safe actuators. Among the ionic EAPs, bucky gel based actuators are very promising. Bucky gel is a physical gel made by grounding imidazolium ionic liquids with carbon nanotubes, which can then be incorporated in a polymeric composite matrix to prepare the active electrode layers of linear and bending actuators. Anyhow, many conflicting factors have to be balanced to obtain required performance. In order to produce high force a large stiffness is preferable but this limits the displacement. Moreover, the bigger the active electrode the larger the force. However the thicker an actuator is, the slower the charging process becomes (it is diffusion limited). In order to increase the charging speed a thin electrolyte would be desirable, but this increases the probability of pinholes and device failure. In this paper we will present how different approaches in electrolyte and electrode preparation influence actuator performance and properties taking particularly into account the device ionic conductivity (which influences the charging speed) and the electrode surface resistance (which influences both the recruitment of the whole actuator length and its speed).

  15. Force.

    ERIC Educational Resources Information Center

    Gamble, Reed

    1989-01-01

    Discusses pupil misconceptions concerning forces. Summarizes some of Assessment of Performance Unit's findings on meaning of (1) force, (2) force and motion in one dimension and two dimensions, and (3) Newton's second law. (YP)

  16. Mechanisms underlying enhancements in muscle force and power output during maximal cycle ergometer exercise induced by chronic β2-adrenergic stimulation in men.

    PubMed

    Hostrup, Morten; Kalsen, Anders; Onslev, Johan; Jessen, Søren; Haase, Christoffer; Habib, Sajad; Ørtenblad, Niels; Backer, Vibeke; Bangsbo, Jens

    2015-09-01

    The study was a randomized placebo-controlled trial investigating mechanisms by which chronic β2-adrenergic stimulation enhances muscle force and power output during maximal cycle ergometer exercise in young men. Eighteen trained men were assigned to an experimental group [oral terbutaline 5 mg/30 kg body weight (bw) twice daily (TER); n = 9] or a control group [placebo (PLA); n = 9] for a 4-wk intervention. No changes were observed with the intervention in PLA. Isometric muscle force of the quadriceps increased (P ≤ 0.01) by 97 ± 29 N (means ± SE) with the intervention in TER compared with PLA. Peak and mean power output during 30 s of maximal cycling increased (P ≤ 0.01) by 32 ± 8 and 25 ± 9 W, respectively, with the intervention in TER compared with PLA. Maximal oxygen consumption (V̇o2max) and time to fatigue during incremental cycling did not change with the intervention. Lean body mass increased by 1.95 ± 0.8 kg (P ≤ 0.05) with the intervention in TER compared with PLA. Change in single fiber cross-sectional area of myosin heavy chain (MHC) I (1,205 ± 558 μm(2); P ≤ 0.01) and MHC II fibers (1,277 ± 595 μm(2); P ≤ 0.05) of the vastus lateralis muscle was higher for TER than PLA with the intervention, whereas no changes were observed in MHC isoform distribution. Expression of muscle proteins involved in growth, ion handling, lactate production, and clearance increased (P ≤ 0.05) with the intervention in TER compared with PLA, with no change in oxidative enzymes. Our observations suggest that muscle hypertrophy is the primary mechanism underlying enhancements in muscle force and peak power during maximal cycling induced by chronic β2-adrenergic stimulation in humans.

  17. 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.

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

    NASA Astrophysics Data System (ADS)

    Chaudhuri, Anirban

    Hybrid electro-hydraulic actuators using smart materials along with flow rectification have been widely reported in recent years. The basic operation of these actuators involves high frequency bidirectional operation of an active material that is converted into unidirectional fluid motion by a set of valves. While theoretically attractive, practical constraints limit the efficacy of the solid-fluid hybrid actuation approach. In particular, inertial loads, fluid viscosity and compressibility combine with loss mechanisms inherent in the active material to limit the effective bandwidth of the driving actuator and the total output power. A hybrid actuator was developed by using magnetostrictive TerFeNOL-D as the active driving element and hydraulic oil as the working fluid. Tests, both with and without an external load, were carried out to measure the unidirectional performance of the actuator at different pumping frequencies and operating conditions. The maximum no-load output velocity was 84 mm/s with a 51 mm long rod and 88 mm/s with a 102 mm long rod, both noted around 325 Hz pumping frequency, while the blocked force was close to 89 N. Dynamic tests were performed to analyze the axial vibration characteristics of the Terfenol-D rods and frequency responses of the magnetic circuits. A second prototype actuator employing the same actuation principle was then designed by using the electrostrictive material PMN-32%PT as the driving element. Tests were conducted to measure the actuator performance for varying electrical input conditions and fluid bias pressures. The peak output velocity obtained was 330 mm/s while the blocked force was 63 N. The maximum volume flow rate obtained with the PMN-based actuator was more than double that obtained from the Terfenol-D--based actuator. Theoretical modeling of the dynamics of the coupled structural-hydraulic system is extremely complex and several models have been proposed earlier. At high pumping frequencies, the fluid inertia

  19. Design of a smart material electro-hydraulic actuator with improved frequency bandwidth

    NASA Astrophysics Data System (ADS)

    Larson, John P.; Dapino, Marcelo J.

    2012-04-01

    Smart material electro-hydraulic actuators utilize fluid rectification by one-way valves to convert the small, high-frequency, high-force motions of smart materials such as piezoelectrics and magnetostrictives into useful motions of a hydraulic cylinder. These actuators have potential to replace centralized hydraulic pumps and lines with lightweight, compact, power-by-wire systems. This paper presents the design and testing of an improved actuator system. To increase the frequency bandwidth of operation, a lumped-parameter model is developed and validated based on experimental study of a pump with a performance capacity of 18.4 W. The critical parameters for pump performance are identified and their effect on pump performance assessed. The geometry of the hydraulic manifold that integrates the smart material pump and the output hydraulic cylinder is found to be critical for determining the effective system bandwidth.

  20. Sensors and actuators based on SOI materials

    NASA Astrophysics Data System (ADS)

    Sanz-Velasco, Anke; Nafari, Alexandra; Rödjegård, Henrik; Bring, Martin; Hedsten, Karin; Enoksson, Peter; Bengtsson, Stefan

    2006-05-01

    Examples of using SOI materials for formation of novel sensor and actuator structures at Chalmers University of Technology are given. Using SOI material gives advantages in formation of sensor and actuator structures, such as a nanoindentation force sensor, a three-axis accelerometer, a miniaturized pinball game and integration of diffractive optical elements onto silicon.

  1. 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.

  2. Simulating MEMS Chevron Actuator for Strain Engineering 2D Materials

    NASA Astrophysics Data System (ADS)

    Vutukuru, Mounika; Christopher, Jason; Bishop, David; Swan, Anna

    2D materials pose an exciting paradigm shift in the world of electronics. These crystalline materials have demonstrated high electric and thermal conductivities and tensile strength, showing great potential as the new building blocks of basic electronic circuits. However, strain engineering 2D materials for novel devices remains a difficult experimental feat. We propose the integration of 2D materials with MEMS devices to investigate the strain dependence on material properties such as electrical and thermal conductivity, refractive index, mechanical elasticity, and band gap. MEMS Chevron actuators, provides the most accessible framework to study strain in 2D materials due to their high output force displacements for low input power. Here, we simulate Chevron actuators on COMSOL to optimize actuator design parameters and accurately capture the behavior of the devices while under the external force of a 2D material. Through stationary state analysis, we analyze the response of the device through IV characteristics, displacement and temperature curves. We conclude that the simulation precisely models the real-world device through experimental confirmation, proving that the integration of 2D materials with MEMS is a viable option for constructing novel strain engineered devices. The authors acknowledge support from NSF DMR1411008.

  3. Flexible dielectric elastomer actuators for wearable human-machine interfaces

    NASA Astrophysics Data System (ADS)

    Bolzmacher, Christian; Biggs, James; Srinivasan, Mandayam

    2006-03-01

    Wearable dielectric elastomer actuators have the potential to enable new technologies, such as tactile feedback gloves for virtual reality, and to improve existing devices, such as automatic blood pressure cuffs. They are potentially lighter, quieter, thinner, simpler, and cheaper than pneumatic and hydraulic systems now used to make compliant, actuated interfaces with the human body. Achieving good performance without using a rigid frame to prestrain the actuator is a fundamental challenge in using these actuators on body. To answer this challenge, a new type of fiber-prestrained composite actuator was developed. Equations that facilitate design of the actuator are presented, along with FE analysis, material tests, and experimental results from prototypes. Bending stiffness of the actuator material was found to be comparable to textiles used in clothing, confirming wearability. Two roll-to-roll machines are also presented that permit manufacture of this material in bulk as a modular, compact, prestressed composite that can be cut, stacked, and staggered, in order to build up actuators for a range of desired forces and displacements. The electromechanical properties of single- layered actuators manufactured by this method were measured (N=5). At non-damaging voltages, blocking force ranged from 3,7-5,0 gram per centimeter of actuator width, with linear strains of 20,0-30%. Driving the actuators to breakdown produced maximum force of 8,3-10 gram/cm, and actuation strain in excess 30%. Using this actuator, a prototype tactile display was constructed and demonstrated.

  4. Dynamic actuation of single-crystal diamond nanobeams

    SciTech Connect

    Sohn, Young-Ik; Burek, Michael J.; Lončar, Marko; Kara, Vural; Kearns, Ryan

    2015-12-14

    We show the dielectrophoretic actuation of single-crystal diamond nanomechanical devices. Gradient radio-frequency electromagnetic forces are used to achieve actuation of both cantilever and doubly clamped beam structures, with operation frequencies ranging from a few MHz to ∼50 MHz. Frequency tuning and parametric actuation are also studied.

  5. Electromechanical actuator for thrust vector control

    NASA Astrophysics Data System (ADS)

    Zubkow, Zygmunt

    Attention is given to the development and testing of electromechanical actuator (EMA) systems for use in first- and second-stage thrust vector control of rocket engines. An overview of the test program is also presented. Designs for both first- and second-stage actuators employ redundant dc brushless, three-phase rare-earth permanent magnet motors. The first-stage actuator is about 28 hp per motor and uses a roller screw. Second-stage thrust vector control is implemented with a much smaller actuator of about 1 hp per motor. This actuator uses a gear drive with a recycling ball screw mechanism. An operational EMA is presented. This 6.5-in. actuator is capable of a stall force of 1350 pounds per motor and a frequency response of about 5 HZ.

  6. Electromechanical propellant control system actuator

    NASA Technical Reports Server (NTRS)

    Myers, W. Neill; Weir, Rae Ann

    1990-01-01

    New control mechanism technologies are currently being sought to provide alternatives to hydraulic actuation systems. The Propulsion Laboratory at Marshall Space Flight Center (MSFC) is involved in the development of electromechanical actuators (EMA's) for this purpose. Through this effort, an in-house designed electromechanical propellant valve actuator has been assembled and is presently being evaluated. This evaluation will allow performance comparisons between EMA and hydraulics systems. The in-house design consists of the following hardware: a three-phase brushless motor, a harmonic drive, and an output spline which will mate with current Space Shuttle Main Engine (SSME) propellant control valves. A resolver and associated electronics supply position feedback for the EMA. System control is provided by a solid-state electronic controller and power supply. Frequency response testing has been performed with further testing planned as hardware and test facilities become available.

  7. 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.

  8. Carbon nanotube actuators

    PubMed

    Baughman; Cui; Zakhidov; Iqbal; Barisci; Spinks; Wallace; Mazzoldi; De Rossi D; Rinzler; Jaschinski; Roth; Kertesz

    1999-05-21

    Electromechanical actuators based on sheets of single-walled carbon nanotubes were shown to generate higher stresses than natural muscle and higher strains than high-modulus ferroelectrics. Like natural muscles, the macroscopic actuators are assemblies of billions of individual nanoscale actuators. The actuation mechanism (quantum chemical-based expansion due to electrochemical double-layer charging) does not require ion intercalation, which limits the life and rate of faradaic conducting polymer actuators. Unlike conventional ferroelectric actuators, low operating voltages of a few volts generate large actuator strains. Predictions based on measurements suggest that actuators using optimized nanotube sheets may eventually provide substantially higher work densities per cycle than any previously known technology.

  9. Review of properties of magnetic shape memory (MSM) alloys and MSM actuator designs

    NASA Astrophysics Data System (ADS)

    Gabdullin, N.; Khan, S. H.

    2015-02-01

    Magnetic shape memory alloys are a new group of "smart" materials that exhibit large strain of 6-12% when subjected to magnetic fields. This indicates their enormous potential to be used in different electromagnetic (EM) devices such as actuators, sensors, energy harvesters and dampers. Shape change in MSM materials is controlled by magnetic field and doesn't involve phase transformation, allowing it to overcome a number of disadvantages of conventional shape memory alloys (SMAs). MSM devices are capable of producing large force and stroke output in considerably small dimensions. At the same time they can have fast response and potentially very long lifetime. This paper discusses different modern designs and approaches to MSM actuator design with their advantages and disadvantages. An overview on characteristics of MSM alloys is also presented in order to highlight how different properties of the material influence the total output of a device.

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

    NASA Astrophysics Data System (ADS)

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

    2015-09-01

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

  11. Magnetic suspension characteristics of electromagnetic actuators

    NASA Technical Reports Server (NTRS)

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

    1993-01-01

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

  12. Development of shape memory alloy (SMA)-based actuator for remotely piloted vehicles (RPVs)

    NASA Astrophysics Data System (ADS)

    Prasad, M. Hari

    2003-10-01

    While the experimental use of shape memory alloys (SMAs) is widespread in aerospace integrated actuation systems, much of the practical value of SMA technology is realized in linear and rotary actuators. This report will introduce an attempt to develop a full-scaled SMA based actuator to replace electro-mechanical actuator for flap actuation of a Remotely Piloted Vehicle (RPV). At the heart of this actuator there is thermally sensitive wire that, when heated, contracts and provides useable mechanical energy. This linear actuation is converted into rotary, for the required actuation of flap. The actuator configurations were sized to fit inside the wing of the RPV where presently the electro-mechanical actuator is housed. The torque supplied to the flap is similarly calculated from full-scale requirements. Using common engineering principles, this design will demonstrate how to design a typical SMA actuator. Test of the actuator performance (stroke, force movement) is done on special test fixture.

  13. Characterisation and evaluation of soft elastomeric actuators for hand assistive and rehabilitation applications.

    PubMed

    Yap, Hong Kai; Lim, Jeong Hoon; Nasrallah, Fatima; Cho Hong Goh, James; Yeow, Chen-Hua

    2016-01-01

    Various hand exoskeletons have been proposed for the purposes of providing assistance in activities of daily living and rehabilitation exercises. However, traditional exoskeletons are made of rigid components that impede the natural movement of joints and cause discomfort to the user. This paper evaluated a soft wearable exoskeleton using soft elastomeric actuators. The actuators could generate the desired actuation of the finger joints with a simple design. The actuators were characterised in terms of their radius of curvature and force output during actuation. Additionally, the device was evaluated on five healthy subjects in terms of its assisted finger joint range of motion. Results demonstrated that the subjects were able to perform the grasping actions with the assistance of the device and the range of motion of individual finger joints varied from subject to subject. This work evaluated the performance of a soft wearable exoskeleton and highlighted the importance of customisability of the device. It demonstrated the possibility of replacing traditional rigid exoskeletons with soft exoskeletons that are more wearable and customisable. PMID:27007297

  14. Characterization of electrostatic glass actuators

    NASA Astrophysics Data System (ADS)

    Moser, R.; Wüthrich, R.; Sache, L.; Higuchi, T.; Bleuler, H.

    2003-06-01

    Electrostatic glass actuators are a promising concept for various applications. The use of the interaction between glassy substances and electrostatic fields allows synchronous propulsion akin to the electret actuator. Even though some properties of electrostatic glass motors have been observed and described, a characterization is still missing. The authors would like to present the experimental work leading to the determination of the optimal glass blend and to the optimal electrode pattern in order to maximize the exploitable forces. An analytical model is also presented, satisfactorily close to the measured data. These measurements and models constitute a tool to design electrostatic glass actuators such as, for example, a miniature disk drive, which is presented as one of several promising applications.

  15. Impact micro-positioning actuator

    NASA Technical Reports Server (NTRS)

    Cuerden, Brian (Inventor); Angel, J. Roger P. (Inventor); Burge, James H. (Inventor); DeRigne, Scott T. (Inventor)

    2006-01-01

    An impact micro-positioning actuator. In one aspect of the invention, a threaded shaft is threadably received in a nut and the nut is impacted by an impacting device, causing the nut first to rotate relative to the shaft by slipping as a result of shaft inertia and subsequently to stick to the shaft as a result of the frictional force therebetween. The nut is returned to its initial position by a return force provided by a return mechanism after impact. The micro-positioning actuator is further improved by controlling at least one and preferably all of the following: the friction, the impact provided by the impacting device, the return force provided by the return mechanism, and the inertia of the shaft. In another aspect of the invention, a threaded shaft is threadably received in a nut and the shaft is impacted by an impacting device, causing the shaft to rotate relative to the nut.

  16. Fabrication and characterization of solid-state, conducting polymer actuators

    SciTech Connect

    Xie, J.; Sansinena, J. M.; Gao, J.; Wang, H. L.

    2004-01-01

    We report here the fabrication and characterization of solid-state, conducting polymer actuators. The electrochemical activity of polyaniline (PANI) thin film coated with solid-state polyelectrolyte is very similar to the polyaniline thin film in an aqueous solution. The solid-state actuator is adhere to a lever arm of an force transducer and the force generation is measured in real time. The force generated by the actuator is found to be length dependent. However, the overall torques generated by the actuators with different lengths remains essentially the same. The effect of stimulation signals such as voltage, current, on the bending angle and displacement is also studied using square wave potential.

  17. Elastomeric actuator devices for magnetic resonance imaging

    NASA Technical Reports Server (NTRS)

    Dubowsky, Steven (Inventor); Hafez, Moustapha (Inventor); Jolesz, Ferenc A. (Inventor); Kacher, Daniel F. (Inventor); Lichter, Matthew (Inventor); Weiss, Peter (Inventor); Wingert, Andreas (Inventor)

    2008-01-01

    The present invention is directed to devices and systems used in magnetic imaging environments that include an actuator device having an elastomeric dielectric film with at least two electrodes, and a frame attached to the actuator device. The frame can have a plurality of configurations including, such as, for example, at least two members that can be, but not limited to, curved beams, rods, plates, or parallel beams. These rigid members can be coupled to flexible members such as, for example, links wherein the frame provides an elastic restoring force. The frame preferably provides a linear actuation force characteristic over a displacement range. The linear actuation force characteristic is defined as .+-.20% and preferably 10% over a displacement range. The actuator further includes a passive element disposed between the flexible members to tune a stiffness characteristic of the actuator. The passive element can be a bi-stable element. The preferred embodiment actuator includes one or more layers of the elastomeric film integrated into the frame. The elastomeric film can be made of many elastomeric materials such as, for example, but not limited to, acrylic, silicone and latex.

  18. Design of a hydraulic actuator for active control of rotating machinery

    NASA Technical Reports Server (NTRS)

    Rashidi, Majid; Dirusso, Eliseo

    1991-01-01

    A hydraulic actuator is described which consists of a pump, a hydraulic servo-valve, and a thin elastic plate which transduces the generated pressure variations into forces acting on a mass which simulates the bearing of a rotor system. An actuator characteristic number is defined to provide a base for an optimum design of force actuators with combined weight, frequency, and force considerations. This characteristic number may also be used to compare hydraulic and electromagnetic force actuators. In tests, this actuator generated 182.3 Newton force at a frequency of 100 Hz and a displacement amplitude of 5.8 x 10 exp -5 meter.

  19. 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.

  20. Out-of-Plane Translational PZT Bimorph Actuator with Archimedes’ Spiral Actuating Tethers

    NASA Astrophysics Data System (ADS)

    Yang, Chenye; Liu, Sanwei; Livermore, Carol

    2015-12-01

    The design, finite element analysis (FEA), and experimental characterization of a MEMS out-of-plane (vertical) translational lead-zirconate-titanate (PZT) bimorph actuator supported on Archimedes’ spiral tethers are presented. Two types of bimorph actuators with different electrode patterns (with spiral tethers half actuated or fully actuated) are designed and fabricated. Both designs are fabricated by commercial processes and are compatible with integration into more complex MEMS systems. Finite element analysis (FEA) was used to analyze and predict the displacements of both types of actuators. The deflections of both fully- actuated and half-actuated devices were measured experimentally to validate the design. At an applied voltage of 110V, the out-of-plane deflections of the actuators with half-actuated and fully-actuated tethers were measured at about 17 μm and 29 μm respectively, in good agreement with FEA predictions of 17.1 μm and 25.8 μm. The corresponding blocking forces are predicted as 10 mN and 17 mN by FEA.

  1. 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.

  2. 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

  3. 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. PMID:25020043

  4. A novel method of fabricating laminated silicone stack actuators with pre-strained dielectric layers

    NASA Astrophysics Data System (ADS)

    Hinitt, Andrew D.; Conn, Andrew T.

    2014-03-01

    In recent studies, stack based Dielectric Elastomer Actuators (DEAs) have been successfully used in haptic feedback and sensing applications. However, limitations in the fabrication method, and materials used to con- struct stack actuators constrain their force and displacement output per unit volume. This paper focuses on a fabrication process enabling a stacked elastomer actuator to withstand the high tensile forces needed for high power applications, such as mimetics for mammalian muscle contraction (i.e prostheses), whilst requiring low voltage for thickness-mode contractile actuation. Spun elastomer layers are bonded together in a pre-strained state using a conductive adhesive filler, forming a Laminated Inter-Penetrating Network (L-IPN) with repeatable and uniform electrode thickness. The resulting structure utilises the stored strain energy of the dielectric elas- tomer to compress the cured electrode composite material. The method is used to fabricate an L-IPN example, which demonstrated that the bonded L-IPN has high tensile strength normal to the lamination. Additionally, the uniformity and retained dielectric layer pre-strain of the L-IPN are confirmed. The described method is envisaged to be used in a semi-automated assembly of large-scale multi-layer stacks of pre-strained dielectric layers possessing a tensile strength in the range generated by mammalian muscle.

  5. Artificial muscle actuators for haptic displays: system design to match the dynamics and tactile sensitivity of the human fingerpad

    NASA Astrophysics Data System (ADS)

    Biggs, S. James; Hitchcock, Roger N.

    2010-04-01

    Electroactive Polymer Artificial Muscles (EPAMTM) based on dielectric elastomers have the bandwidth and the energy density required to make haptic displays that are both responsive and compact. Recent work at Artificial Muscle Inc. has been directed toward the development of thin, high-fidelity haptic modules for mobile handsets. The modules provide the brief tactile "click" that confirms key press, and the steady state "bass" effects that enhance gaming and music. To design for these capabilities we developed a model of the physical system comprised of the actuator, handset, and user. Output of the physical system was passed through a transfer function to covert vibration into an estimate of the intensity of the user's haptic sensation. A model of fingertip impedance versus button press force is calibrated to data, as is impedance of the palm holding a handset. An energy-based model of actuator performance is derived and calibrated, and the actuator geometry is tuned for good haptic performance.

  6. Lead magnesium niobate actuator for micropositioning

    DOEpatents

    Swift, Charles D.; Bergum, John W.

    1994-01-01

    An improved lead magnesium niobate actuator is disclosed comprising a cylindrical lead magnesium niobate crystal stack mounted in a cylindrical casing wherein a bias means, such as one or more belleville washers, is located between one end of the crystal stack and a partially closed end of the casing; and adjustment means are provided which bear against the opposite end of the crystal stack, whereby an adjustable compressive force is constantly applied against the crystal stack, whether the crystal stack is actuated in an extended position, or is in an unactuated contracted position. In a preferred embodiment, cooling ports are provided for the circulation of coolant in the actuator to cool the crystal stack, and provision is made for removal and replacement of the crystal stack without disconnecting the actuator from the external device being actuated.

  7. Lead magnesium niobate actuator for micropositioning

    DOEpatents

    Swift, C.D.; Bergum, J.W.

    1994-10-25

    An improved lead magnesium niobate actuator is disclosed comprising a cylindrical lead magnesium niobate crystal stack mounted in a cylindrical casing wherein a bias means, such as one or more belleville washers, is located between one end of the crystal stack and a partially closed end of the casing; and adjustment means are provided which bear against the opposite end of the crystal stack, whereby an adjustable compressive force is constantly applied against the crystal stack, whether the crystal stack is actuated in an extended position, or is in an unactuated contracted position. In a preferred embodiment, cooling ports are provided for the circulation of coolant in the actuator to cool the crystal stack, and provision is made for removal and replacement of the crystal stack without disconnecting the actuator from the external device being actuated. 3 figs.

  8. A self-strain feedback tuning-fork-shaped ionic polymer metal composite clamping actuator with soft matter elasticity-detecting capability for biomedical applications.

    PubMed

    Feng, Guo-Hua; Huang, Wei-Lun

    2014-12-01

    This paper presents a smart tuning-fork-shaped ionic polymer metal composite (IPMC) clamping actuator for biomedical applications. The two fingers of the actuator, which perform the clamping motion, can be electrically controlled through a unique electrode design on the IPMC material. The generated displacement or strain of the fingers can be sensed using an integrated soft strain-gage sensor. The IPMC actuator and associated soft strain gage were fabricated using a micromachining technique. A 13.5×4×2 mm(3) actuator was shaped from Nafion solution and a selectively grown metal electrode formed the active region. The strain gage consisted of patterned copper foil and polyethylene as a substrate. The relationship between the strain gage voltage output and the displacement at the front end of the actuator's fingers was characterized. The equivalent Young's modulus, 13.65 MPa, of the soft-strain-gage-integrated IPMC finger was analyzed. The produced clamping force exhibited a linear increasing rate of 1.07 mN/s, based on a dc driving voltage of 7 V. Using the developed actuator to clamp soft matter and simultaneously acquire its Young's modulus was achieved. This demonstrated the feasibility of the palpation function and the potential use of the actuator in minimally invasive surgery.

  9. A self-strain feedback tuning-fork-shaped ionic polymer metal composite clamping actuator with soft matter elasticity-detecting capability for biomedical applications.

    PubMed

    Feng, Guo-Hua; Huang, Wei-Lun

    2014-12-01

    This paper presents a smart tuning-fork-shaped ionic polymer metal composite (IPMC) clamping actuator for biomedical applications. The two fingers of the actuator, which perform the clamping motion, can be electrically controlled through a unique electrode design on the IPMC material. The generated displacement or strain of the fingers can be sensed using an integrated soft strain-gage sensor. The IPMC actuator and associated soft strain gage were fabricated using a micromachining technique. A 13.5×4×2 mm(3) actuator was shaped from Nafion solution and a selectively grown metal electrode formed the active region. The strain gage consisted of patterned copper foil and polyethylene as a substrate. The relationship between the strain gage voltage output and the displacement at the front end of the actuator's fingers was characterized. The equivalent Young's modulus, 13.65 MPa, of the soft-strain-gage-integrated IPMC finger was analyzed. The produced clamping force exhibited a linear increasing rate of 1.07 mN/s, based on a dc driving voltage of 7 V. Using the developed actuator to clamp soft matter and simultaneously acquire its Young's modulus was achieved. This demonstrated the feasibility of the palpation function and the potential use of the actuator in minimally invasive surgery. PMID:25491826

  10. Improvement in topology measurement accuracy of atomic force microscope using additional sensor

    NASA Astrophysics Data System (ADS)

    Yoon, Yeomin; Jeong, Jiseong; Kim, Junsup; Park, Kyihwan

    2015-07-01

    The topology image of an atomic force microscope is obtained by picking up a controlled output of a force-feedback loop that is proportional to the height of a sample under the assumption that no dynamics in a z-axis actuator exist. However, the dynamic effects such as hysteresis and creep in a PZT driving z-axis actuator cannot be ignored. To solve this problem, a strain-gage sensor is used as an additional sensor, which enables measurement of the absolute displacement of a z-axis PZT nano scanner. The advantage of using an additional sensor is experimentally provided and validated in topology images.

  11. Active vibration control for flexible rotor by optimal direct-output feedback control

    NASA Technical Reports Server (NTRS)

    Nonami, Kenzou; Dirusso, Eliseo; Fleming, David P.

    1989-01-01

    Experimental research tests were performed to actively control the rotor vibrations of a flexible rotor mounted on flexible bearing supports. The active control method used in the tests is called optimal direct-output feedback control. This method uses four electrodynamic actuators to apply control forces directly to the bearing housings in order to achieve effective vibration control of the rotor. The force actuators are controlled by an analog controller that accepts rotor displacement as input. The controller is programmed with experimentally determined feedback coefficients; the output is a control signal to the force actuators. The tests showed that this active control method reduced the rotor resonance peaks due to unbalance from approximately 250 micrometers down to approximately 25 micrometers (essentially runout level). The tests were conducted over a speed range from 0 to 10,000 rpm; the rotor system had nine critical speeds within this speed range. The method was effective in significantly reducing the rotor vibration for all of the vibration modes and critical speeds.

  12. Active vibration control for flexible rotor by optimal direct-output feedback control

    NASA Technical Reports Server (NTRS)

    Nonami, K.; Dirusso, E.; Fleming, D. P.

    1989-01-01

    Experimental research tests were performed to actively control the rotor vibrations of a flexible rotor mounted on flexible bearing supports. The active control method used in the tests is called optimal direct-output feedback control. This method uses four electrodynamic actuators to apply control forces directly to the bearing housings in order to achieve effective vibration control of the rotor. The force actuators are controlled by an analog controller that accepts rotor displacement as input. The controller is programmed with experimentally determined feedback coefficients; the output is a control signal to the force actuators. The tests showed that this active control method reduced the rotor resonance peaks due to unbalance from approximately 250 microns down to approximately 25 microns (essentially runout level). The tests were conducted over a speed range from 0 to 10,000 rpm; the rotor system had nine critical speeds within this speed range. The method was effective in significantly reducing the rotor vibration for all of the vibration modes and critical speeds.

  13. 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.

  14. Printing 3D dielectric elastomer actuators for soft robotics

    NASA Astrophysics Data System (ADS)

    Rossiter, Jonathan; Walters, Peter; Stoimenov, Boyko

    2009-03-01

    We present a new approach to the fabrication of soft dielectric elastomer actuators using a 3D printing process. Complete actuators including active membranes and support structures can be 3D printed in one go, resulting in a great improvement in fabrication speed and increases in accuracy and consistency. We describe the fabrication process and present force and displacement results for a double-membrane antagonistic actuator. In this structure controlled prestrain is applied by the simple process of pressing together two printed actuator halves. The development of 3D printable soft actuators will have a large impact on many application areas including engineering, medicine and the emerging field of soft robotics.

  15. Cryogenic Actuators and Motors Using Single Crystal Piezoelectrics

    NASA Astrophysics Data System (ADS)

    Jiang, Xiaoning; Rehrig, Paul W.; Hackenberger, Wesley S.; Shrout, Thomas R.

    2006-04-01

    Novel piezoelectric actuators (stack actuator and flextensional actuator) and ultrasonic motors are presented for cryogenic actuations utilizing the excellent cryogenic properties of recently invented single crystal piezoelectrics (PMN-PT and PZN-PT crystals). Single crystal piezoelectrics exhibit large increases in strain over conventional piezoelectric ceramics. Furthermore, the crystals have been found to retain appreciable piezoactivity down to temperatures as low as 20K. These cryogenic actuators are very promising for shape control, precision positioning and force control in various NASA, military and civilian applications such as cryogenic adaptive optics for space telescopes, interferometers in terrestrial planet finder missions, interferometers and spectrometers for remote sensing applications.

  16. Research on Plasma Synthetic Jet Actuator

    NASA Astrophysics Data System (ADS)

    Che, X. K.; Nie, W. S.; Hou, Z. Y.

    2011-09-01

    Circular dielectric barrier surface discharge (DBDs) actuator is a new concept of zero mass synthetic jet actuator. The characteristic of discharge and flow control effect of annular-circular plasma synthetic jet actuator has been studied by means of of numerical simulation and experiment. The discharge current density, electron density, electrostatic body force density and flowfield have been obtained. The results show annular-circular actuator can produce normal jet whose velocity will be greater than 2.0 m/s. The jet will excite circumfluence. In order to insure the discharge is generated in the exposed electrode annular and produce centripetal and normal electrostatic body force, the width and annular diameter of exposed electrode must be big enough, or an opposite phase drove voltage potential should be applied between the two electrodes.

  17. Self-actuating reactor shutdown system

    DOEpatents

    Barrus, Donald M.; Brummond, Willian A; Peterson, Leslie F.

    1988-01-01

    A control system for the automatic or self-actuated shutdown or "scram" of a nuclear reactor. The system is capable of initiating scram insertion by a signal from the plant protection system or by independent action directly sensing reactor conditions of low-flow or over-power. Self-actuation due to a loss of reactor coolant flow results from a decrease of pressure differential between the upper and lower ends of an absorber element. When the force due to this differential falls below the weight of the element, the element will fall by gravitational force to scram the reactor. Self-actuation due to high neutron flux is accomplished via a valve controlled by an electromagnet and a thermionic diode. In a reactor over-power, the diode will be heated to a change of state causing the electromagnet to be shorted thereby actuating the valve which provides the changed flow and pressure conditions required for scramming the absorber element.

  18. Integrated piezoelectric actuators in deep drawing tools

    NASA Astrophysics Data System (ADS)

    Neugebauer, R.; Mainda, P.; Drossel, W.-G.; Kerschner, M.; Wolf, K.

    2011-04-01

    The production of car body panels are defective in succession of process fluctuations. Thus the produced car body panel can be precise or damaged. To reduce the error rate, an intelligent deep drawing tool was developed at the Fraunhofer Institute for Machine Tools and Forming Technology IWU in cooperation with Audi and Volkswagen. Mechatronic components in a closed-loop control is the main differentiating factor between an intelligent and a conventional deep drawing tool. In correlation with sensors for process monitoring, the intelligent tool consists of piezoelectric actuators to actuate the deep drawing process. By enabling the usage of sensors and actuators at the die, the forming tool transform to a smart structure. The interface between sensors and actuators will be realized with a closed-loop control. The content of this research will present the experimental results with the piezoelectric actuator. For the analysis a production-oriented forming tool with all automotive requirements were used. The disposed actuators are monolithic multilayer actuators of the piezo injector system. In order to achieve required force, the actuators are combined in a cluster. The cluster is redundant and economical. In addition to the detailed assembly structures, this research will highlight intensive analysis with the intelligent deep drawing tool.

  19. Linear force device

    NASA Technical Reports Server (NTRS)

    Clancy, John P.

    1988-01-01

    The object of the invention is to provide a mechanical force actuator which is lightweight and manipulatable and utilizes linear motion for push or pull forces while maintaining a constant overall length. The mechanical force producing mechanism comprises a linear actuator mechanism and a linear motion shaft mounted parallel to one another. The linear motion shaft is connected to a stationary or fixed housing and to a movable housing where the movable housing is mechanically actuated through actuator mechanism by either manual means or motor means. The housings are adapted to releasably receive a variety of jaw or pulling elements adapted for clamping or prying action. The stationary housing is adapted to be pivotally mounted to permit an angular position of the housing to allow the tool to adapt to skewed interfaces. The actuator mechanisms is operated by a gear train to obtain linear motion of the actuator mechanism.

  20. Optimization of Sensing and Feedback Control for Vibration/Flutter of Rotating Disk by PZT Actuators via Air Coupled Pressure

    PubMed Central

    Yan, Tianhong; Xu, Xinsheng; Han, Jianqiang; Lin, Rongming; Ju, Bingfeng; Li, Qing

    2011-01-01

    In this paper, a feedback control mechanism and its optimization for rotating disk vibration/flutter via changes of air-coupled pressure generated using piezoelectric patch actuators are studied. A thin disk rotates in an enclosure, which is equipped with a feedback control loop consisting of a micro-sensor, a signal processor, a power amplifier, and several piezoelectric (PZT) actuator patches distributed on the cover of the enclosure. The actuator patches are mounted on the inner or the outer surfaces of the enclosure to produce necessary control force required through the airflow around the disk. The control mechanism for rotating disk flutter using enclosure surfaces bonded with sensors and piezoelectric actuators is thoroughly studied through analytical simulations. The sensor output is used to determine the amount of input to the actuator for controlling the response of the disk in a closed loop configuration. The dynamic stability of the disk-enclosure system, together with the feedback control loop, is analyzed as a complex eigenvalue problem, which is solved using Galerkin’s discretization procedure. The results show that the disk flutter can be reduced effectively with proper configurations of the control gain and the phase shift through the actuations of PZT patches. The effectiveness of different feedback control methods in altering system characteristics and system response has been investigated. The control capability, in terms of control gain, phase shift, and especially the physical configuration of actuator patches, are also evaluated by calculating the complex eigenvalues and the maximum displacement produced by the actuators. To achieve a optimal control performance, sizes, positions and shapes of PZT patches used need to be optimized and such optimization has been achieved through numerical simulations. PMID:22163788

  1. Optimization of sensing and feedback control for vibration/flutter of rotating disk by PZT actuators via air coupled pressure.

    PubMed

    Yan, Tianhong; Xu, Xinsheng; Han, Jianqiang; Lin, Rongming; Ju, Bingfeng; Li, Qing

    2011-01-01

    In this paper, a feedback control mechanism and its optimization for rotating disk vibration/flutter via changes of air-coupled pressure generated using piezoelectric patch actuators are studied. A thin disk rotates in an enclosure, which is equipped with a feedback control loop consisting of a micro-sensor, a signal processor, a power amplifier, and several piezoelectric (PZT) actuator patches distributed on the cover of the enclosure. The actuator patches are mounted on the inner or the outer surfaces of the enclosure to produce necessary control force required through the airflow around the disk. The control mechanism for rotating disk flutter using enclosure surfaces bonded with sensors and piezoelectric actuators is thoroughly studied through analytical simulations. The sensor output is used to determine the amount of input to the actuator for controlling the response of the disk in a closed loop configuration. The dynamic stability of the disk-enclosure system, together with the feedback control loop, is analyzed as a complex eigenvalue problem, which is solved using Galerkin's discretization procedure. The results show that the disk flutter can be reduced effectively with proper configurations of the control gain and the phase shift through the actuations of PZT patches. The effectiveness of different feedback control methods in altering system characteristics and system response has been investigated. The control capability, in terms of control gain, phase shift, and especially the physical configuration of actuator patches, are also evaluated by calculating the complex eigenvalues and the maximum displacement produced by the actuators. To achieve a optimal control performance, sizes, positions and shapes of PZT patches used need to be optimized and such optimization has been achieved through numerical simulations.

  2. Hydraulically amplified PZT mems actuator

    DOEpatents

    Miles, Robin R.

    2004-11-02

    A hydraulically amplified microelectromechanical systems actuator. A piece of piezoelectric material or stacked piezo bimorph is bonded or deposited as a thin film. The piece is operatively connected to a primary membrane. A reservoir is operatively connected to the primary membrane. The reservoir contains a fluid. A membrane is operatively connected to the reservoir. In operation, energizing the piezoelectric material causing the piezoelectric material to bow. Bowing of the piezoelectric material causes movement of the primary membrane. Movement of the primary membrane results in a force in being transmitted to the liquid in the reservoir. The force in the liquid causes movement of the membrane. Movement of the membrane results in an operating actuator.

  3. 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.

  4. Quick actuating closure

    NASA Technical Reports Server (NTRS)

    White, III, Dorsey E. (Inventor); Updike, deceased, Benjamin T. (Inventor); Allred, Johnny W. (Inventor)

    1989-01-01

    A quick actuating closure for a pressure vessel 80 in which a wedge ring 30 with a conical outer surface 31 is moved forward to force shear blocks 40, with conical inner surfaces 41, radially outward to lock an end closure plug 70 within an opening 81 in the pressure vessel 80. A seal ring 60 and a preload ramp 50 sit between the shear blocks 40 and the end closure plug 70 to provide a backup sealing capability. Conical surfaces 44 and 55 of the preload ramp 50 and the shear blocks 40 interact to force the seal ring 60 into shoulders 73 and 85 in the end closure plug 70 and opening 81 to form a tight seal. The end closure plug 70 is unlocked by moving the wedge ring 30 rearward, which causes T-bars 32 of the wedge ring 30 riding within T -slots 42 of the shear blocks 40 to force them radially inward. The end closure plug 70 is then removed, allowing access to the interior of the pressure vessel 80.

  5. Subminiature hydraulic actuator

    NASA Technical Reports Server (NTRS)

    Sevart, F. D.

    1978-01-01

    Subminiature, single-vane rotary actuator for wind-tunnel test-model control-surface actuation systems presents severe torque and system band-pass requirements with stringent space and weight limitations. Actuator has very low leakage of fluid from one side to other, permitting use in precision position servo-systems.

  6. 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

  7. Stabilization of large space structures by linear reluctance actuators

    NASA Technical Reports Server (NTRS)

    Biswas, Saroj K.; Sendaula, Henry M.

    1991-01-01

    Application of magnetic forces are considered for stabilization of vibrations of flexible space structures. Three electromagnetic phenomena are studied, such as: (1) magnetic body force; (2) reluctance torque; and (3) magnetostriction, and their application is analyzed for stabilization of a beam. The magnetic body force actuator uses the force that exists between poles of magnets. The reluctance actuator is configured in such a way that the reluctance of the magnetic circuit will be minimum when the beam is straight. Any bending of the beam increases the reluctance and hence generates a restoring torque that reduces bending. The gain of the actuator is controlled by varying the magnetizing current. Since the energy density of a magnetic device is much higher compared to piezoelectric or thermal actuators, it is expected that the reluctance actuator will be more effective in controlling the structural vibrations.

  8. Ionic Polymer-Metal Composites (IPMCs) as Biomimetic Sensors, Actuators and Artificial Muscles: A Review

    NASA Technical Reports Server (NTRS)

    Shahinpoor, M.; Bar-Cohen, Y.; Simpson, J. O.; Smith, J.

    1998-01-01

    This paper presents an introduction to ionic polymer-metal composites and some mathematical modeling pertaining to them. It further discusses a number of recent findings in connection with ion-exchange polymer-metal composites (IPMCS) as biomimetic sensors and actuators. Strips of these composites can undergo large bending and flapping displacement if an electric field is imposed across their thickness. Thus, in this sense they are large motion actuators. Conversely by bending the composite strip, either quasi-statically or dynamically, a voltage is produced across the thickness of the strip. Thus, they are also large motion sensors. The output voltage can be calibrated for a standard size sensor and correlated to the applied loads or stresses. They can be manufactured and cut in any size and shape. In this paper first the sensing capability of these materials is reported. The preliminary results show the existence of a linear relationship between the output voltage and the imposed displacement for almost all cases. Furthermore, the ability of these IPMCs as large motion actuators and robotic manipulators is presented. Several muscle configurations are constructed to demonstrate the capabilities of these IPMC actuators. This paper further identifies key parameters involving the vibrational and resonance characteristics of sensors and actuators made with IPMCS. When the applied signal frequency varies, so does the displacement up to a critical frequency called the resonant frequency where maximum deformation is observed, beyond which the actuator response is diminished. A data acquisition system was used to measure the parameters involved and record the results in real time basis. Also the load characterizations of the IPMCs were measured and it was shown that these actuators exhibit good force to weight characteristics in the presence of low applied voltages. Finally reported are the cryogenic properties of these muscles for potential utilization in an outer space

  9. Preregulator feedback circuit utilizes Light Actuated Switch

    NASA Technical Reports Server (NTRS)

    Hayser, T. P.

    1966-01-01

    Preregulator feedback circuit employing a Light Actuated Switch /LAS/ provides a simple and efficient feedback device in a power supply preregulator which maintains dc isolation between input and output grounds. The LAS consists of a diode PN junction infrared source close to, but electrically isolated from, a photodetector.

  10. 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.

  11. Larger-Stroke Piezoelectrically Actuated Microvalve

    NASA Technical Reports Server (NTRS)

    Yang, Eui-Hyeok

    2003-01-01

    A proposed normally-closed microvalve would contain a piezoelectric bending actuator instead of a piezoelectric linear actuator like that of the microvalve described in the preceding article. Whereas the stroke of the linear actuator of the preceding article would be limited to approximately equal to 6 micrometers, the stroke of the proposed bending actuator would lie in the approximate range of 10 to 15 micrometers-large enough to enable the microvalve to handle a variety of liquids containing suspended particles having sizes up to 10 m. Such particulate-laden liquids occur in a variety of microfluidic systems, one example being a system that sorts cells or large biomolecules for analysis. In comparison with the linear actuator of the preceding article, the bending actuator would be smaller and less massive. The combination of increased stroke, smaller mass, and smaller volume would be obtained at the cost of decreased actuation force: The proposed actuator would generate a force in the approximate range of 1 to 4 N, the exact amount depending on operating conditions and details of design. This level of actuation force would be too low to enable the valve to handle a fluid at the high pressure level mentioned in the preceding article. The proposal encompasses two alternative designs one featuring a miniature piezoelectric bimorph actuator and one featuring a thick-film unimorph piezoelectric actuator (see figure). In either version, the valve would consume a power of only 0.01 W when actuated at a frequency of 100 Hz. Also, in either version, it would be necessary to attach a soft elastomeric sealing ring to the valve seat so that any particles that settle on the seat would be pushed deep into the elastomeric material to prevent or reduce leakage. The overall dimensions of the bimorph version would be 7 by 7 by 1 mm. The actuator in this version would generate a force of 1 N and a stroke of 10 m at an applied potential of 150 V. The actuation force would be

  12. 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.

  13. Omnidirectional Actuator Handle

    NASA Technical Reports Server (NTRS)

    Moetteli, John B.

    1995-01-01

    Proposed actuator handle comprises two normally concentric rings, cables, and pulleys arranged such that relative displacement of rings from concentricity results in pulling of cable and consequent actuation of associated mechanism. Unlike conventional actuator handles like levers on farm implements, actuated from one or two directions only, proposed handle reached from almost any direction and actuated by pulling or pushing inner ring in any direction with respect to outer ring. Flanges installed on inner ring to cover gap between inner ring and housing to prevent clothing from being caught.

  14. 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.

  15. A multi-responsive water-driven actuator with instant and powerful performance for versatile applications

    PubMed Central

    Mu, Jiuke; Hou, Chengyi; Zhu, Bingjie; Wang, Hongzhi; Li, Yaogang; Zhang, Qinghong

    2015-01-01

    Mechanical actuators driven by water that respond to multiple stimuli, exhibit fast responses and large deformations, and generate high stress have potential in artificial muscles, motors, and generators. Meeting all these requirements in a single device remains a challenge. We report a graphene monolayer paper that undergoes reversible deformation. Its graphene oxide cells wrinkle and extend in response to water desorption and absorption, respectively. Its fast (~0.3 s), powerful (>100 MPa output stress, 7.5 × 105 N kg−1 unit mass force), and controllable actuation can be triggered by moisture, heat, and light. The graphene monolayer paper has potential in artificial muscles, robotic hands, and electromagnetic-free generators. PMID:25826443

  16. An Investigation of Electrochemomechanical Actuation of Conductive Polyacrylonitrile (PAN) Nanofiber Composites

    NASA Astrophysics Data System (ADS)

    Gonzalez, Mark A.

    A polymer-based nanofiber composite actuator designed for linear actuation was fabricated by electrospinning, actuated by electrolysis, and characterized by electrical and mechanical testing to address performance limitations and understand the activation processing effects on actuation performance. Currently, Electroactive polymers (EAPs) have provided uses in sensory and actuation technology, but have either low force output or expand rather than contract, falling short in capturing the natural motion and function of muscle desperately needed to provide breakthroughs in the bio-medical and robotic fields. Previous research has shown activated Polyacrylonitrile (PAN) fibers having biomimetic functionalities similar to the sarcomere contraction responsible for muscle function. Activated PAN is also known to contract and expand by electrolysis when in close vicinity to the anode and cathode, respectively. PAN nanofibers especially show faster response to changes in environmental pH and improved mechanical properties over larger diameter fibers. Conductive additives were introduced to the electrospinning solution and activated in an attempt to create composite PAN nanofiber gel actuators with improved conductivity and eliminate the need of stiff electrodes. Tensile testing was conducted to examine changes in mechanical properties between annealing and hydrolysis processing. Introducing conductive additives did not show a significant increase in conductivity and created unusable samples, requiring alternative electrode materials. Electrochemical contraction rates up to 25%/ min were achieved. Strains of 58.8%, ultimate stresses up to 77.1 MPa, and moduli of 0.21 MPa were achieved with pure PAN nanofiber mats, surpassing mechanical properties of natural muscles. Improvements to contraction rates and young's moduli are necessary to capture the function and performance of skeletal muscles properly.

  17. Stability analysis of electrostatically actuated nano/micro-beams under the effect of van der Waals force, a semi-analytical approach

    NASA Astrophysics Data System (ADS)

    Askari, Amir R.; Tahani, Masoud

    2016-05-01

    The objective of the present paper is to determine pull-in parameters (pull-in voltage and its corresponding displacement) of nano/micro-beams with clamped-clamped, clamped-free, clamped-hinged and hinged-hinged boundary conditions, when they are subjected to the electrostatics and van der Waals (vdW) attractions. The governing non-linear boundary value equation of equilibrium is derived, non-dimensionalized and reduced to an algebraic equation, which describes the position of the maximum deflection of the beam, utilizing the Galerkin decomposition method. The equation which governs on the stability condition of the system is also obtained by differentiating the reduced equilibrium equation with respect to the maximum deflection of the beam. These two equations are solved simultaneously to determine pull-in parameters. Closed-form solutions are provided for cases under electrical loading and vdW attraction alone. The combined effect of both electrostatic and vdW loadings are also investigated using the homotopy perturbation method (HPM). It is found that the present semi-analytical findings are in excellent agreement with those obtained numerically. In addition, it is observed that the present semi-analytical approach can provide results which agree better with available three-dimensional finite element simulations as well as those obtained by nonlinear finite element method than other available analytical or semi-analytical findings in the literature. Non-dimensional electrostatic and vdW parameters, which are defined in the text, are plotted versus each other at pull-in condition. It is found that there exists a linear relationship between these two parameters at pull-in condition. Using this fact, pull-in voltage, detachment length and minimum allowable gap of electrostatically actuated nano/micro-beams are determined explicitly through some closed-form expressions.

  18. Proprioceptive Actuation Design for Dynamic Legged locomotion

    NASA Astrophysics Data System (ADS)

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

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

  19. Development of a magneto-rheological fluid based hybrid actuation system

    NASA Astrophysics Data System (ADS)

    John, Shaju

    conducted on a hybrid hydraulic system driven by a pump (actuated by a 2" long and 1/4" diameter Terfenol-D rod) and a Wheatstone bridge network of MR fluidic valves. The Wheatstone bridge network is used to provide bi-directionality to the load. Through a variety of experimental studies, the main performance metrics of the actuation system, like output power, blocked force, maximum no-load velocity and efficiency, are obtained. The actuation system exhibits a blocked force of 30 N and a maximum no-load velocity of 50 mm/s. Extensive bi-directional tests were also done for cases of no-load, inertial load and spring load to establish the frequency bandwidth of the actuator. The actuation system can output a stroke of 9 mm at an output actuator frequency of 4 Hz. An analytical model was developed to predict the performance of the hybrid hydraulic actuation system. A state space representation of the system was derived using equations derived from the control volume considerations. The results of the analytical model show that the model predicts the frequency peak of the system to within 20 Hz of the actual resonance frequency. In the third part of this dissertation, the effectiveness of the hybrid hydraulic actuation system is evaluated in a rotating environment. A piezoelectric stack that is driven by three PI-804.10 stacks was attached at the end of a spin bar. After balancing the spin bar using a counterweight, the spin bar is spun to an RPM of 300. This simulates a centrifugal loading of 400 g, which is slightly higher than the full-scale centrifugal loads experienced by a pitch link on a UH-60. The performance of the actuator was measured in terms of velocity of an output cylinder shaft. Since some deterioration of performance was expected at 300 RPM, the output cylinder was redesigned to include roller bearings to support the excess force. Through no load and load tests, the effectiveness of the current hybrid actuation system design was shown as the performance of the

  20. Using Diffusion Bonding in Making Piezoelectric Actuators

    NASA Technical Reports Server (NTRS)

    Sager, Frank E.

    2003-01-01

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

  1. Candidate proof mass actuator control laws for the vibration suppression of a frame

    NASA Technical Reports Server (NTRS)

    Umland, Jeffrey W.; Inman, Daniel J.

    1991-01-01

    The vibration of an experimental flexible space truss is controlled with internal control forces produced by several proof mass actuators. Four candidate control law strategies are evaluated in terms of performance and robustness. These control laws are experimentally implemented on a quasi free-free planar truss. Sensor and actuator dynamics are included in the model such that the final closed loop is self-equilibrated. The first two control laws considered are based on direct output feedback and consist of tuning the actuator feedback gains to the lowest mode intended to receive damping. The first method feeds back only the position and velocity of the proof mass relative to the structure; this results in a traditional vibration absorber. The second method includes the same feedback paths as the first plus feedback of the local structural velocity. The third law is designed with robust H infinity control theory. The fourth strategy is an active implementation of a viscous damper, where the actuator is configured to provide a bending moment at two points on the structure. The vibration control system is then evaluated in terms of how it would benefit the space structure's position control system.

  2. Challenges and Progress in the Development of High-Temperature Shape Memory Alloys Based on NiTiX Compositions for High-Force Actuator Applications

    NASA Technical Reports Server (NTRS)

    Padula, Santo, II; Bigelow, Glen; Noebe, Ronald; Gaydosh, Darrell; Garg, Anita

    2006-01-01

    Interest in high-temperature shape memory alloys (HTSMA) has been growing in the aerospace, automotive, process control, and energy industries. However, actual materials development has seriously lagged component design, with current commercial NiTi alloys severely limited in their temperature capability. Additions of Pd, Pt, Au, Hf, and Zr at levels greater than 10 at.% have been shown to increase the transformation temperature of NiTi alloys, but with few exceptions, the shape memory behavior (strain recovery) of these NiTiX systems has been determined only under stress free conditions. Given the limited amount of basic mechanical test data and general lack of information regarding the work attributes of these materials, a program to investigate the mechanical behavior of potential HTSMAs, with transformation temperatures between 100 and 500 C, was initiated. This paper summarizes the results of studies, focusing on both the practical temperature limitations for ternary TiNiPd and TiNiPt systems based on the work output of these alloys and the ability of these alloys to undergo repeated thermal cycling under load without significant permanent deformation or "walking". These issues are ultimately controlled by the detwinning stress of the martensite and resistance to dislocation slip of the individual martensite and austenite phases. Finally, general rules that govern the development of useful, high work output, next-generation HTSMA materials, based on the lessons learned in this work, will be provided

  3. Efficient active actuation to imitate locomotion of gecko's toes using an ionic polymer-metal composite actuator enhanced by carbon nanotubes

    NASA Astrophysics Data System (ADS)

    Yu, Min; He, Qingsong; Yu, Dingshan; Zhang, Xiaoqing; Ji, Aihong; Zhang, Hao; Guo, Ce; Dai, Zhendong

    2012-10-01

    Active actuation of the adhesive pads is important for a gecko-robot climbing on walls. We demonstrate the fabrication of an ionic polymer-metal composite (IPMC) actuator enhanced with carbon nanotubes (CNTs) and its use for actively actuating an adhesive array to imitate the locomotion of gecko's toes. The as-fabricated IPMC actuator doped with CNTs exhibits a maximum blocking force of 3.59 gf driven at a low voltage of 3 V. It can be easily controlled by voltage signals to actuate an artificial gecko's toe to attach and detach from a surface. This will allow active, distributed actuation in a gecko robot.

  4. Dielectric Elastomer Actuated Systems and Methods

    NASA Technical Reports Server (NTRS)

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

    2008-01-01

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

  5. 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.

  6. A Method for Evaluating the Electro-Mechanical Characteristics of Piezoelectric Actuators during Motion

    PubMed Central

    Jin, Tao; Takita, Akihiro; Djamal, Mitra; Hou, Wenmei; Jia, Hongzhi; Fujii, Yusaku

    2012-01-01

    The electro-mechanical characteristics of piezoelectric actuators which have being driven are evaluated in this paper. The force generated by actuators is measured as an inertial force of a corner cub prism which is attached to the actuators. The Doppler frequency shift of a laser beam, due to the motion of actuator, is accurately measured by a heterodyne interferometer. Subsequently, the mechanical quantities, such as velocity, acceleration, force, power and displacement, are calculated from the Doppler frequency shift. With the measurement results of current and voltage of the actuator, the relationships between electrical and mechanical characteristics are evaluated.

  7. Redundant actuator development program. [for flight control

    NASA Technical Reports Server (NTRS)

    Chenoweth, C. C.; Fain, D. M.; Svensson, C. I.

    1975-01-01

    Two concepts of redundant secondary actuator mechanization, applicable to future advanced flight control systems, were studied to quantitatively assess their design applicability to an AST. The two actuator concepts, a four-channel, force summed system and a three-channel, active/standby system have been developed and evaluated through analysis, analog computer simulation, and piloted motion simulation. The quantitative comparison of the two concepts indicates that the force summed concept better meet performance requirements, although the active/standby is superior in other respects. Both concepts are viable candidates for advanced control application dependent on the specific performance requirements.

  8. Sweeping Jet Actuator in a Quiescent Environment

    NASA Technical Reports Server (NTRS)

    Koklu, Mehti; Melton, Latunia P.

    2013-01-01

    This study presents a detailed analysis of a sweeping jet (fluidic oscillator) actuator. The sweeping jet actuator promises to be a viable flow control actuator candidate due to its simple, no moving part structure and its high momentum, spatially oscillating flow output. Hot-wire anemometer and particle image velocimetry measurements were carried out with an emphasis on understanding the actuator flow field in a quiescent environment. The time averaged, fluctuating, and instantaneous velocity measurements are provided. A modified actuator concept that incorporates high-speed solenoid valves to control the frequency of oscillation enabled phase averaged measurements of the oscillating jet. These measurements reveal that in a given oscillation cycle, the oscillating jet spends more time on each of the Coanda surfaces. In addition, the modified actuator generates four different types of flow fields, namely: a non oscillating downward jet, a non oscillating upward jet, a non oscillating straight jet, and an oscillating jet. The switching from an upward jet to a downward jet is accomplished by providing a single pulse from the solenoid valve. Once the flow is switched, the flow stays there until another pulse is received. The oscillating jet is compared with a non oscillating straight jet, which is a typical planar turbulent jet. The results indicate that the oscillating jet has a higher (5 times) spreading rate, more flow entrainment, and higher velocity fluctuations (equal to the mean velocity).

  9. High Performance Piezoelectric Actuated Gimbal (HIERAX)

    SciTech Connect

    Charles Tschaggeny; Warren Jones; Eberhard Bamberg

    2007-04-01

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

  10. Superfluid helium sloshing dynamics induced oscillations and fluctuations of angular momentum, force and moment actuated on spacecraft driven by gravity gradient or jitter acceleration associated with slew motion

    NASA Technical Reports Server (NTRS)

    Hung, R. J.

    1994-01-01

    The generalized mathematical formulation of sloshing dynamics for partially filled liquid of cryogenic superfluid helium II in dewar containers driven by the gravity gradient and jitter accelerations associated with slew motion for the purpose to perform scientific observation during the normal spacecraft operation are investigated. An example is given with the Advanced X-Ray Astrophysics Facility-Spectroscopy (AXAF-S) for slew motion which is responsible for the sloshing dynamics. The jitter accelerations include slew motion, spinning motion, atmospheric drag on the spacecraft, spacecraft attitude motions arising from machinery vibrations, thruster firing, pointing control of spacecraft, crew motion, etc. Explicit mathematical expressions to cover these forces acting on the spacecraft fluid systems are derived. The numerical computation of sloshing dynamics is based on the non-inertia frame spacecraft bound coordinate, and solve time-dependent, three-dimensional formulations of partial differential equations subject to initial and boundary conditions. The explicit mathematical expressions of boundary conditions to cover capillary force effect on the liquid-vapor interface in microgravity environments are also derived. The formulations of fluid moment and angular moment fluctuations in fluid profiles induced by the sloshing dynamics, together with fluid stress and moment fluctuations exerted on the spacecraft dewar containers have also been derived. Examples are also given for cases applicable to the AXAF-S spacecraft sloshing dynamics associated with slew motion.

  11. 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.

  12. Double closed-loop cascade control for lower limb exoskeleton with elastic actuation.

    PubMed

    Zhu, Yanhe; Zheng, Tianjiao; Jin, Hongzhe; Yang, Jixing; Zhao, Jie

    2015-01-01

    Unlike traditional rigid actuators, the significant features of Series Elastic Actuator (SEA) are stable torque control, lower output impedance, impact resistance and energy storage. Recently, SEA has been applied in many exoskeletons. In such applications, a key issue is how to realize the human-exoskeleton movement coordination. In this paper, double closed-loop cascade control for lower limb exoskeleton with SEA is proposed. This control method consists of inner SEA torque loop and outer contact force loop. Utilizing the SEA torque control with a motor velocity loop, actuation performances of SEA are analyzed. An integrated exoskeleton control system is designed, in which joint angles are calculated by internal encoders and resolvers and contact forces are gathered by external pressure sensors. The double closed-loop cascade control model is established based on the feedback signals of internal and external sensor. Movement experiments are accomplished in our prototype of lower limb exoskeleton. Preliminary results indicate the exoskeleton movements with pilot can be realized stably by utilizing this double closed-loop cascade control method. Feasibility of the SEA in our exoskeleton robot and effectiveness of the control method are verified.

  13. 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.

  14. 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.

  15. Very compact, high-stability electrostatic actuator featuring contact-free self-limiting displacement

    DOEpatents

    Rodgers, M. Steven; Miller, Samuel L.

    2003-01-01

    A compact electrostatic actuator is disclosed for microelectromechanical (MEM) applications. The actuator utilizes stationary and moveable electrodes, with the stationary electrodes being formed on a substrate and the moveable electrodes being supported above the substrate on a frame. The frame provides a rigid structure which allows the electrostatic actuator to be operated at high voltages (up to 190 Volts) to provide a relatively large actuation force compared to conventional electrostatic comb actuators which are much larger in size. For operation at its maximum displacement, the electrostatic actuator is relatively insensitive to the exact value of the applied voltage and provides a self-limiting displacement.

  16. Low-Stroke Actuation for a Serial Robot

    NASA Technical Reports Server (NTRS)

    Gao, Dalong (Inventor); Ihrke, Chris A. (Inventor)

    2014-01-01

    A serial robot includes a base, first and second segments, a proximal joint joining the base to the first segment, and a distal joint. The distal joint that joins the segments is serially arranged and distal with respect to the proximal joint. The robot includes first and second actuators. A first tendon extends from the first actuator to the proximal joint and is selectively moveable via the first actuator. A second tendon extends from the second actuator to the distal joint and is selectively moveable via the second actuator. The robot includes a transmission having at least one gear element which assists rotation of the distal joint when an input force is applied to the proximal and/or distal joints by the first and/or second actuators. A robotic hand having the above robot is also disclosed, as is a robotic system having a torso, arm, and the above-described hand.

  17. 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

  18. Design and development of an affordable haptic robot with force-feedback and compliant actuation to improve therapy for patients with severe hemiparesis.

    PubMed

    Theriault, Andrew; Nagurka, Mark; Johnson, Michelle J

    2014-01-01

    The study describes the design and development of a single degree-of-freedom haptic robot, Haptic Theradrive, for post-stroke arm rehabilitation for in-home and clinical use. The robot overcomes many of the weaknesses of its predecessor, the TheraDrive system, that used a Logitech steering wheel as the haptic interface for rehabilitation. Although the original TheraDrive system showed success in a pilot study, its wheel was not able to withstand the rigors of use. A new haptic robot was developed that functions as a drop-in replacement for the Logitech wheel. The new robot can apply larger forces in interacting with the patient, thereby extending the functionality of the system to accommodate low-functioning patients. A new software suite offers appreciably more options for tailored and tuned rehabilitation therapies. In addition to describing the design of the hardware and software, the paper presents the results of simulation and experimental case studies examining the system's performance and usability.

  19. Miniaturized 3 × 3 array film vibrotactile actuator made with cellulose acetate for virtual reality simulators

    NASA Astrophysics Data System (ADS)

    Ko, Hyun-U.; Kim, Hyun Chan; Kim, Jaehwan; Kim, Sang-Youn

    2015-05-01

    This paper reports an array vibrotactile actuator which is suitable for fitting into virtual reality simulators. A 3 × 3 array actuator, of size 15 × 15 × 1 mm3, consists of nine cantilever structured cells of which the pillars are supported and made with cellulose acetate by a molding technique. The fabrication process and performance test along with results for the suggested vibrotactile actuator are explained. To simulate the touch force, the top mass is added on the actuator and the actuator performance is measured under actuation. When 2000 Vp-p voltage is applied to the actuator, the averaged maximum acceleration for all cells is 0.44 ± 0.19 g, which is above the vibrotactile threshold. The actuation mechanism is associated with the electrostatic force between top and bottom electrodes.

  20. Spring-loaded polymeric gel actuators

    DOEpatents

    Shahinpoor, Mohsen

    1995-01-01

    Spring-loaded electrically controllable polymeric gel actuators are disclosed. The polymeric gels can be polyvinyl alcohol, polyacrylic acid, or polyacrylamide, and are contained in an electrolytic solvent bath such as water plus acetone. The action of the gel is mechanically biased, allowing the expansive and contractile forces to be optimized for specific applications.

  1. Spring-loaded polymeric gel actuators

    DOEpatents

    Shahinpoor, M.

    1995-02-14

    Spring-loaded electrically controllable polymeric gel actuators are disclosed. The polymeric gels can be polyvinyl alcohol, polyacrylic acid, or polyacrylamide, and are contained in an electrolytic solvent bath such as water plus acetone. The action of the gel is mechanically biased, allowing the expansive and contractile forces to be optimized for specific applications. 5 figs.

  2. Explosive actuated valve

    DOEpatents

    Byrne, Kenneth G.

    1983-01-01

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

  3. Low input voltage switching amplifiers for piezoelectric actuators

    NASA Astrophysics Data System (ADS)

    Lindner, Douglas K.; Zhu, Huiyu; Song, Chunping; Huang, Weixing; Cheng, Danling

    2002-07-01

    The Inertially Stabilized Rifle is a new stabilized rifle system that can eliminate the disturbances induced by the shooter. Recurve actuator is used in this system to provide the precise movement of the rifle barrel. In such a portable device, only low voltage electrical sources are available yet the piezoelectric actuator needs high voltage to drive the actuator. The actuators consume little real power but a large amount of reactive power. Furthermore, the piezoelectric actuators are present an almost purely capacitive load. In this paper, we describe the development of a low input voltage amplifier for a high voltage piezoelectric actuator. This amplifier is based on switching technology so it efficiently handles the regenerative energy from the piezoelectric actuator. This amplifier consists of two stages. The first stage is a flyback converter which boosts the (low) input voltage to the maximum voltage required by the piezoelectric actuator. The second stage is a half-bridge amplifier which delivers the output voltage to the actuator as commanded by the reference signal. The basic structure of the amplifier is described, and its performance is characterized in terms of bandwidth, distortion, and efficiency.

  4. 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.

  5. Lock for hydraulic actuators

    NASA Technical Reports Server (NTRS)

    Wood, R. H.

    1981-01-01

    Two clamps hold rod in fixed extension from cylinder even when power is off, converting actuator into stiff structural member. Locked actuator is useful as mechanical support or linkage or as fail-safe device in case of loss of hydraulic pressure. Potential applications include manufacturing processes and specialized handling and holding devices.

  6. 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.

  7. Simulation of sloshing dynamics induced forces and torques actuated on dewar container driven by gravity gradient and jitter accelerations in microgravity

    NASA Technical Reports Server (NTRS)

    Hung, R. J.; Pan, H. L.

    1993-01-01

    three levels of gravity jitter (10(exp -6), 10(exp -7), and 10(exp -8) g(sub 0)) each at three predominant frequencies (0.1, 1.0, and 10 Hz), combined with a gravity gradient appropriate for the GP-B orbit. Dynamical evolution of sloshing dynamics excited fluid forces and torque fluctuations exerted on the dewar container driven by the combined gravity gradient and jitter accelerations are also investigated and simulated.

  8. Piezoelectric ceramic assembly tubes for torsional actuators

    NASA Astrophysics Data System (ADS)

    Kim, Chulho; Glazounov, Alexandre E.; Flippen, Luther D.; Pattnaik, Amitav; Zhang, Qi Ming; Lewis, David, III

    1999-07-01

    The efforts described here are intended to provide a basis for the utilization of novel piezoelectric actuators in smart materials and structures. The actuator design developed in this study is a segmented, piezoelectric tube, with the individual segments driven in a d15 shear mode. The PZT-5A tubes were cut longitudinally in to an even number of equal slender segments. These slender segments were poled individually along their length using a continuous poling technique developed at NRL. The polarization of the poled segments alternates in direction between adjacent segments. The segments were reassembled with a conductive epoxy so that it serves as both joint and electrode. The assembled actuator tubes were evaluated by applying electric field normal to the polarization direction of the segments, demonstrating proof of concept. These solid state prototype devices were driven to precise angular displacement and torque output. Reliability test, including both fatigue and mechanical loading of the device, were conducted. In conjunction with this effort, numerical computation analyses were performed with respect to structural integrity versus segment joint thickness, and the relative effect of cylindrical versus polygonal configurations. These studies facilitated the successful production of prototypes. Projected actuator outputs based on electromechanical test results are also discussed in terms of requirements for noise and vibration control of helicopter rotor blades.

  9. 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.

  10. Bio inspired Magnet-polymer (Magpol) actuators

    NASA Astrophysics Data System (ADS)

    Ahmed, Anansa S.; Ramanujan, R. V.

    2014-03-01

    Magnet filler-polymer matrix composites (Magpol) are an emerging class of morphing materials. Magpol composites have an interesting ability to undergo large strains in response to an external magnetic field. The potential to develop Magpol as large strain actuators is due to the ability to incorporate large particle loading into the composite and also due to the increased interaction area at the interface of the nanoparticles and the composite. Mn-Zn ferrite fillers with different saturation magnetizations (Ms) were synthesized. Magpol composites consisting of magnetic ferrite filler particles in an Poly ethylene vinyl acetate (EVA) matrix were prepared. The deformation characteristics of the actuator were determined. The morphing ability of the Magpol composite was studied under different magnetic fields and also with different filler loadings. All films exhibited large strain under the applied magnetic field. The maximum strain of the composite showed an exponential dependence on the Ms. The work output of Magpol was also calculated using the work loop method. Work densities of upto 1 kJ/m3 were obtained which can be compared to polypyrrole actuators, but with almost double the typical strain. Applications of Magpol can include artificial muscles, drug delivery, adaptive optics and self healing structures. Advantages of Magpol include remote contactless actuation, high actuation strain and strain rate and quick response.

  11. Design and experiment performances of an inchworm type rotary actuator.

    PubMed

    Li, Jianping; Zhao, Hongwei; Shao, Mingkun; Zhou, Xiaoqin; Huang, Hu; Fan, Zunqiang

    2014-08-01

    A piezo-driven rotary actuator by means of inchworm principle is proposed in this paper. Six piezo-stacks and flexure hinges are used to realize large rotation ranges with high accuracy both in the forward and backward motions. Four right-angle flexure hinges and two right-circular flexure hinges are applied in the stator. The motion principle and theoretical analysis of the designed actuator are discussed. In order to investigate the working characteristics, a prototype actuator was manufactured and a series of experiment tests were carried out. The test results indicate that the maximum rotation velocity is 71,300 μrad/s; the maximum output torque is 19.6 N mm. The experiment results confirm that the designed actuator can obtain large rotation motion ranges with relatively high output torques and different rotation speeds on the condition of different driving voltages and frequencies.

  12. Permanent magnet flux-biased magnetic actuator with flux feedback

    NASA Technical Reports Server (NTRS)

    Groom, Nelson J. (Inventor)

    1991-01-01

    The invention is a permanent magnet flux-biased magnetic actuator with flux feedback for adjustably suspending an element on a single axis. The magnetic actuator includes a pair of opposing electromagnets and provides bi-directional forces along the single axis to the suspended element. Permanent magnets in flux feedback loops from the opposing electromagnets establish a reference permanent magnet flux-bias to linearize the force characteristics of the electromagnets to extend the linear range of the actuator without the need for continuous bias currents in the electromagnets.

  13. Micromachined lead zirconium titanate thin-film-cantilever-based acoustic emission sensor with poly(N-isopropylacrylamide) actuator for increasing contact pressure

    NASA Astrophysics Data System (ADS)

    Feng, Guo-Hua; Chen, Wei-Ming

    2016-05-01

    This paper presents an innovative acousticemission (AE) sensor with a cantilever sensing structure. A hydrothermal lead zirconium titanate (PZT) film was deposited on the cantilever for AE sensing, and an SU8 micropillar at the free end of the cantilever served as an AE wave coupler; in addition, a poly(N-isopropylacrylamide)-based thermoresponsive actuator was integrated with the cantilever to increase the contact pressure exerted on the target. The AE sensor showed higher performance compared with an existing commercial AE sensor. Micromachining technology was used to fabricate AE sensors, and an array of four sensors was fabricated on a 50 μm thick titanium substrate of dimensions 15 mm × 15 mm. The piezoelectric properties of the hydrothermal PZT film were verified by electrically driving the cantilever and measuring the displacement; the piezoelectric constant d 31 of the cantilever was 2.43 pC N-1. The output force of the sensing cantilever generated by activating the thermoresponsive actuator was determined. For an electrical power input of 2.5 W, the maximum force output at the SU8 micropillar was 1 N. This force corresponded to the application of a pressure of 1.4 MPa on the target. Pencil lead break tests were conducted to determine and compare the performance of the proposed AE sensor with commercial sensors. Here, experimental and theoretical discussions on the effect of the activation of the thermoresponsive actuator of the proposed AE sensor on AE detection are presented.

  14. Micromachined lead zirconium titanate thin-film-cantilever-based acoustic emission sensor with poly(N-isopropylacrylamide) actuator for increasing contact pressure

    NASA Astrophysics Data System (ADS)

    Feng, Guo-Hua; Chen, Wei-Ming

    2016-05-01

    This paper presents an innovative acousticemission (AE) sensor with a cantilever sensing structure. A hydrothermal lead zirconium titanate (PZT) film was deposited on the cantilever for AE sensing, and an SU8 micropillar at the free end of the cantilever served as an AE wave coupler; in addition, a poly(N-isopropylacrylamide)-based thermoresponsive actuator was integrated with the cantilever to increase the contact pressure exerted on the target. The AE sensor showed higher performance compared with an existing commercial AE sensor. Micromachining technology was used to fabricate AE sensors, and an array of four sensors was fabricated on a 50 μm thick titanium substrate of dimensions 15 mm × 15 mm. The piezoelectric properties of the hydrothermal PZT film were verified by electrically driving the cantilever and measuring the displacement; the piezoelectric constant d 31 of the cantilever was 2.43 pC N‑1. The output force of the sensing cantilever generated by activating the thermoresponsive actuator was determined. For an electrical power input of 2.5 W, the maximum force output at the SU8 micropillar was 1 N. This force corresponded to the application of a pressure of 1.4 MPa on the target. Pencil lead break tests were conducted to determine and compare the performance of the proposed AE sensor with commercial sensors. Here, experimental and theoretical discussions on the effect of the activation of the thermoresponsive actuator of the proposed AE sensor on AE detection are presented.

  15. Dynamic characteristics of a hydraulic amplification mechanism for large displacement actuators systems.

    PubMed

    Arouette, Xavier; Matsumoto, Yasuaki; Ninomiya, Takeshi; Okayama, Yoshiyuki; Miki, Norihisa

    2010-01-01

    We have developed a hydraulic displacement amplification mechanism (HDAM) and studied its dynamic response when combined with a piezoelectric actuator. The HDAM consists of an incompressible fluid sealed in a microcavity by two largely deformable polydimethylsiloxane (PDMS) membranes. The geometry with input and output surfaces having different cross-sectional areas creates amplification. By combining the HDAM with micro-actuators, we can amplify the input displacement generated by the actuators, which is useful for applications requiring large deformation, such as tactile displays. We achieved a mechanism offering up to 18-fold displacement amplification for static actuation and 12-fold for 55 Hz dynamic actuation. PMID:22319281

  16. 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.

  17. Microwave power for smart material actuators

    NASA Astrophysics Data System (ADS)

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

    2004-02-01

    The concept of microwave-driven smart material actuators was envisioned and developed as the best option to alleviate the complexity and weight associated with a hard-wire-networked power and control system for smart actuator arrays. The patch rectenna array was initially designed for high current output, but has undergone further development for high voltage output devices used in shape control applications. Test results show that more than 200 V of output were obtained from a 6 × 6 array at a far-field exposure (1.8 m away) with an X-band input power of 18 W. The 6 × 6 array patch rectenna was designed to theoretically generate voltages up to 540 V, but practically it has generated voltages in the range between 200 and 300 V. Testing was also performed with a thin layer composite unimorph ferroelectric driver and sensor and electro-active paper as smart actuators attached to the 6 × 6 array. Flexible dipole rectenna arrays built on thin-film-based flexible membranes are most applicable for NASA's various missions, such as microwave-driven shape controls for aircraft morphing and large, ultra-lightweight space structures. An array of dipole rectennas was designed for high voltage output by densely populating Schottky barrier diodes to drive piezoelectric or electrostrictive actuators. The dipole rectenna array will eventually be integrated with a power allocation and distribution logic circuit and microbatteries for storage of excessive power. The roadmap for the development of wireless power drivers based on the rectenna array for shape control requires the development of new membrane materials with proper dielectric constants that are suitable for dipole rectenna arrays.

  18. 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.

  19. Differences in Supraspinal and Spinal Excitability during Various Force Outputs of the Biceps Brachii in Chronic- and Non-Resistance Trained Individuals

    PubMed Central

    Pearcey, Gregory E. P.; Power, Kevin E.; Button, Duane C.

    2014-01-01

    Motor evoked potentials (MEP) and cervicomedullary evoked potentials (CMEP) may help determine the corticospinal adaptations underlying chronic resistance training-induced increases in voluntary force production. The purpose of the study was to determine the effect of chronic resistance training on corticospinal excitability (CE) of the biceps brachii during elbow flexion contractions at various intensities and the CNS site (i.e. supraspinal or spinal) predominantly responsible for any training-induced differences in CE. Fifteen male subjects were divided into two groups: 1) chronic resistance-trained (RT), (n = 8) and 2) non-RT, (n = 7). Each group performed four sets of ∼5 s elbow flexion contractions of the dominant arm at 10 target forces (from 10%–100% MVC). During each contraction, subjects received 1) transcranial magnetic stimulation, 2) transmastoid electrical stimulation and 3) brachial plexus electrical stimulation, to determine MEP, CMEP and compound muscle action potential (Mmax) amplitudes, respectively, of the biceps brachii. All MEP and CMEP amplitudes were normalized to Mmax. MEP amplitudes were similar in both groups up to 50% MVC, however, beyond 50% MVC, MEP amplitudes were lower in the chronic RT group (p<0.05). CMEP amplitudes recorded from 10–100% MVC were similar for both groups. The ratio of MEP amplitude/absolute force and CMEP amplitude/absolute force were reduced (p<0.012) at all contraction intensities from 10–100% MVC in the chronic-RT compared to the non-RT group. In conclusion, chronic resistance training alters supraspinal and spinal excitability. However, adaptations in the spinal cord (i.e. motoneurone) seem to have a greater influence on the altered CE. PMID:24875495

  20. Mechanical interface having multiple grounded actuators

    DOEpatents

    Martin, Kenneth M.; Levin, Mike D.; Rosenberg, Louis B.

    1998-01-01

    An apparatus and method for interfacing the motion of a user-manipulable object with a computer system includes a user object physically contacted or grasped by a user. A 3-D spatial mechanism is coupled to the user object, such as a stylus or a medical instrument, and provides three degrees of freedom to the user object. Three grounded actuators provide forces in the three degrees of freedom. Two of the degrees of freedom are a planar workspace provided by a closed-loop linkage of members, and the third degree of freedom is rotation of the planar workspace provided by a rotatable carriage. Capstan drive mechanisms transmit forces between actuators and the user object and include drums coupled to the carriage, pulleys coupled to grounded actuators, and flexible cables transmitting force between the pulleys and the drums. The flexibility of the cable allows the drums to rotate with the carriage while the pulleys and actuators remain fixed to ground. The interface also may include a floating gimbal mechanism coupling the linkage to the user object. The floating gimbal mechanism includes rotatably coupled gimbal members that provide three degrees of freedom to the user object and capstan mechanisms coupled between sensors and the gimbal members for providing enhanced sensor resolution.

  1. 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.

  2. Data-based fault-tolerant control of high-speed trains with traction/braking notch nonlinearities and actuator failures.

    PubMed

    Song, Qi; Song, Yong-Duan

    2011-12-01

    This paper investigates the position and velocity tracking control problem of high-speed trains with multiple vehicles connected through couplers. A dynamic model reflecting nonlinear and elastic impacts between adjacent vehicles as well as traction/braking nonlinearities and actuation faults is derived. Neuroadaptive fault-tolerant control algorithms are developed to account for various factors such as input nonlinearities, actuator failures, and uncertain impacts of in-train forces in the system simultaneously. The resultant control scheme is essentially independent of system model and is primarily data-driven because with the appropriate input-output data, the proposed control algorithms are capable of automatically generating the intermediate control parameters, neuro-weights, and the compensation signals, literally producing the traction/braking force based upon input and response data only--the whole process does not require precise information on system model or system parameter, nor human intervention. The effectiveness of the proposed approach is also confirmed through numerical simulations.

  3. A novel multi-actuation CMOS RF MEMS switch

    NASA Astrophysics Data System (ADS)

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

    2008-12-01

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

  4. Digital microfluidics with a magnetically actuated floating liquid marble.

    PubMed

    Khaw, Mei Kum; Ooi, Chin Hong; Mohd-Yasin, Faisal; Vadivelu, Raja; John, James St; Nguyen, Nam-Trung

    2016-06-21

    Controlled actuation of a floating liquid marble, a liquid droplet coated with hydrophobic particles floating on another liquid surface, is a potential digital microfluidics platform for the transport of aqueous solution with minimal volume loss. This paper reports our recent investigation on the magnetic actuation of floating liquid marbles filled with magnetic particles. The magnetic force and frictional force acting on the floating liquid marble determine the horizontal movement of the marble. We varied the magnetic flux density, flux density gradient, concentration of magnetic particles and speed of the marble to elucidate the relationship between the acting forces. We subsequently determined the suitable operating conditions for the actuation and derived the scaling laws for the actuation parameters. PMID:27191398

  5. Field emission microplasma actuation for microchannel flows

    NASA Astrophysics Data System (ADS)

    Sashank Tholeti, Siva; Shivkumar, Gayathri; Alexeenko, Alina A.

    2016-06-01

    Microplasmas offer attractive flow control methodology for gas transport in microsystems where large viscous losses make conventional pumping methods highly inefficient. We study microscale flow actuation by dielectric-barrier discharge (DBD) with field emission (FE) of electrons, which allows lowering the operational voltage from kV to a few hundred volts and below. A feasibility study of FE-DBD for flow actuation is performed using 2D particle-in-cell method with Monte Carlo collisions (PIC/MCC) at 10 MHz in nitrogen at atmospheric pressure. The free diffusion dominated, high velocity field emission electrons create a large positive space charge and a body force on the order of 106 N m-3. The body force and Joule heat decrease with increase in dielectric thickness and electrode thickness. The body force also decreases at lower pressures. The plasma body force distribution along with the Joule heating is then used in the Navier-Stokes simulations to quantify the flow actuation in a microchannel. Theoretical analysis and simulations for plasma actuated planar Poiseuille flow show that the gain in flow rate is inversely proportional to Reynolds number. This theoretical analysis is in good agreement with the simulations for a microchannel with closely placed actuators under incompressible conditions. Flow rate of FE-DBD driven 2D microchannel is around 100 ml min-1 mm-1 for an input power of 64 μW mm-1. The gas temperature rises by 1500 K due to the Joule heating, indicating FE-DBD’s potential for microcombustion, micropropulsion and chemical sensing in addition to microscale pumping and mixing applications.

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

    DOEpatents

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

    2016-07-12

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

  7. Experimental considerations on fabrication of a smart actuator for vibration control using shape memory alloy (SMA)

    NASA Astrophysics Data System (ADS)

    Yuse, Kaori; Kikushima, Yoshihiro; Xu, Ya

    2002-06-01

    Despite its great potentials, having a large displacement and force compared to traditional electro-hydraulic servo mechanical actuators or to PZT actuators, there are not so many studies on SMA active actuator. The main reasons are considered as following; (1) SMA has transformation only in one direction, (2) the response is quite slow, and (3) vibration control requires punctual thermo control in real time. In the study at our laboratory, the vibration can be clearly separated into different modes by distributed cluster system. SMA actuators are, then, proposed to use with PZT actuators for control of low and high frequency modes, respectively, to realize all-round actuation. The purpose of this paper is to realize SMA active actuator for low frequency modes. First of all, actuators using SMA wires, partly embedded in CFRP, were fabricated in consideration of SMA/FRP interfacial strength. Their thermo-mechanical behavior had been studied with cooling system. These lightweight actuators were placed on beam structure made of CFRP. Recovery force of beam structure itself was used as reactive force against force generated by SMA. As a result, actuator which is favorable for low frequency vibration modes control, i.e. having a large displacement and a large force, was obtained.

  8. Position Sensor Integral with a Linear Actuator

    NASA Technical Reports Server (NTRS)

    Howard, David E.; Alhorn, Dean C.

    2004-01-01

    A noncontact position sensor has been designed for use with a specific two-dimensional linear electromagnetic actuator. To minimize the bulk and weight added by the sensor, the sensor has been made an integral part of the actuator: that is to say, parts of the actuator structure and circuitry are used for sensing as well as for varying position. The actuator (see Figure 1) includes a C-shaped permanent magnet and an armature that is approximately centered in the magnet gap. The intended function of the actuator is to cause the permanent magnet to translate to, and/or remain at, commanded x and y coordinates, relative to the armature. In addition, some incidental relative motion along the z axis is tolerated but not controlled. The sensor is required to measure the x and y displacements from a nominal central position and to be relatively insensitive to z displacement. The armature contains two sets of electromagnet windings oriented perpendicularly to each other and electrically excited in such a manner as to generate forces in the x,y plane to produce the required motion. Small sensor excitation coils are mounted on the pole tips of the permanent magnet. These coils are excited with a sine wave at a frequency of 20 kHz. This excitation is transformer-coupled to the armature windings. The geometric arrangement of the excitation coils and armature windings is such that the amplitudes of the 20-kHz voltages induced in the armature windings vary nearly linearly with x and y displacements and do not vary significantly with small z displacements. Because the frequency of 20 kHz is much greater than the maximum frequency characteristic of the actuation signals applied to the armature windings, there is no appreciable interference between actuator and sensor functions of the armature windings.

  9. Droplet actuator analyzer with cartridge

    NASA Technical Reports Server (NTRS)

    Smith, Gregory F. (Inventor); Sturmer, Ryan A. (Inventor); Paik, Philip Y. (Inventor); Srinivasan, Vijay (Inventor); Pollack, Michael G. (Inventor); Pamula, Vamsee K. (Inventor); Brafford, Keith R. (Inventor); West, Richard M. (Inventor)

    2011-01-01

    A droplet actuator with cartridge is provided. According to one embodiment, a sample analyzer is provided and includes an analyzer unit comprising electronic or optical receiving means, a cartridge comprising self-contained droplet handling capabilities, and a wherein the cartridge is coupled to the analyzer unit by a means which aligns electronic and/or optical outputs from the cartridge with electronic or optical receiving means on the analyzer unit. According to another embodiment, a sample analyzer is provided and includes a sample analyzer comprising a cartridge coupled thereto and a means of electrical interface and/or optical interface between the cartridge and the analyzer, whereby electrical signals and/or optical signals may be transmitted from the cartridge to the analyzer.

  10. Stable electroosmotically driven actuators

    NASA Astrophysics Data System (ADS)

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

    2013-04-01

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

  11. Electrothermal linear actuator

    NASA Technical Reports Server (NTRS)

    Derr, L. J.; Tobias, R. A.

    1969-01-01

    Converting electric power into powerful linear thrust without generation of magnetic fields is accomplished with an electrothermal linear actuator. When treated by an energized filament, a stack of bimetallic washers expands and drives the end of the shaft upward.

  12. 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.

  13. 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.

  14. 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.

  15. Morphing nacelle inlet lip with pneumatic actuators and a flexible nano composite sandwich panel

    NASA Astrophysics Data System (ADS)

    Gulsine Ozdemir, Nazli; Scarpa, Fabrizio; Craciun, Monica; Remillat, Chrystel; Lira, Cristian; Jagessur, Yogesh; Da Rocha-Schmidt, Luiz

    2015-12-01

    We present a hybrid pneumatic/flexible sandwich structure with thermoplastic (TP) nanocomposite skins to enable the morphing of a nacelle inlet lip. The design consists of pneumatic inflatables as actuators and a flexible sandwich panel that morphs under variable pressure combinations to adapt different flight conditions and save fuel. The sandwich panel forms the outer layer of the nacelle inlet lip. It is lightweight, compliant and impact resistant with no discontinuities, and consists of graphene-doped thermoplastic polyurethane (G/TPU) skins that are supported by an aluminium Flex-core honeycomb in the middle, with near zero in-plane Poisson’s ratio behaviour. A test rig for a reduced-scale demonstrator was designed and built to test the prototype of morphing nacelle with custom-made pneumatic actuators. The output force and the deflections of the experimental demonstrator are verified with the internal pressures of the actuators varying from 0 to 0.41 MPa. The results show the feasibility and promise of the hybrid inflatable/nanocomposite sandwich panel for morphing nacelle airframes.

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

    NASA Astrophysics Data System (ADS)

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

    2015-06-01

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

  17. Integrating optopiezoelectric actuators and a two-mode excited linear ultrasonic motor for microfluidics

    NASA Astrophysics Data System (ADS)

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

    2016-03-01

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

  18. Investigation on active vibration isolation of a Stewart platform with piezoelectric actuators

    NASA Astrophysics Data System (ADS)

    Wang, Chaoxin; Xie, Xiling; Chen, Yanhao; Zhang, Zhiyi

    2016-11-01

    A Stewart platform with piezoelectric actuators is presented for micro-vibration isolation. The Jacobi matrix of the Stewart platform, which reveals the relationship between the position/pointing of the payload and the extensions of the six struts, is derived by kinematic analysis. The dynamic model of the Stewart platform is established by the FRF (frequency response function) synthesis method. In the active control loop, the direct feedback of integrated forces is combined with the FxLMS based adaptive feedback to dampen vibration of inherent modes and suppress transmission of periodic vibrations. Numerical simulations were conducted to prove vibration isolation performance of the Stewart platform under random and periodical disturbances, respectively. In the experiment, the output consistencies of the six piezoelectric actuators were measured at first and the theoretical Jacobi matrix as well as the feedback gain of each piezoelectric actuator was subsequently modified according to the measured consistencies. The direct feedback loop was adjusted to achieve sufficient active damping and the FxLMS based adaptive feedback control was adopted to suppress vibration transmission in the six struts. Experimental results have demonstrated that the Stewart platform can achieve 30 dB attenuation of periodical disturbances and 10-20 dB attenuation of random disturbances in the frequency range of 5-200 Hz.

  19. Design, analysis and experimental performance of a stepping type piezoelectric linear actuator based on compliant foot driving

    NASA Astrophysics Data System (ADS)

    Wang, Shupeng; Rong, Weibin; Wang, Lefeng; Sun, Lining

    2016-11-01

    A stepping type piezoelectric linear actuator based on compliant foot driving is proposed in this paper. With the help of four piezo-stacks and four compliant feet, the designed actuator can produce large range linear motions in both positive and negative directions with high accuracy. The mechanical structure and the operating principle are discussed. Mohr integration method is used to analyze the deformation of the key component compliant foot. To investigate the working performance, a prototype is fabricated and a series of experiments are carried out. The experimental results indicate that the displacement outputs under various driving voltages and various driving frequencies show good linear relationships with the time. The driving resolution and the maximum output force are 10.98 nm and 43 N, respectively. The displacements deviation between the forward and backward motions within 30 steps is 6.82 μm and the amplitude of the parasitic motions is about 0.638 μm. The experimental results also confirm that the designed actuator can achieve various speeds by changing the driving voltage and driving frequency.

  20. 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.

  1. 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.

  2. 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.

  3. Curved Piezoelectric Actuators for Stretching Optical Fibers

    NASA Technical Reports Server (NTRS)

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

    2008-01-01

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

  4. Elastomeric contractile actuators for hand rehabilitation splints

    NASA Astrophysics Data System (ADS)

    Carpi, Federico; Mannini, Andrea; De Rossi, Danilo

    2008-03-01

    The significant electromechanical performances typically shown by dielectric elastomer actuators make this polymer technology particularly attractive for possible active orthoses for rehabilitation. Folded contractile actuators made of dielectric elastomers were recently described as a simple configuration, suitable to easily implement linear contractile devices. This paper describes an application of folded actuators for so-called hand splints: they consist of orthotic systems for hand rehabilitation. The dynamic versions of the state-of-the-art splints typically include elastic bands, which exert a passive elastic resistance to voluntary elongations of one or more fingers. In order to provide such splints with the possibility of electrically modulating the compliance of the resistive elements, the substitution of the passive elastic bands with the contractile actuators is here described. The electrical activation of the actuators is used to vary the compliance of the system; this enables modulations of the force that acts as an antagonist to voluntary finger movements, according to programmable rehabilitation exercises. The paper reports results obtained from the first prototype implementations of such a type of system.

  5. Integrated sensing and actuation of muscle-like actuators

    NASA Astrophysics Data System (ADS)

    Gisby, T. A.; Xie, S.; Calius, E. P.; Anderson, I. A.

    2009-03-01

    The excellent overall performance and compliant nature of Dielectric Elastomer Actuators (DEAs) make them ideal candidates for artificial muscles. Natural muscle however is much more than just an actuator, it provides position feedback to the brain that is essential for the body to maintain balance and correct posture. If DEAs are to truly earn the moniker of "artificial muscles" they need to be able to reproduce, if not improve on, this functionality. Self-sensing DEAs are the ideal solution to this problem. This paper presents a system by which the capacitance of a DEA can be sensed while it is being actuated and used for feedback control. This system has been strongly influenced by the desire for portability i.e. designed for use in a battery operated microcontroller based system. It is capable of controlling multiple independent DEAs using a single high voltage power supply. These features are important developments for artificial muscle devices where accuracy and low mass are important e.g. a prosthetic hand or force-feedback surgical tools. A numerical model of the electrical behaviour of the DEA that incorporates arbitrary leakage currents and the impact of arbitrary variable capacitance has been created to model a DEA system. A robust capacitive self-sensing method that uses a slew-rate controlled Pulse Width Modulation (PWM) signal and compensates for the effects of leakage current and variable capacitance is presented. The numerical model is then used to compare the performance of this new method with an earlier method previously published by the authors.

  6. 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.

  7. Experimental study and modeling of nanotube buckypaper composite actuator for morphing structure applications

    NASA Astrophysics Data System (ADS)

    Tsai, Szu-Yuan

    amount of actuation compared to long MWNT buckypaper actuators. The maximum strain and blocking force of the long MWNT BP composite actuators were 0.77% and 8.7 mN, respectively. The research indicated two actuation mechanisms of nanotube buckypaper actuators co-exist: (1) carbon-carbon (C-C) bond extensions when an electrical charge applied, as previously reported in the literature, and (2) an ionic current flow effect in the solid electrolytes. The developed structure-stimulation-performance model was able to predict the displacement of nanotube buckypaper actuators based on both mechanisms. Modeling results indicate that ionic current flow effect was the dominant effect in the devices. By conducting parameter studies, we can reveal the influential factors for actuation performance. The modeling results for the SWNT BP/Nafion actuator were in good agreement with experimental data. The resultant actuators are promising for lightweight morphing structure applications.

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

    NASA Technical Reports Server (NTRS)

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

    1997-01-01

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

  9. Design and performance testing of an ultrasonic linear motor with dual piezoelectric actuators.

    PubMed

    Smithmaitrie, Pruittikorn; Suybangdum, Panumas; Laoratanakul, Pitak; Muensit, Nantakan

    2012-05-01

    In this work, design and performance testing of an ultrasonic linear motor with dual piezoelectric actuator patches are studied. The motor system consists of a linear stator, a pre-load weight, and two piezoelectric actuator patches. The piezoelectric actuators are bonded with the linear elastic stator at specific locations. The stator generates propagating waves when the piezoelectric actuators are subjected to harmonic excitations. Vibration characteristics of the linear stator are analyzed and compared with finite element and experimental results. The analytical, finite element, and experimental results show agreement. In the experiments, performance of the ultrasonic linear motor is tested. Relationships between velocity and pre-load weight, velocity and applied voltage, driving force and applied voltage, and velocity and driving force are reported. The design of the dual piezoelectric actuators yields a simpler structure with a smaller number of actuators and lower stator stiffness compared with a conventional design of an ultrasonic linear motor with fully laminated piezoelectric actuators.

  10. Adaptive control of nonlinear systems with actuator failures and uncertainties

    NASA Astrophysics Data System (ADS)

    Tang, Xidong

    2005-11-01

    Actuator failures have damaging effect on the performance of control systems, leading to undesired system behavior or even instability. Actuator failures are unknown in terms of failure time instants, failure patterns, and failure parameters. For system safety and reliability, the compensation of actuator failures is of both theoretical and practical significance. This dissertation is to further the study of adaptive designs for actuator failure compensation to nonlinear systems. In this dissertation a theoretical framework for adaptive control of nonlinear systems with actuator failures and system uncertainties is established. The contributions are the development of new adaptive nonlinear control schemes to handle unknown actuator failures for convergent tracking performance, the specification of conditions as a guideline for applications and system designs, and the extension of the adaptive nonlinear control theory. In the dissertation, adaptive actuator failure compensation is studied for several classes of nonlinear systems. In particular, adaptive state feedback schemes are developed for feedback linearizable systems and parametric strict-feedback systems. Adaptive output feedback schemes are deigned for output-feedback systems and a class of systems with unknown state-dependent nonlinearities. Furthermore, adaptive designs are addressed for MIMO systems with actuator failures, based on two grouping techniques: fixed grouping and virtual grouping. Theoretical issues such as controller structures, actuation schemes, zero dynamics, observation, grouping conditions, closed-loop stability, and tracking performance are extensively investigated. For each scheme, design conditions are clarified, and detailed stability and performance analysis is presented. A variety of applications including a wing-rock model, twin otter aircraft, hypersonic aircraft, and cooperative multiple manipulators are addressed with simulation results showing the effectiveness of the

  11. Repulsive Magnetic Bearing Using a Piezoelectric Actuator for Stabilization

    NASA Astrophysics Data System (ADS)

    Mizuno, Takeshi; Aizawa, Mitsunori

    A repulsive magnetic bearing system equipped with a piezoelectric actuator for the motion control of permanent magnets is studied experimentally. In this system, the radial motions of the rotor are passively supported by repulsive forces between permanent magnets. The motion in the axial direction is stabilized by moving the permanent magnets for radial suspension with a piezoelectric actuator. In the experiments, a piezoelectric actuator with a stroke of 200µm was installed first. PD and I-PD controllers were applied to achieve levitation without any mechanical contact. It was experimentally shown that the dynamic characteristics of the levitation system could be adjusted by pole assignment. Next the actuator was replaced by an actuator with a stoke of 90µm. Experimental results demonstrated that the rotor can follow stepwise command signal whose magnitude was within ±20µm.

  12. Smart glove: hand master using magnetorheological fluid actuators

    NASA Astrophysics Data System (ADS)

    Nam, Y. J.; Park, M. K.; Yamane, R.

    2007-12-01

    In this study, a hand master using five miniature magneto-rheological (MR) actuators, which is called 'the smart glove', is introduced. This hand master is intended to display haptic feedback to the fingertip of the human user interacting with any virtual objects in virtual environment. For the smart glove, two effective approaches are proposed: (i) by using the MR actuator which can be considered as a passive actuator, the smart glove is made simple in structure, high in power, low in inertia, safe in interface and stable in haptic feedback, and (ii) with a novel flexible link mechanism designed for the position-force transmission between the fingertips and the actuators, the number of the actuator and the weight of the smart glove can be reduced. These features lead to the improvement in the manipulability and portability of the smart glove. The feasibility of the constructed smart glove is verified through basic performance evaluation.

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

    NASA Astrophysics Data System (ADS)

    Parker, Joey K.

    1993-11-01

    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.

  14. 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.

  15. Piezoelectric Polymer Actuators For Vibration Suppression In Microgravity

    NASA Astrophysics Data System (ADS)

    Peterson, N.; Bohannan, G.; Hallenberg, J.; Nelson, C.; Eckberg, J.; Schmidt, V. H.

    1999-05-01

    We have designed and tested a three-dimensional vibration isolation device using poly(vinylidene fluoride), PVDF. The need for a low power, low current vibration damping system comes from space vehicles requiring low acceleration environments for sensitive experiments in microgravity with minimal resource utilization. The system is built around twelve actuators arranged to actuate the isolation box in all six degrees of freedom. Actuators are made from silver-coated piezoelectric PVDF sheets, constructed as a stacked bimorph "bellows" to trade actuator force for actuator displacement. The system incorporates six proportional integration and differentiation controllers for active low frequency damping. After construction, the three-dimensional isolation system was tested on a NASA KC-135 that provided 25-second intervals of a microgravity environment.

  16. Photostrictive actuators for photonic control of shallow spherical shells

    NASA Astrophysics Data System (ADS)

    Shih, Hui-Ru; Tzou, Horn-Sen

    2007-10-01

    Photostrictive materials, exhibiting light-induced strain, are of interest for the future generation of wireless remote control photo-actuators. Photostrictive actuators are expected to be used as the driving component in optically controlled flexible structures. In this paper, the photonic control of flexible spherical shells using discrete photostrictive actuators is investigated. This paper presents a coupled opto-piezothermoelastic shell theory that incorporates photovoltaic, pyroelectric and piezoelectric effects, and has the capability to predict the response of a spherical shell driven by the photostrictive actuators. In this study, the effects of actuator location as well as membrane and bending components on the control action have been analyzed. The results obtained indicate that the control forces are mode and location dependent. Analysis also shows that the membrane control action is much more significant than the bending control action.

  17. How Variability and Effort Determine Coordination at Large Forces

    PubMed Central

    Kolossiatis, Michalis; Charalambous, Themistoklis; Burdet, Etienne

    2016-01-01

    Motor control is a challenging task for the central nervous system, since it involves redundant degrees of freedom, nonlinear dynamics of actuators and limbs, as well as noise. When an action is carried out, which factors does your nervous system consider to determine the appropriate set of muscle forces between redundant degrees-of-freedom? Important factors determining motor output likely encompass effort and the resulting motor noise. However, the tasks used in many previous motor control studies could not identify these two factors uniquely, as signal-dependent noise monotonically increases as a function of the effort. To address this, a recent paper introduced a force control paradigm involving one finger in each hand that can disambiguate these two factors. It showed that the central nervous system considers both force noise and amplitude, with a larger weight on the absolute force and lower weights on both noise and normalized force. While these results are valid for the relatively low force range considered in that paper, the magnitude of the force shared between the fingers for large forces is not known. This paper investigates this question experimentally, and develops an appropriate Markov chain Monte Carlo method in order to estimate the weightings given to these factors. Our results demonstrate that the force sharing strongly depends on the force level required, so that for higher force levels the normalized force is considered as much as the absolute force, whereas the role of noise minimization becomes negligible. PMID:26934193

  18. Polypyrrole actuators: modeling and performance

    NASA Astrophysics Data System (ADS)

    Madden, John D.; Madden, Peter G.; Hunter, Ian W.

    2001-07-01

    Conducting polymer actuators generate forces that exceed those of mammalian skeletal muscle by up to two orders of magnitude for a given cross-sectional area, require only a few volts to operate, and are low in cost. However application of conducting polymer actuators is hampered by the lack of a full description of the relationship between load, displacement, voltage and current. In an effort to provide such a model, system identification techniques are employed. Stress-strain tests are performed at constant applied potential to determine polypyrrole stiffness. The admittance transfer function of polypyrrole and the associated electrolyte is measured over the potential range in which polypyrrole is highly conductive. The admittance is well described by treating the polymer as a volumetric capacitance of 8*107 F*m3 whose charging rate is limited by the electrolyte resistance and by diffusion within polypyrrole. The relationship between strain and charge is investigated, showing that strain is directly proportional to charge via the strain to charge density ratio, (alpha) = 1*10+-10 m3*C-1, at loads of up to 4 MPa. Beyond 4 MPa the strain to charge ratio is time dependent. The admittance models, stress/strain relation and strain to charge relationship are combined to form a full description of polypyrrole electromechanical response. This description predicts that large increases in strain rate and power are obtained through miniaturization, yielding bandwidths in excess of 10 kHz. The model also enables motor designers to optimize polypyrrole actuator geometries for their applications.

  19. Surface micromachined sensors and actuators

    SciTech Connect

    Sniegowski, J.J.

    1995-08-01

    A description of a three-level mechanical polysilicon surface-micromachining technology including a discussion of the advantages of this level of process complexity is presented. This technology is capable of forming mechanical elements ranging from simple cantilevered beams to complex, interconnected, interactive, microactuated micromechanisms. The inclusion of a third deposited layer of mechanical polysilicon greatly extends the degree of complexity available for micromechanism design. Additional features of the Sandia three-level process include the use of Chemical-Mechanical Polishing (CMP) for planarization, and the integration of micromechanics with the Sandia CMOS circuit process. The latter effort includes a CMOS-first, tungsten metallization process to allow the CMOS electronics to withstand high-temperature micromechanical processing. Alternatively, a novel micromechanics-first approach wherein the micromechanical devices are processed first in a well below the surface of the CMOS starting material followed by the standard, aluminum metallization CMOS process is also being pursued. Following the description of the polysilicon surface micromachining are examples of the major sensor and actuator projects based on this technology at the Microelectronics Development Laboratory (MDL) at Sandia National Laboratories. Efforts at the MDL are concentrated in the technology of surface micromachining due to the availability of and compatibility with standard CMOS processes. The primary sensors discussed are a silicon nitride membrane pressure sensor, hot polysilicon filaments for calorimetric gas sensing, and a smart hydrogen sensor. Examples of actuation mechanisms coupled to external devices are also presented. These actuators utilize the three-level process (plus an additional passive level) and employ either surface tension or electrostatic forces.

  20. Fabrication and reliable implementation of an ionic polymer-metal composite (IPMC) biaxial bending actuator

    NASA Astrophysics Data System (ADS)

    Lee, Gil-Yong; Choi, Jung-Oh; Kim, Myeungseon; Ahn, Sung-Hoon

    2011-10-01

    Ionic polymer-metal composites (IPMCs) are one of the most popular types of electro-active polymer actuator, due to their low electric driving potential, large deformation range, and light weight. IPMCs have been used as actuators or sensors in many areas of biomedical and robotic engineering. In this research, IPMCs were studied as a biaxial bending actuator capable of smart and flexible motion. We designed and fabricated this bending actuator and implemented it to have a reliable actuating motion using a systematic approach. The resulting device was bar shaped with a square cross section and had four insulated electrodes on its surface. By applying different voltages to these four electrodes, a biaxial bending motion can be induced. To construct this actuator, several fabrication processes were considered. We modified the Nafion stacking method, and established a complete sequence of actuator fabrication processes. Using these processes, we were able to fabricate an IPMC biaxial bending actuator with both high actuating force and high flexibility. Several experiments were conducted to investigate and verify the performance of the actuator. The IPMC actuator system was modeled from experimentally measured data, and using this actuator model, a closed-loop proportional integral (PI) controller was designed. Reference position tracking performances of open-loop and closed-loop systems were compared. Finally, circular motion tracking performances of the actuator tip were tested under different rotation frequencies and radii of a reference trajectory circle.

  1. Novel compliant actuator for wearable robotics applications.

    PubMed

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

    2013-01-01

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

  2. Novel compliant actuator for wearable robotics applications.

    PubMed

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

    2013-01-01

    In the growing fields of wearable robotics, rehabilitation robotics, prosthetics, and walking robots, variable impedance and force actuators are being designed and implemented because of their ability to dynamically modulate the intrinsic viscoelastic properties such as stiffness and damping. This modulation is crucial to achieve an efficient and safe human-robot interaction that could lead to electronically generate useful emergent dynamical behaviors. In this work we propose a novel actuation system in which is implemented a control scheme based on equilibrium forces for an active joint capable to provide assistance/resistance as needed and also achieve minimal mechanical impedance when tracking the movement of the user limbs. The actuation system comprises a DC motor with a built in speed reducer, two force-sensing resistors (FSR), a mechanism which transmits to the FSRs the torque developed in the joint and a controller which regulate the amount of energy that is delivered to the DC motor. The proposed system showed more impedance reduction, by the effect of the controlled contact forces, compared with the ones in the reviewed literature. PMID:24110322

  3. 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.

  4. 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

  5. Implementation and analysis of an innovative digital charge amplifier for hysteresis reduction in piezoelectric stack actuators

    SciTech Connect

    Bazghaleh, Mohsen Grainger, Steven; Cazzolato, Ben; Lu, Tien-Fu; Oskouei, Reza

    2014-04-15

    Smart actuators are the key components in a variety of nanopositioning applications, such as scanning probe microscopes and atomic force microscopes. Piezoelectric actuators are the most common smart actuators due to their high resolution, low power consumption, and wide operating frequency but they suffer hysteresis which affects linearity. In this paper, an innovative digital charge amplifier is presented to reduce hysteresis in piezoelectric stack actuators. Compared to traditional analog charge drives, experimental results show that the piezoelectric stack actuator driven by the digital charge amplifier has less hysteresis. It is also shown that the voltage drop of the digital charge amplifier is significantly less than the voltage drop of conventional analog charge amplifiers.

  6. Magnetic actuator intended for left ventricular assist system

    NASA Astrophysics Data System (ADS)

    Saotome, H.; Okada, T.

    2006-04-01

    With the goal of developing an artificial heart, the authors fabricated a prototype pump employing a linear motion magnetic actuator, and carried out performance tests. The actuator is composed of two disk-shaped Nd-Fe-B magnets having a diameter of 80 mm and a thickness of 7 mm. The disks are magnetized in the direction normal to the circular surface, and are formed by semicircular pieces; one semicircle serves as a N pole and the other as a S pole. The magnets face each other in the actuator. One magnet is limited to spin around its axis while the second magnet is limited to move in linear motion along its axis. In this way, the circumferential rotation of one of the magnets produces reciprocating forces on the other magnet, causing it to move back and forth. This coupled action produces a pumping motion. Because the two magnets are magnetically coupled without any mechanical contact, the rotating magnet does not have to be implanted and should be placed outside the body. The rotating magnet is driven by a motor. The motor power is magnetically conveyed, via the rotating magnet, to the implanted linear motion magnet through the skin. The proposed system yields no problems with infection that would otherwise require careful treatment in a system employing a tube penetrating the skin for power transmission. Comparison of the proposed system with another system using a transcutaneous transformer shows that our system has good potential to occupy a smaller space in the body, because it obviates implantation of a secondary part of the transformer, a power supply, and armature windings. The dimensions of the trial pump are designed in accordance with the fluid mechanical specifications of a human left ventricle, by computing magnetic fields that provide the magnetic forces on the magnets. The output power of the trial pump, 1.0 W at 87 beats/min, is experimentally obtained under the pressure and flow conditions of water, 100 mm Hg and 4.5 l/min.

  7. 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

  8. 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.

  9. Ball Screw Actuator Including an Axial Soft Stop

    NASA Technical Reports Server (NTRS)

    Wingett, Paul T. (Inventor); Forrest, Steven Talbert (Inventor); Abel, Steve (Inventor); Woessner, George (Inventor); Hanlon, Casey (Inventor)

    2016-01-01

    An actuator includes an actuator housing, a ball screw, and an axial soft stop assembly. The ball screw extends through the actuator housing and has a first end and a second end. The ball screw is coupled to receive a drive force and is configured, upon receipt of the drive force, to selectively move in a retract direction and an extend direction. The axial soft stop assembly is disposed within the actuator housing. The axial soft stop assembly is configured to be selectively engaged by the ball screw and, upon being engaged thereby, to translate, with compliance, a predetermined distance in the extend direction, and to prevent further movement of the ball screw upon translating the predetermined distance.

  10. 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

  11. 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.

  12. Cavity optoelectromechanical system combining strong electrical actuation with ultrasensitive transduction

    SciTech Connect

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

    2010-08-15

    A cavity optoelectromechanical system is reported which combines the ultrasensitive transduction of cavity optomechanical systems with the electrical actuation of nanoelectromechanical systems. Ultrasensitive mechanical transduction is achieved via optomechanical coupling. Electrical gradient forces as large as 0.40 {mu}N are realized, facilitating strong actuation with ultralow dissipation. A scanning probe microscope is implemented, capable of characterizing the mechanical modes. The integration of electrical actuation into optomechanical devices is an enabling step toward the regime of quantum nonlinear dynamics and provides capabilities for quantum control of mechanical motion.

  13. Integrated actuation system for individual control of helicopter rotor blades

    NASA Astrophysics Data System (ADS)

    Bushko, Dariusz A.; Fenn, Ralph C.; Gerver, Michael J.; Berry, John R.; Phillips, Frank; Merkley, Donald J.

    1996-05-01

    The unique configuration of the rotorcraft generates problems unknown to fixed wing aircraft. These problems include high vibration and noise levels. This paper presents the development and test results of a Terfenol-D based actuator designed to operate in an individual blade control system in order to reduce vibration and noise and increase performance on Army UH- 60A helicopter. The full-scale, magnetostrictive, Terfenol-D based actuator was tested on a specially designed testbed that simulated operational conditions of a helicopter blade in the laboratory. Tests of actuator performance (strike, force moment, bandwidth, fatigue life under operational loading) were performed.

  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. Bumpless switching control for switched systems with partial actuator failures

    NASA Astrophysics Data System (ADS)

    Qi, Yiwen; Bao, Wen; Zhang, Qingxin; Chang, Juntao

    2016-11-01

    This study is concerned with the bumpless transfer problem for switched systems with partial actuator failures, in order to obtain smooth system performance output transition. Taking into account that the system requires a controller switching from current sub-controller to a fault-tolerant sub-controller after actuator fault. And bumpless transfer for control input cannot be traditionally designed when the actuator fault occurs, while performance smoothing can be considered and it is actually the ultimate goal of bumpless transfer. Specifically, the actuator fault model is firstly established and partial actuator fault is considered. Then, the system performance output signal is deemed as the main design variable of bumpless transfer, and closed-loop control systems both previous and after controller switching are constructed. Moreover, by using model matching thought and the adaptive sliding mode control technique, a bumpless transfer compensator design strategy is given to drive the performance output variable (after controller switching) to track the one of reference model. At last, simulation results of numeric and application examples demonstrate the effectiveness of the proposed bumpless transfer strategy.

  16. Development of a HTSMA-Actuated Surge Control Rod for High-Temperature Turbomachinery Applications

    NASA Technical Reports Server (NTRS)

    Padula, Santo, II; Noebe, Ronald; Bigelow, Glen; Culley, Dennis; Stevens, Mark; Penney, Nicholas; Gaydosh, Darrell; Quackenbush, Todd; Carpenter, Bernie

    2007-01-01

    In recent years, a demand for compact, lightweight, solid-state actuation systems has emerged, driven in part by the needs of the aeronautics industry. However, most actuation systems used in turbomachinery require not only elevated temperature but high-force capability. As a result, shape memory alloy (SMA) based systems have worked their way to the forefront of a short list of viable options to meet such a technological challenge. Most of the effort centered on shape memory systems to date has involved binary NiTi alloys but the working temperatures required in many aeronautics applications dictate significantly higher transformation temperatures than the binary systems can provide. Hence, a high temperature shape memory alloy (HTSMA) based on NiTiPdPt, having a transformation temperature near 300 C, was developed. Various thermo-mechanical processing schemes were utilized to further improve the dimensional stability of the alloy and it was later extruded/drawn into wire form to be more compatible with envisioned applications. Mechanical testing on the finished wire form showed reasonable work output capability with excellent dimensional stability. Subsequently, the wire form of the alloy was incorporated into a benchtop system, which was shown to provide the necessary stroke requirements of approx.0.125 inches for the targeted surge-control application. Cycle times for the actuator were limited to 4 seconds due to control and cooling constraints but this cycle time was determined to be adequate for the surge control application targeted as the primary requirement was initial actuation of a surge control rod, which could be completed in approximately one second.

  17. Nanoscale Optomechanical Actuators for Controlling Mechanotransduction in Living Cells

    PubMed Central

    Liu, Zheng; Liu, Yang; Chang, Yuan; Seyf, Hamid Reza; Henry, Asegun; Mattheyses, Alexa L.; Yehl, Kevin; Zhang, Yun; Huang, Zhuangqun; Salaita, Khalid

    2015-01-01

    Herein we develop an approach for optically controlling receptor tension. This is achieved using optomechanical actuator nanoparticles that are controlled with non-invasive near-infrared light. Illumination leads to particle collapse, delivering piconewton forces to specific cell surface receptors with high spatial and temporal resolution. As a proof-of-concept, we applied optomechanical actuation to trigger integrin-based focal adhesion formation, cell protrusion and migration, as well as T cell receptor activation. PMID:26657558

  18. Nanoscale optomechanical actuators for controlling mechanotransduction in living cells.

    PubMed

    Liu, Zheng; Liu, Yang; Chang, Yuan; Seyf, Hamid Reza; Henry, Asegun; Mattheyses, Alexa L; Yehl, Kevin; Zhang, Yun; Huang, Zhuangqun; Salaita, Khalid

    2016-02-01

    To control receptor tension optically at the cell surface, we developed an approach involving optomechanical actuator nanoparticles that are controlled with near-infrared light. Illumination leads to particle collapse, delivering piconewton forces to specific cell surface receptors with high spatial and temporal resolution. We demonstrate optomechanical actuation by controlling integrin-based focal adhesion formation, cell protrusion and migration, and T cell receptor activation.

  19. Nanoscale optomechanical actuators for controlling mechanotransduction in living cells.

    PubMed

    Liu, Zheng; Liu, Yang; Chang, Yuan; Seyf, Hamid Reza; Henry, Asegun; Mattheyses, Alexa L; Yehl, Kevin; Zhang, Yun; Huang, Zhuangqun; Salaita, Khalid

    2016-02-01

    To control receptor tension optically at the cell surface, we developed an approach involving optomechanical actuator nanoparticles that are controlled with near-infrared light. Illumination leads to particle collapse, delivering piconewton forces to specific cell surface receptors with high spatial and temporal resolution. We demonstrate optomechanical actuation by controlling integrin-based focal adhesion formation, cell protrusion and migration, and T cell receptor activation. PMID:26657558

  20. A study of low-cost reliable actuators for light aircraft. Part B: Appendices

    NASA Technical Reports Server (NTRS)

    Eijsink, H.; Rice, M.

    1978-01-01

    Computer programs written in FORTRAN are given for time response calculations on pneumatic and linear hydraulic actuators. The programs are self-explanatory with comment statements. Program output is also included.

  1. Manufacturing of Dielectric Barrier Discharge Plasma Actuator for Degradation Resistance

    NASA Astrophysics Data System (ADS)

    Houser, Nicole M.

    The performance and broader application of dielectric barrier discharge (DBD) plasma actuators are restricted by the manufacturing methods currently employed. In the current work, two methodologies are proposed to build robust plasma actuators for active flow control; a protective silicone oil (PDMS) treatment for hand-cut and laid tape-based actuators and a microfabrication technique for glass-based devices. The microfabrication process, through which thin film electrodes are precisely deposited onto plasma-resistant glass substrates, is presented in detail. The resulting glass-based devices are characterized with respect to electrical properties and output for various operating conditions. The longevity of microfabricated devices is compared against silicone-treated and untreated hand-made devices of comparable geometries over 60 hours of continuous operation. Both tungsten and copper electrodes are considered for microfabricated devices. Human health effects are also considered in an electromagnetic field study of the area surrounding a live plasma actuator for various operating conditions.

  2. Tactile sensor integrated dielectric elastomer actuator for simultaneous actuation and sensing

    NASA Astrophysics Data System (ADS)

    Kadooka, Kevin; Imamura, Hiroya; Taya, Minoru

    2016-04-01

    Dielectric elastomers (DE) are a subgroup of electroactive polymers which may be used as soft transducers. Such soft transducers exhibit high energy density and silent operation, which makes them desirable for life-like robotic systems such as a robotic hand. A robotic hand must be able to sense the object being manipulated, in terms of normal and shear force being applied, and note when contact has been achieved or lost. To this end, a dielectric elastomer actuator (DEA) with integrated tactile sensing has been developed to provide simultaneous actuation and sensing. The tactile sensing dielectric elastomer actuator consists of a unimorph-type structure, where the active portion is a laminate of alternating DE and electrode material which expands under applied voltage, and the sensing portion is a stiffer sensing dielectric elastomer which has no electrical connection to the active portion. Under applied voltage, the deformation of the active portion expands but is constrained on one side by the sensing portion, resulting in bending actuation. The sensing portion is a DE with electrodes patterned to form 2x2 capacitive sensing arrays. Dome-shaped bumps positioned over the sensing arrays redistribute tactile forces onto the sensor segments, so that measurement of the capacitance change across the array allows for reconstruction of magnitude and direction of the incoming force.

  3. Aeroelastic control of flutter using trailing edge control surfaces powered by piezoelectric actuators

    NASA Astrophysics Data System (ADS)

    Ardelean, Emil Valentin

    Flutter is a rather spectacular phenomenon of aeroelastic instability that affects lifting and control surfaces, yet can also lead to catastrophic consequences for the aircraft. The idea of controlling flutter by using the same energy that causes it, namely airflow energy, through changing the aerodynamics in a controlled manner is not new. In the case of fixed wings, the use of trailing edge control surfaces (flaps) is an extremely effective method to alter the aerodynamics. This research presents the development of an actuation system for trailing edge control surfaces (flaps) used for aeroelastic flutter control of a typical section wing model. In order to be effective for aeroelastic control of flutter, flap deflection of +/-5-6° with adequate bandwidth (up to 25--30 Hz) is required. Classical solutions for flap actuation do not have the capabilities required for this task. Therefore actuation systems using active materials became the focus of this investigation. A new piezoelectric actuator (V-Stack Piezoelectric Actuator) was developed. This actuator meets the requirements for trailing edge flap actuation in both stroke and force over the bandwidth of interest. It is compact, simple, sturdy, and leverages stroke geometrically with minimum force penalties, while displaying linearity over a wide range of stroke. Integration of the actuator inside an existing structure requires minimal modifications of the structure. The shape of the actuator makes it very suitable for trailing edge flap actuation, eliminating the need for a push rod. The actuation solution presented here stands out because of its simplicity, compactness, small mass (compared to that of the actuated structure) and high reliability. Although the actuator was designed for flap actuation, other applications can also benefit from its capabilities. In order to demonstrate the actuation concept, a typical section prototype was constructed and tested experimentally in the wind tunnel at Duke

  4. Hydraulic involute cam actuator

    DOEpatents

    Love, Lonnie J.; Lind, Randall F.

    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.

  5. Achieving Superior Two-Way Actuation by the Stress-Coupling of Nanoribbons and Nanocrystalline Shape Memory Alloy.

    PubMed

    Hao, Shijie; Liu, Yinong; Ren, Yang; Jiang, Daqiang; Yang, Feng; Cong, Daoyong; Wang, Yandong; Cui, Lishan

    2016-06-29

    Inspired by the driving principle of traditional bias-type two-way actuators, we developed a novel two-way actuation nanocomposite wire in which a massive number of Nb nanoribbons with ultralarge elastic strains are loaded inside a shape memory alloy (SMA) matrix to form a continuous array of nanobias actuation pairs for two-way actuation. The composite exhibits a two-way actuation strain of 3.2% during a thermal cycle and an actuation stress of 934 MPa upon heating, which is about twice as high as that (∼500 MPa) found in reported two-way SMAs. Upon cooling, the composite shows an actuation stress of 134 MPa and a mechanical work output of 1.08 × 10(6) J/m(3), which are about three and five times higher than those of reported two-way SMAs, respectively. It was revealed that the massive number of Nb nanoribbons in the compressive state provides the high actuation stress and high work output upon cooling, and the SMA matrix with high yield strength offers the high actuation stress upon heating. Compared to traditional bias-type two-way actuators, the two-way actuation composite with a small volume and simple construct works well with the miniaturization and simplification of actuators. PMID:27276656

  6. Anthropomorphic finger antagonistically actuated by SMA plates.

    PubMed

    Engeberg, Erik D; Dilibal, Savas; Vatani, Morteza; Choi, Jae-Won; Lavery, John

    2015-10-01

    Most robotic applications that contain shape memory alloy (SMA) actuators use the SMA in a linear or spring shape. In contrast, a novel robotic finger was designed in this paper using SMA plates that were thermomechanically trained to take the shape of a flexed human finger when Joule heated. This flexor actuator was placed in parallel with an extensor actuator that was designed to straighten when Joule heated. Thus, alternately heating and cooling the flexor and extensor actuators caused the finger to flex and extend. Three different NiTi based SMA plates were evaluated for their ability to apply forces to a rigid and compliant object. The best of these three SMAs was able to apply a maximum fingertip force of 9.01N on average. A 3D CAD model of a human finger was used to create a solid model for the mold of the finger covering skin. Using a 3D printer, inner and outer molds were fabricated to house the actuators and a position sensor, which were assembled using a multi-stage casting process. Next, a nonlinear antagonistic controller was developed using an outer position control loop with two inner MOSFET current control loops. Sine and square wave tracking experiments demonstrated minimal errors within the operational bounds of the finger. The ability of the finger to recover from unexpected disturbances was also shown along with the frequency response up to 7 rad s(-1). The closed loop bandwidth of the system was 6.4 rad s(-1) when operated intermittently and 1.8 rad s(-1) when operated continuously. PMID:26292164

  7. Applications of dielectric elastomer actuators

    NASA Astrophysics Data System (ADS)

    Pelrine, Ron; Sommer-Larsen, Peter; Kornbluh, Roy D.; Heydt, Richard; Kofod, Guggi; Pei, Qibing; Gravesen, Peter

    2001-07-01

    Dielectric elastomer actuators, based on the field-induced deformation of elastomeric polymers with compliant electrodes, can produce a large strain response, combined with a fast response time and high electromechanical efficiency. This unique performance, combined with other factors such as low cost, suggests many potential applications, a wide range of which are under investigation. Applications that effectively exploit the properties of dielectric elastomers include artificial muscle actuators for robots; low-cost, lightweight linear actuators; solid- state optical devices; diaphragm actuators for pumps and smart skins; acoustic actuators; and rotary motors. Issues that may ultimately determine the success or failure of the actuation technology for specific applications include the durability of the actuator, the performance of the actuator under load, operating voltage and power requirements, and electronic driving circuitry, to name a few.

  8. Quantitative scanning probe microscope topographies by charge linearization of the vertical actuator.

    PubMed

    Fleming, Andrew J

    2010-10-01

    Many forms of scanning probe microscopy require a piezoelectric actuator to vary the probe-sample distance. Examples include constant-force atomic force microscopy and constant-current scanning tunneling microscopy. In such modes, the topography of the sample is reconstructed from the voltage applied to the vertical piezoelectric actuator. However, piezoelectric actuators exhibit significant hysteresis which can produce up to 14% uncertainty in the reproduced topography. In this work, a charge drive is used to linearize the vertical piezoelectric actuator which reduces the error from 14% to 0.65%.

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

    PubMed Central

    Zheng, Hao; Shen, Xiangrong

    2014-01-01

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

  10. The effect of static force on round window stimulation with the direct acoustic cochlea stimulator.

    PubMed

    Maier, Hannes; Salcher, Rolf; Schwab, Burkard; Lenarz, Thomas

    2013-07-01

    The Direct Acoustic Cochlea Stimulator Partial Implant (DACS PI, Phonak Acoustic Implants SA, Switzerland) is intended to stimulate the cochlea by a conventional stapedotomy piston that is crimped onto the DACS PI artificial incus. An alternative approach to the round window (RW) is successfully done with other devices, having the advantage of being also independent of the existence of middle ear structure (e.g. ossicles). Here the possibility of stimulating the RW with the DACS actuator is investigated including the impact of static force on sound transmission to the cochlea. The maximum equivalent sound pressure output with RW stimulation was determined experimentally in fresh human temporal bones. Experiments were performed in analogy to the ASTM standard (F2504.24930-1) method for the output determination of implantable middle ear hearing devices (IMEHDs) in human cadaveric temporal bones (TBs). ASTM compliant temporal bones were stimulated with a prosthesis having a spherical tip (∅0.5 mm) attached to the actuator. The stimulation was performed perpendicular to the round window membrane (RWM) at varying position relative to the RW and the resulting static force on the RW membrane was determined. At each position the displacement output of the DACS PI actuator and the stapes footplate (SFP) vibration in response to actuator stimulation was measured with a Laser Doppler Velocimeter (LDV). By comparison of the achieved output at the stapes footplate in response to sound and transducer stimulation the equivalent sound pressure level at the tympanic membrane at 1Vrms input voltage was calculated assuming that the SFP displacement in both conditions is a measure of perceived loudness, as it is done in the ASTM standard. Ten TB preparations within the acceptance range of the ASTM standard were used for analysis. The actuator driven stapes footplate displacement amplitude as well as the resulting equivalent sound pressure level was highly dependent on the static

  11. Algorithm Optimally Allocates Actuation of a Spacecraft

    NASA Technical Reports Server (NTRS)

    Motaghedi, Shi

    2007-01-01

    A report presents an algorithm that solves the following problem: Allocate the force and/or torque to be exerted by each thruster and reaction-wheel assembly on a spacecraft for best performance, defined as minimizing the error between (1) the total force and torque commanded by the spacecraft control system and (2) the total of forces and torques actually exerted by all the thrusters and reaction wheels. The algorithm incorporates the matrix vector relationship between (1) the total applied force and torque and (2) the individual actuator force and torque values. It takes account of such constraints as lower and upper limits on the force or torque that can be applied by a given actuator. The algorithm divides the aforementioned problem into two optimization problems that it solves sequentially. These problems are of a type, known in the art as semi-definite programming problems, that involve linear matrix inequalities. The algorithm incorporates, as sub-algorithms, prior algorithms that solve such optimization problems very efficiently. The algorithm affords the additional advantage that the solution requires the minimum rate of consumption of fuel for the given best performance.

  12. 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.

  13. 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.

  14. 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.

  15. 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.

  16. 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.

  17. 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.

  18. 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

  19. Analysing the reliability of actuation elements in series and parallel configurations for high-redundancy actuation

    NASA Astrophysics Data System (ADS)

    Steffen, Thomas; Schiller, Frank; Blum, Michael; Dixon, Roger

    2013-08-01

    A high-redundancy actuator (HRA) is an actuation system composed of a high number of actuation elements, increasing both travel and force above the capability of an individual element. This approach provides inherent fault tolerance: if one of the elements fails, the capabilities of the whole actuator may be reduced, but it retains core functionality. Many different configurations are possible, with different implications for the actuator capability and reliability. This article analyses the reliability of the HRA based on the likelihood of an unacceptable reduction in capability. The analysis of the HRA is a highly structured problem, but it does not fit into known reliability categories (such as the k-out-of-n system), and a fault-tree analysis becomes prohibitively large. Instead, a multi-state systems approach is pursued here, which provides an easy, concise and efficient reliability analysis of the HRA. The resulting probability distribution can be used to find the optimal configuration of an HRA for a given set of requirements.

  20. A small-gap electrostatic micro-actuator for large deflections

    PubMed Central

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

    2015-01-01

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

  1. Reconfigurable control of aircraft undergoing sensor and actuator failures

    NASA Astrophysics Data System (ADS)

    Bajpai, Gaurav

    2001-07-01

    Significant number of fatal aircraft accidents in recent years have been linked to component failures. With the predicted increase in air traffic these numbers are likely to increase. With reduction of fatal accidents as motivation, this dissertation investigates design of fault tolerant control systems for aircrafts undergoing sensor and/or actuator failures. Given that the nominal controller may perform inadequately in the event of sensors and/or actuator failure, the feasible approach for such a control scheme is to predesign various controllers anticipating these failures and then switching to an appropriate controller when the failure occurs. This is enabled by the available redundancy in sensing and actuation and allows the system to perform adequately even when these failures occur. The predesign of controllers for sensor and actuator failures is considered. Sensor failures are easily accommodated if certain detectability conditions are met. However, the predesign for actuator failures is not trivial as the position at which the actuators fail is not known a priori. It is shown that this problem can be tackled by reducing it to the classical control problem of disturbance decoupling, in which, the functional control enables the steady state output of dynamical system to reject any disturbance due to the failed actuators. For linear systems, conditions for existence of a controller capable of accommodating these failures can be understood in geometric terms and calculations are linked to solvability of coupled matrix equations. Although control design for aircrafts is done using linear techniques, failures can cause excursions into nonlinear regimes due to ensuing changes in the flight conditions. This dissertation also uses the recent results in the nonlinear regulator theory to address actuator failures in nonlinear systems. The utility of design techniques is illustrated using flight control examples with failures. The symbolic computational tools are

  2. Performance Optimization of Force Feedback Control System in Virtual Vascular Intervention Surgery

    PubMed Central

    Cai, Ping; Qin, Peng; Xie, Le

    2014-01-01

    In virtual surgery of minimally invasive vascular intervention, the force feedback is transmitted through the flexible guide wire. The disturbance caused by the flexible deformation would affect the fidelity of the VR (virtual reality) training. SMC (sliding mode control) strategy with delayed-output observer is adopted to suppress the effect of flexible deformation. In this study, the control performance of the strategy is assessed when the length of guide wire between actuator and the operating point changes. The performance assessment results demonstrate the effectiveness of the proposed method and find the optimal length of guide wire for the force feedback control. PMID:25254063

  3. Electrothermal actuators fabricated in four-level planarized surface-miromachined polycrystalline silicon

    SciTech Connect

    Comtois, J.H.; Michalicek, A.; Barron, C.C.

    1997-11-01

    This paper presents the results of tests performed on a variety of electrochemical microactuators and arrays of these actuators fabricated in the SUMMiT process at the U.S. Department of Energy`s Sandia National Laboratories. These results are intended to aid designers of thermally actuated mechanisms, and they apply to similar actuators made in other polysilicon MEMS processes such as the MUMPS process. Measurements include force and deflection versus input power, maximum operating frequency, effects of long term operation, and ideal actuator and array geometries for different applications` force requirements. Also, different methods of arraying these actuators together are compared. It is found that a method using rotary joints, enabled by the advanced features of the SUMMiT fabrication process, is the most efficient array design. The design and operation of a thermally actuated stepper motor is explained to illustrate a useful application of these arrays.

  4. Robust, Flexible and Lightweight Dielectric Barrier Discharge Actuators Using Nanofoams/Aerogels

    NASA Technical Reports Server (NTRS)

    Sauti, Godfrey (Inventor); Xu, Tian-Bing (Inventor); Siochi, Emilie J. (Inventor); Wilkinson, Stephen P. (Inventor); Meador, Mary Ann B. (Inventor); Guo, Haiquan N. (Inventor)

    2015-01-01

    Robust, flexible, lightweight, low profile enhanced performance dielectric barrier discharge actuators (plasma actuators) based on aerogels/nanofoams with controlled pore size and size distribution as well as pore shape. The plasma actuators offer high body force as well as high force to weight ratios (thrust density). The flexibility and mechanical robustness of the actuators allows them to be shaped to conform to the surface to which they are applied. Carbon nanotube (CNT) based electrodes serve to further decrease the weight and profile of the actuators while maintaining flexibility while insulating nano-inclusions in the matrix enable tailoring of the mechanical properties. Such actuators are required for flow control in aeronautics and moving machinery such as wind turbines, noise abatement in landing gear and rotary wing aircraft and other applications.

  5. Development of vibratory stress relief actuators based on giant magnetostrictive materials

    NASA Astrophysics Data System (ADS)

    He, Wen

    2005-12-01

    A kind of actuator, which is used in the high frequency Vibratory Stress Relief (VSR), was researched. The actuator is based on the technology of giant magnetostrictive materials. The design principle of the actuator was firstly analyzed, which consists of the analysis of giant magnetostrictive materials and a force generator. Then the design criterion of magnetostrictive actuators was deeply discussed, which includes the dimension design of magnetostrictive materials, the design of magnetic field and the design of elimination of heat. Finally, a real actuator was developed, which has been used in the high frequency VSR. The experimental results show that the developed actuator works very well. Large exciting force but small vibration amplitude will make it widely used in the VSR.

  6. Stabilization of boundary layer streaks by plasma actuators

    NASA Astrophysics Data System (ADS)

    Riherd, Mark; Roy, Subrata

    2014-03-01

    A flow's transition from laminar to turbulent leads to increased levels of skin friction. In recent years, dielectric barrier discharge actuators have been shown to be able to delay the onset of turbulence in boundary layers. While the laminar to turbulent transition process can be initiated by several different instability mechanisms, so far, only stabilization of the Tollmien-Schlichting path to transition has received significant attention, leaving the stabilization of other transition paths using these actuators less explored. To fill that void, a bi-global stability analysis is used here to examine the stabilization of boundary layer streaks in a laminar boundary layer. These streaks, which are important to both transient and by-pass instability mechanisms, are damped by the addition of a flow-wise oriented plasma body force to the boundary layer. Depending on the magnitude of the plasma actuation, this damping can be up to 25% of the perturbation's kinetic energy. The damping mechanism appears to be due to highly localized effects in the immediate vicinity of the body force, and when examined using a linearized Reynolds-averaged Navier-Stokes energy balance, indicate negative production of the perturbation's kinetic energy. Parametric studies of the stabilization have also been performed, varying the magnitude of the plasma actuator's body force and the spanwise wavenumber of the actuation. Based on these parametric studies, the damping of the boundary layer streaks appears to be linear with respect to the total amount of body force applied to the flow.

  7. Dielectric Actuation of Polymers

    NASA Astrophysics Data System (ADS)

    Niu, Xiaofan

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

  8. Design and investigation of a linear smart actuator

    NASA Astrophysics Data System (ADS)

    Krishna Chaitanya, S.; Dhanalakshmi, K.

    2015-04-01

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

  9. Development of Characterization Tools for Reliability Testing of MicroElectroMechanical System Actuators

    SciTech Connect

    Allen, James J.; Eaton, William P.; Smith, Norman F.; Tanner, Danelle M.

    1999-07-26

    Characterization tools have been developed to study the performance characteristics and reliability of surface micromachined actuators. These tools include (1) the ability to electrically stimulate or stress the actuator, (2) the capability to visually inspect the devices in operation, (3) a method for capturing operational information, and (4) a method to extract performance characteristics from the operational information. Additionally, a novel test structure has been developed to measure electrostatic forces developed by a comb drive actuator.

  10. Fabrication of a New Electrostatic Linear Actuator

    NASA Astrophysics Data System (ADS)

    Matsunaga, Takashi; Kondoh, Kazuya; Kumagae, Michihiro; Kawata, Hiroaki; Yasuda, Masaaki; Murata, Kenji; Yoshitake, Masaaki

    2000-12-01

    We propose a new electrostatic linear actuator with a large stroke and a new process for fabricating the actuator. A moving slider with many teeth on both sides is suspended above lower electrodes on a substrate by two bearings. A photoresist is used as a sacrificial layer. Both the slider and the bearings are fabricated by Ni electroplating. The bearings are fabricated by the self-alignment technique. Bearings with 0.6 μm clearance can be easily fabricated. All processes are performed at low temperatures up to 110°C. It is confirmed that the slider can be moved mechanically, and also can be moved by about 10 μm when a voltage pulse of 50 V is applied between the slider and the lower electrodes when the slider is upside down. However, the slider cannot move continuously because of friction. We also calculate the electrostatic force acting on one slider tooth. The simulation result shows that the reduction of the electrostatic force to the vertical direction is very important for mechanical movement of the actuator.

  11. Electromechanical actuator for the tongs of a servomanipulator

    DOEpatents

    Martin, H. Lee; Killough, Stephen M.

    1986-01-01

    Computer-augmented electromechanical system is provided for controlling the tongs of a servomanipulator. The mechanical tongs are motor-driven through the remote slave arm of the manipulator, and the motor control current is supplied by a position sensor which senses the position of a spring-loaded trigger in the master arm handle on the manipulator. The actuator for the tongs provides the operator with artificial force reflection in a unilateral force-force control loop.

  12. Sandia's Arbitrary Waveform MEMO Actuator

    2003-08-07

    SAMA is a multichannel, arbitrary waveform generator program for driving microelectromechanical systems (MEMS). It allows the user to piece together twelve available wave parts, thereby permitting the user to create practically any waveform, or upload a previously constructed signal. The waveforms (bundled together as a signal) may simultaneously be output through four different channels to actuate MEMS devices, and the number of output channels may be increased depending on the DAQ card or instrument utilized.more » Additionally, real-time changes may be made to the frequency and amplitude. The signal may be paused temporarily. The waveform may be saved to file for future uploading. Recent work for this version has focused on modifications that will allow loading previously generated arbitrary waveforms, independent channel waveform amplification, adding a pause function, separating the "modify waveform: and "end program" functions, and simplifying the user interface by adding test blocks with statements to help the user program and output the desired signals. The program was developed in an effort to alleviate some of the limitations of Micro Driver. For example, Micro Driver will not allow the user to select a segment of a sine wave, but rather the user is limited to choosing either a whole or half sine wave pattern. It therefore becomes quite difficult ot construct partial sine wave patterns out of a "ramp" waveparts for several reasons. First, one must determine on paper how many data points each ramp will cover, and what the slopes of these ramps will be. Second, from what was observed, Micro Driver has difficulty processing more than six distinct waveparts during sequencing. The program will allow the user to input the various waves into the desired sequence; however, it will not allow the user to compile them (by clicking "ok" and returning to the main screen). Third, should the user decide that they want to increase the amplitute of the output signal

  13. Sandia's Arbitrary Waveform MEMO Actuator

    SciTech Connect

    Brian Sosnowchik, Mark Jenkins

    2003-08-07

    SAMA is a multichannel, arbitrary waveform generator program for driving microelectromechanical systems (MEMS). It allows the user to piece together twelve available wave parts, thereby permitting the user to create practically any waveform, or upload a previously constructed signal. The waveforms (bundled together as a signal) may simultaneously be output through four different channels to actuate MEMS devices, and the number of output channels may be increased depending on the DAQ card or instrument utilized. Additionally, real-time changes may be made to the frequency and amplitude. The signal may be paused temporarily. The waveform may be saved to file for future uploading. Recent work for this version has focused on modifications that will allow loading previously generated arbitrary waveforms, independent channel waveform amplification, adding a pause function, separating the "modify waveform: and "end program" functions, and simplifying the user interface by adding test blocks with statements to help the user program and output the desired signals. The program was developed in an effort to alleviate some of the limitations of Micro Driver. For example, Micro Driver will not allow the user to select a segment of a sine wave, but rather the user is limited to choosing either a whole or half sine wave pattern. It therefore becomes quite difficult ot construct partial sine wave patterns out of a "ramp" waveparts for several reasons. First, one must determine on paper how many data points each ramp will cover, and what the slopes of these ramps will be. Second, from what was observed, Micro Driver has difficulty processing more than six distinct waveparts during sequencing. The program will allow the user to input the various waves into the desired sequence; however, it will not allow the user to compile them (by clicking "ok" and returning to the main screen). Third, should the user decide that they want to increase the amplitute of the output signal, they must

  14. The actuator design and the experimental tests of a new technology large deformable mirror for visible wavelengths adaptive optics

    NASA Astrophysics Data System (ADS)

    Del Vecchio, Ciro; Agapito, Guido; Arcidiacono, Carmelo; Carbonaro, Luca; Marignetti, Fabrizio; De Santis, Enzo; Biliotti, Valdemaro; Riccardi, Armando

    2012-07-01

    Recently, Adaptive Secondary Mirrors showed excellent on-sky results in the Near Infrared wavelengths. They currently provide 30mm inter-actuator spacing and about 1 kHz bandwidth. Pushing these devices to be operated at visible wavelengths is a challenging task. Compared to the current systems, working in the infrared, the more demanding requirements are the higher spatial resolution and the greater correction bandwidth. In fact, the turbulence scale is shorter and the parameter variation is faster. Typically, the former is not larger than 25 mm (projected on the secondary mirror) and the latter is 2 kHz, therefore the actuator has to be more slender and faster than the current ones. With a soft magnetic composite core, a dual-stator and a single-mover, VRALA, the actuator discussed in this paper, attains unprecedented performances with a negligible thermal impact. Pre-shaping the current required to deliver a given stroke greatly simplifies the control system, whose output supplies the current generator. As the inductance depends on the mover position, the electronics of this generator, provided with an inductance measure circuit, works also as a displacement sensor, supplying the control system with an accurate feed-back signal. A preliminary prototype, built according to the several FEA thermo-magnetic analyses, has undergone some preliminary laboratory tests. The results of these checks, matching the design results in terms of power and force, show that the the magnetic design addresses the severe specifications.

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

    PubMed Central

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

    2016-01-01

    An unconventional inchworm actuator for precision positioning based on piezoelectric (PZT) actuation and electrorheological fluids (ERFs) control technology is presented. The actuator consists of actuation unit (PZT stack pump), fluid control unit (ERFs valve), and execution unit (hydraulic actuator). In view of smaller deformation of PZT stack, a new structure is designed for actuation unit, which integrates the advantages of two modes (namely, diaphragm type and piston type) of the volume changing of pump chamber. In order to improve the static shear yield strength of ERFs, a composite ERFs valve is designed, which adopts the series-parallel plate compound structure. The prototype of the inchworm actuator has been designed and manufactured in the lab. Systematic test results indicate that the displacement resolution of the unconventional inchworm actuator reaches 0.038 μm, and the maximum driving force and velocity are 42 N, 14.8 mm/s, respectively. The optimal working frequency for the maximum driving velocity is 120 Hz. The complete research and development processes further confirm the feasibility of developing a new type of inchworm actuator with high performance based on PZT actuation and ERFs control technology, which provides a reference for the future development of a new type of actuator. PMID:27022234

  16. Three-dimensional effects of curved plasma actuators in quiescent air

    SciTech Connect

    Wang Chincheng; Durscher, Ryan; Roy, Subrata

    2011-04-15

    This paper presents results on a new class of curved plasma actuators for the inducement of three-dimensional vortical structures. The nature of the fluid flow inducement on a flat plate, in quiescent conditions, due to four different shapes of dielectric barrier discharge (DBD) plasma actuators is numerically investigated. The three-dimensional plasma kinetic equations are solved using our in-house, finite element based, multiscale ionized gas (MIG) flow code. Numerical results show electron temperature and three dimensional plasma force vectors for four shapes, which include linear, triangular, serpentine, and square actuators. Three-dimensional effects such as pinching and spreading the neighboring fluid are observed for serpentine and square actuators. The mechanisms of vorticity generation for DBD actuators are discussed. Also the influence of geometric wavelength ({lambda}) and amplitude ({Lambda}) of the serpentine and square actuators on vectored thrust inducement is predicted. This results in these actuators producing significantly better flow mixing downstream as compared to the standard linear actuator. Increasing the wavelengths of serpentine and square actuators in the spanwise direction is shown to enhance the pinching effect giving a much higher vertical velocity. On the contrary, changing the amplitude of the curved actuator varies the streamwise velocity significantly influencing the near wall jet. Experimental data for a serpentine actuator are also reported for validation purpose.

  17. Flight Test Experience with an Electromechanical Actuator on the F-18 Systems Research Aircraft

    NASA Technical Reports Server (NTRS)

    Jensen, Stephen C.; Jenney, Gavin D.; Raymond, Bruce; Dawson, David; Flick, Brad (Technical Monitor)

    2000-01-01

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

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

    NASA Technical Reports Server (NTRS)

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

    2000-01-01

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

  19. Investigation of size effect on film type haptic actuator made with cellulose acetate

    NASA Astrophysics Data System (ADS)

    Kim, Sang-Youn; Kim, Jaehwan; Kim, Ki-Baek

    2014-04-01

    The most important factor in haptic interaction with hand-held devices is to develop a thin film type actuator which can be easily inserted into the devices and create vibrotactile signals with wide frequency bandwidth. This paper reports a film type vibrotactile actuator which is tiny enough to be embedded into small hand-held devices. The vibration mechanism and experiment results for the suggested vibrotactile actuator are explained. The aim of the actuator is to convey a vibrotactile force greater than a human’s vibrotactile threshold with broad frequency bandwidth to users. To achieve the requirement, we fabricate a film type vibrotactile actuator with cellulose acetate. When an AC voltage is applied to the actuator, the cellulose acetate film gets charged and then generates vibration. The suggested vibrotactile actuator is fabricated in two sizes: 50 mm × 25 mm and 25 mm × 25 mm. For each size of actuator, three kinds of actuator are fabricated with different pillar materials to support the cellulose acetate films. An experiment for measuring vibrational amplitude is conducted over a wide frequency range of actuation voltage. It is known that the proposed film type actuator is feasible for haptic application in the small hand-held devices.

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

    NASA Technical Reports Server (NTRS)

    Navarro, Robert

    1997-01-01

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

  1. Development of multilayer conducting polymer actuator for power application

    NASA Astrophysics Data System (ADS)

    Ikushima, Kimiya; Kudoh, Yuji; Hiraoka, Maki; Yokoyama, Kazuo; Nagamitsu, Sachio

    2009-03-01

    In late years many kinds of home-use robot have been developed to assist elderly care and housework. Most of these robots are designed with conventional electromagnetic motors. For safety it is desirable to replace these electromagnetic motors with artificial muscle. However, an actuator for such a robot is required to have simple structure, low driving voltage, high stress generation, high durability, and operability in the air. No polymer actuator satisfying all these requirements has been realized yet. To meet these we took following two approaches focusing on conducting polymer actuators which can output high power in the air. (Approach 1) We have newly developed an actuator by multiply laminating ionic liquid infiltrated separators and polypyrrole films. Compared with conventional actuator that is driven in a bath of ionic liquid, the new actuator can greatly increase generated stress since the total sectional area is tremendously small. In our experiment, the new actuator consists of minimum unit with thickness of 128um and has work/weight ratio of 0.92J/kg by laminating 9 units in 0.5Hz driving condition. In addition, the driving experiment has shown a stable driving characteristic even for 10,000 cycles durability test. Furthermore, from our design consideration, it has been found that the work/weight ratio can be improved up to 8J/kg (1/8 of mammalian muscle of 64J/kg) in 0.1Hz by reducing the thickness of each unit to 30um. (Approach 2) In order to realize a simplified actuator structure in the air without sealing, we propose the use of ionic liquid gel. The actuation characteristic of suggested multilayered actuator using ionic liquid gel is simulated by computer. The result shows that performance degradation due to the use of ionic liquid gel is negligible small when ionic liquid gel with the elasticity of 3kPa or less is used. From above two results it is concluded that the proposed multilayerd actuator is promising for the future robotic applications

  2. 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.

  3. Solar actuated drain system

    SciTech Connect

    Sarver, G. E.; Worstell, B. W.

    1985-04-30

    A temperature actuated drain system is provided that comprises a siphon that has an inlet end for immersing in a pool of water to be drained from a roof surface and a discharge end communicating with a pressure-responsive one-way valve. A solar actuated enclosed chamber that contains a solar heat energy collector is located on the roof surface and is in open communication with the siphon by means of a tubular member that has its inlet end positioned closely adjacent the bottom of the interior of the chamber. The arrangement causes any appreciable amounts of water that accumulate within the chamber to be discharged from the chamber during the pumping action created by the heating and cooling of air within the chamber.

  4. 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.

  5. 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.

  6. 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.

  7. 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.

  8. Automatic rotary valve actuator

    SciTech Connect

    Cook, W.E.

    1985-03-28

    This report describes the design, construction, and operation of a microcomputer-controlled valve actuator for operating test valves requiring rotary motion of the valve stem. An AIM 65 microcomputer, using a FORTH language program, controls an air motor and air clutch mounted within an oven to accomplish testing at elevated temperatures. The valve actuator closes the test valve until a preset torque is reached and then opens the valve to its initial starting point. The number of cycles and extremes of rotation are tallied and printed as the test progresses. Provisions are made to accept remote signals to stop the test and to indicate to a remote device when the test has been stopped.

  9. 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.

  10. Mesoscale wide-bandwidth linear magnetic actuators : an LDRD final report.

    SciTech Connect

    Jones, Lawrence Anthony

    2004-02-01

    As MEMS transducers are scaled up in size, the threshold is quickly crossed to where magnetoquasistatic (MQS) transducers are superior for force production compared to electroquasistatic (EQS) transducers. Considerable progress has been made increasing the force output of MEMS EQS transducers, but progress with MEMS MQS transducers has been more modest. A key reason for this has been the difficulty implementing efficient lithographically-fabricated magnetic coil structures. The contribution of this study is a planar multilayer polyphase coil architecture which provides for the lithographic implementation of efficient stator windings suitable for linear magnetic machines. A millimeter-scale linear actuator with complex stator windings was fabricated using this architecture. The stators of the actuator were fabricated using a BCB/Cu process, which does not require replanarization of the wafer between layers. The prototype stator was limited to thin copper layers (3 {micro}m) due to the use of evaporated metal at the time of fabrication. Two layers of metal were implemented in the prototype, but the winding architecture naturally supports additional metal layer pairs. It was found in laboratory tests that the windings can support very high current densities of 4 x 10{sup 9}A/m{sup 2} without damage. Force production normal to the stator was calculated to be 0.54 N/A. For thin stators such as this one, force production increases approximately linearly with the thickness of the windings and a six-layer stator fabricated using a newly implemented electroplated BCB/Cu process (six layers of 15 {micro}m thick metal) is projected to produce approximately 8.8 N/A.

  11. 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.

  12. Array haptic actuator for flight simulator

    NASA Astrophysics Data System (ADS)

    Ko, Hyun-U.; Kim, Hyun Chan; Kafy, Abdullahil; Kim, Sang Yeon; Kim, Jaehwan

    2015-04-01

    Array haptic actuator to realize texture of button for virtue flight simulator is fabricated by using cellulose acetate (CA) film. The haptic actuator has independent 3 × 3 cells for identical vibration. Each cell consists of topside CA layer and bottomside CA layer with two pillars. Two ends of topside CA layer are fixed on the pillars similar with fixed end beam. By an electrostatic force in the presence of electric field, the topside CA layer vibrates. Each cell shows its resonance frequency peak in the capable frequency range of vibrotactile feeling from 100 Hz to 500 Hz. The acceleration performance is shown to be higher than vibrotactile threshold on wide frequency band from 100 Hz to 400 Hz.

  13. Electropermanent magnet actuation for droplet ferromicrofluidics

    PubMed Central

    Padovani, José I.; Jeffrey, Stefanie S.; Howe, Roger T.

    2016-01-01

    Droplet actuation is an essential mechanism for droplet-based microfluidic systems. On-demand electromagnetic actuation is used in a ferrofluid-based microfluidic system for water droplet displacement. Electropermanent magnets (EPMs) are used to induce 50 mT magnetic fields in a ferrofluid filled microchannel with gradients up to 6.4 × 104 kA/m2. Short 50 µs current pulses activate the electropermanent magnets and generate negative magnetophoretic forces that range from 10 to 70 nN on 40 to 80 µm water-in-ferrofluid droplets. Maximum droplet displacement velocities of up to 300 µm/s are obtained under flow and no-flow conditions. Electropermanent magnet-activated droplet sorting under continuous flow is demonstrated using a split-junction microfluidic design. PMID:27583301

  14. Dissolution actuated sample container

    DOEpatents

    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.

  15. 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.

  16. 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.

  17. 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.

  18. 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.

  19. Passively actuated valve

    DOEpatents

    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.

  20. Ultrasonically Actuated Tools for Abrading Rock Surfaces

    NASA Technical Reports Server (NTRS)

    Dolgin, Benjamin; Sherrit, Stewart; Bar-Cohen, Yoseph; Rainen, Richard; Askin, Steve; Bickler, Donald; Lewis, Donald; Carson, John; Dawson, Stephen; Bao, Xiaoqi; Chang, Zensheu; Peterson, Thomas

    2006-01-01

    An ultrasonic rock-abrasion tool (URAT) was developed using the same principle of ultrasonic/sonic actuation as that of the tools described in two prior NASA Tech Briefs articles: Ultrasonic/ Sonic Drill/Corers With Integrated Sensors (NPO-20856), Vol. 25, No. 1 (January 2001), page 38 and Ultrasonic/ Sonic Mechanisms for Drilling and Coring (NPO-30291), Vol. 27, No. 9 (September 2003), page 65. Hence, like those tools, the URAT offers the same advantages of low power demand, mechanical simplicity, compactness, and ability to function with very small axial loading (very small contact force between tool and rock). Like a tool described in the second of the cited previous articles, a URAT includes (1) a drive mechanism that comprises a piezoelectric ultrasonic actuator, an amplification horn, and a mass that is free to move axially over a limited range and (2) an abrasion tool bit. A URAT tool bit is a disk that has been machined or otherwise formed to have a large number of teeth and an overall shape chosen to impart the desired shape (which could be flat or curved) to the rock surface to be abraded. In operation, the disk and thus the teeth are vibrated in contact with the rock surface. The concentrated stresses at the tips of the impinging teeth repeatedly induce microfractures and thereby abrade the rock. The motion of the tool induces an ultrasonic transport effect that displaces the cuttings from the abraded area. The figure shows a prototype URAT. A piezoelectric-stack/horn actuator is housed in a cylindrical container. The movement of the actuator and bit with respect to the housing is aided by use of mechanical sliders. A set of springs accommodates the motion of the actuator and bit into or out of the housing through an axial range between 5 and 7 mm. The springs impose an approximately constant force of contact between the tool bit and the rock to be abraded. A dust shield surrounds the bit, serving as a barrier to reduce the migration of rock debris to

  1. Dielectric barrier discharge plasma actuator for flow control

    NASA Astrophysics Data System (ADS)

    Opaits, Dmitry Florievich

    Electrohydrodynamic (EHD) and magnetohydrodynamic phenomena are being widely studied for aerodynamic applications. The major effects of these phenomena are heating of the gas, body force generation, and enthalpy addition or extraction, [1, 2, 3]. In particular, asymmetric dielectric barrier discharge (DBD) plasma actuators are known to be effective EHD device in aerodynamic control, [4, 5]. Experiments have demonstrated their effectiveness in separation control, acoustic noise reduction, and other aeronautic applications. In contrast to conventional DBD actuators driven by sinusoidal voltages, we proposed and used a voltage profile consisting of nanosecond pulses superimposed on dc bias voltage. This produces what is essentially a non-self-sustained discharge: the plasma is generated by repetitive short pulses, and the pushing of the gas occurs primarily due to the bias voltage. The advantage of this non-self-sustained discharge is that the parameters of ionizing pulses and the driving bias voltage can be varied independently, which adds flexibility to control and optimization of the actuators performance. Experimental studies were conducted of a flow induced in a quiescent room air by a single DBD actuator. A new approach for non-intrusive diagnostics of plasma actuator induced flows in quiescent gas was proposed, consisting of three elements coupled together: the Schlieren technique, burst mode of plasma actuator operation, and 2-D numerical fluid modeling. During the experiments, it was found that DBD performance is severely limited by surface charge accumulation on the dielectric. Several ways to mitigate the surface charge were found: using a reversing DC bias potential, three-electrode configuration, slightly conductive dielectrics, and semi conductive coatings. Force balance measurements proved the effectiveness of the suggested configurations and advantages of the new voltage profile (pulses+bias) over the traditional sinusoidal one at relatively low

  2. Highly durable, biomimetic electro-active paper actuator based on cellulose polypyrrole-ionic liquid (CPIL) nanocomposite.

    PubMed

    Mahadeva, Suresha K; Yun, Kiju; Kim, Jaehwan; Kim, Joo-Hyung

    2011-01-01

    Cellulose has received much attention as a emerging smart material, named as electro-active paper (EAPap), which can produce a large bending displacement with applied external electrical field. In spite of many advantages over other reported electro active polymers, there are some issues to be addressed: its actuator performance: (i) sensitive to environmental humidity, (ii) humidity dependent displacement output of the actuator and (iii) degradation of performance with time. In present paper, we have successfully developed the highly durable EAPap actuator working at ambient condition with large displacement output. To improve the performance and durability of EAPap, nanoscaled PPy layer into cellulose EAPap was formed by in-situ polymerization technique. Cellulose-PPy-IL nanocomposite based EAPap actuator showed nearly 100% improvement of the actuator performance compared that of pure cellulose based EAPap actuator systems.

  3. Some aspects of the NASTRAN program output

    NASA Technical Reports Server (NTRS)

    Gregory, D. J.

    1972-01-01

    The NASTRAN program output is discussed from a structural analysts point of view, and the simple modifications which were made to the program in order to improve it are also described. The convenience of the output for use in original design work is critically appraised and compared with the output from ASTRAL. It is shown that considerable hand calculation is necessary in order to extract useful load distribution data from the available NASTRAN output. For this reason, some effort was directed toward providing additional force output for the NASTRAN shear panel element.

  4. Experimental characterization of shape memory alloy actuator cables

    NASA Astrophysics Data System (ADS)

    Biggs, Daniel B.; Shaw, John A.

    2016-04-01

    Wire rope (or cables) are a fundamental structural element in many engineering applications. Recently, there has been growing interest in stranding NiTi wires into cables to scale up the adaptive properties of NiTi tension elements and to make use of the desirable properties of wire rope. Exploratory experiments were performed to study the actuation behavior of two NiTi shape memory alloy cables and straight monofilament wire of the same material. The specimens were held under various dead loads ranging from 50 MPa to 400 MPa and thermally cycled 25 times from 140°C to 5°C at a rate of 12°C/min. Performance metrics of actuation stroke, residual strain, and work output were measured and compared between specimen types. The 7x7 cable exhibited similar actuation to the single straight wire, but with slightly longer stroke and marginally more shakedown, while maintaining equivalent specific work output. This leads to the conclusion that the 7x7 cable effectively scaled up the adaptive properties the straight wire. Under loads below 150 MPa, the 1x27 cable had up to double the actuation stroke and work output, but exhibited larger shakedown and poorer performance when loaded higher.

  5. 23. STATION 85.5 OF MST, WEST SIDE. ACTUATOR FOR MIDDLE ...

    Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

    23. STATION 85.5 OF MST, WEST SIDE. ACTUATOR FOR MIDDLE NORTH DOORS AT TOP; WEST DOOR MOTOR DISCONNECT ABOVE ACTUATOR; WINCH AND PULLEY SYSTEM AT BOTTOM; HYDRAULIC PUMPING UNIT ABOVE WINCHES; MOTOR COMPRESSOR FOR DOORS ON RIGHT. - Vandenberg Air Force Base, Space Launch Complex 3, Launch Pad 3 East, Napa & Alden Roads, Lompoc, Santa Barbara County, CA

  6. Evaluation of synthetic linear motor-molecule actuation energetics

    NASA Astrophysics Data System (ADS)

    Brough, Branden; Northrop, Brian H.; Schmidt, Jacob J.; Tseng, Hsian-Rong; Houk, Kendall N.; Fraser Stoddart, J.; Ho, Chih-Ming

    2006-06-01

    By applying atomic force microscope (AFM)-based force spectroscopy together with computational modeling in the form of molecular force-field simulations, we have determined quantitatively the actuation energetics of a synthetic motor-molecule. This multidisciplinary approach was performed on specifically designed, bistable, redox-controllable [2]rotaxanes to probe the steric and electrostatic interactions that dictate their mechanical switching at the single-molecule level. The fusion of experimental force spectroscopy and theoretical computational modeling has revealed that the repulsive electrostatic interaction, which is responsible for the molecular actuation, is as high as 65 kcal·mol-1, a result that is supported by ab initio calculations. computational modeling | force spectroscopy | molecular motors | switchable rotaxanes

  7. 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.

  8. Renovation of Nmij's 5 MN Hydraulic Amplification Type Force Standard Machine

    NASA Astrophysics Data System (ADS)

    Hayashi, Toshiyuki; Maejima, Hiroshi; Ueda, Kazunaga; Aokitsu, Mitsuharu

    The 5 MN hydraulic amplification type force standard machine was renovated by replacing its hydraulic pressure control system, measuring ram and cylinder. For re-evaluation of uncertainty of force amplification factor, diameters of the main and mearsuring rams and cylinders were re-measured. A programmable logic controller with a personal computer is used to control the weight motion and the valve actuation, to monitor various kinds of sensors output, and to record readings of a force transducer under calibration. Fluctuation of calibration force was suppressed by using a quartz-resonance type pressure gauge, and measurement repeatability was improved to some extent. However, there remains room for improvement to further stabilize the calibration force by modifying the measuring ram.

  9. 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.

  10. Direct drive field actuator motors

    DOEpatents

    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.

  11. 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.

  12. Actuating the deformable mirror: a multiphysics design approach

    NASA Astrophysics Data System (ADS)

    Del Vecchio, Ciro; Biasi, Roberto; Gallieni, Daniele; Riccardi, Armando; Spairani, Roberto

    2008-07-01

    The crucial component of an Adaptive Optics unit is the actuation system of the deformable mirror. One possible implementation comprehends a linear force motor and a capacitive sensor providing the feedback measure signal. Due to the extreme accuracy required by the optics, a proper design of the actuator is essential in order to fulfill the specifications. In the device, mechanics, electrostatics, electromagnetism and thermal effects are mutually related, and they have to be properly considered in the design phase. This paper analyzes such a multiphysics behavior of the actuation system, providing an inter-disciplinary approach able to define the optimized device: a capacitive sensor measuring the displacements at the nanometer accuracy and a closed loop linear motor delivering the requested force with the lowest possible power dissipation, in order to minimize the degrading of the optical waves propagation.

  13. Topology optimization of 3D compliant actuators by a sequential element rejection and admission method

    NASA Astrophysics Data System (ADS)

    Ansola, R.; Veguería, E.; Alonso, C.; Querin, O. M.

    2016-03-01

    This work presents a sequential element rejection and admission (SERA) method for optimum topology design of three dimensional compliant actuators. The proposed procedure has been successfully applied to several topology optimization problems, but most investigations for compliant devices design have been focused on planar systems. This investigation aims to progress on this line, where a generalization of the method for three dimensional topology optimization is explored. The methodology described in this work is useful for the synthesis of high performance flexure based micro and nano manipulation applications demanding for both sensing and control of motion and force trajectories. In this case the goal of the topology optimization problem is to design an actuator that transfers work from the input point to the output port in a structurally efficient way. Here we will use the classical formulation where the displacement performed on a work piece modelled by a spring is maximized. The technique implemented works with two separate criteria for the rejection and admission of elements to efficiently achieve the optimum design and overcomes problems encountered by other evolutionary methods when dealing with compliant mechanisms design. The use of the algorithm is demonstrated through several numerical examples.

  14. Reactive Control of Boundary Layer Streaks Induced by Freestream Turbulence Using Plasma Actuators

    NASA Astrophysics Data System (ADS)

    Gouder, Kevin; Naguib, Ahmed; Lavoie, Philippe; Morrison, Jonathan

    2015-11-01

    Over the past few years we have carried out a systematic series of investigations aimed at evaluating the capability of a plasma-actuator-based feedforward-feedback control system to weaken streaks induced ``synthetically'' in a Blasius boundary layer via dynamic roughness elements. This work has been motivated by the delay of bypass boundary layer transition in which the streaks form stochastically beneath a freestream with turbulence of intensity of more than approximately 1%. In the present work, we carry forward the knowhow from our previous research in a first attempt to control such naturally occurring streaks. The experimental setup consists of a turbulence-generating grid upstream of a flat plate with a sharp leading edge. At the freestream velocity of the experiment, turbulent spot formation is observed to start at a streamwise location of x ~ 350 mm from the leading edge. The control system is implemented within a streamwise domain stretching from x = 150 mm to 300mm, where the streaks exhibit linear growth. At the upstream and downstream end of the domain a feedforward and a feedback wall-shear-stress sensors are utilized. The output from the sensors is fed to appropriately designed controllers which drive two plasma actuators providing positive and negative wall-normal forcing to oppose naturally occurring high- and low-speed streaks respectively. The results provide an assessment of the viability of the control approach to weaken the boundary layer streaks and to delay transition.

  15. Pneumatically actuated micropipetting device

    NASA Astrophysics Data System (ADS)

    Szita, Nicolas; Buser, Rudolf A.

    1998-03-01

    We have realized a valveless micropipetting device with an integrated sensor which can aspirate and dispense liquid volumes without any valves, hence without any reflow or dead volume. With an external pneumatic actuation, we have demonstrated aspirating and dispensing from 190nl of 6 (mu) l of water. Measurements showed a standard deviation of down to 1 percent. An integrated capacitive sensor will allow monitoring of the pressure throughout the pipetting process and detect malfunctions, e.g. clotting of the pipetting tip. It is our intention to use this demonstrated precise aspiration mechanism in combination with a micromachined reaction chamber and a miniaturized optical analysis system.

  16. The design of a nine-string six-degree-of-freedom force-feedback joystick for telemanipulation

    NASA Technical Reports Server (NTRS)

    Agronin, M. L.

    1987-01-01

    An overview is given of the design and controlling equations for a 6-degree-of-freedom force-feedback joystick for telemanipulation. The joystick has a parallel mechanical structure which allows all of its actuators to be fixed to a non-moving base. The low-inertia design is expected to provide an accurate force-feedback signal to the joystick operator without the need for closed-loop momentum compensation. The analysis describes the joystick's inputs and outputs in generalized Cartesian space, so the joystick can potentially be used as an interface for any 6-degree-of-freedom device.

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

    PubMed

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

    2015-10-28

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

  18. A planar nano-positioner driven by shear piezoelectric actuators

    NASA Astrophysics Data System (ADS)

    Dong, W.; Li, H.; Du, Z.

    2016-08-01

    A planar nano-positioner driven by the shear piezoelectric actuators is proposed in this paper based on inertial sliding theory. The performance of the nano-positioner actuated by different driving signals is analyzed and discussed, e.g. the resolution and the average velocity which depend on the frequency, the amplitude and the wave form of the driving curves. Based on the proposed design, a prototype system of the nano-positioner is developed by using a capacitive sensor as the measurement device. The experiment results show that the proposed nano-positioner is capable of outputting two-dimensional motions within an area of 10 mm × 10 mm at a maximum speed of 0.25 mm/s. The corresponding resolution can be as small as 21 nm. The methodology outlined in this paper can be employed and extended to shear piezoelectric actuators involved in high precision positioning systems.

  19. Robot Arm with Tendon Connector Plate and Linear Actuator

    NASA Technical Reports Server (NTRS)

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

    2014-01-01

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

  20. 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.

  1. Climbing robot actuated by meso-hydraulic artificial muscles

    NASA Astrophysics Data System (ADS)

    Bryant, Matthew; Fitzgerald, Jason; Miller, Samuel; Saltzman, Jonah; Kim, Sangkyu; Lin, Yong; Garcia, Ephrahim

    2014-03-01

    This paper presents the design, construction, experimental characterization, and system testing of a legged, wall-climbing robot actuated by meso-scale hydraulic artificial muscles. While small wall-climbing robots have seen increased research attention in recent years, most authors have primarily focused on designs for the gripping and adhesion of the robot to the wall, while using only standard DC servo-motors for actuation. This project seeks to explore and demonstrate a different actuation mechanism that utilizes hydraulic artificial muscles. A four-limb climbing robot platform that includes a full closed-loop hydraulic power and control system, custom hydraulic artificial muscles for actuation, an on-board microcontroller and RF receiver for control, and compliant claws with integrated sensing for gripping a variety of wall surfaces has been constructed and is currently being tested to investigate this actuation method. On-board power consumption data-logging during climbing operation, analysis of the robot kinematics and climbing behavior, and artificial muscle force-displacement characterization are presented to investigate and this actuation method.

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

    NASA Astrophysics Data System (ADS)

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

    2015-12-01

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

  3. Micro-Ball-Lens Optical Switch Driven by SMA Actuator

    NASA Technical Reports Server (NTRS)

    Yang, Eui-Hyeok

    2003-01-01

    The figure is a simplified cross section of a microscopic optical switch that was partially developed at the time of reporting the information for this article. In a fully developed version, light would be coupled from an input optical fiber to one of two side-by-side output optical fibers. The optical connection between the input and the selected output fiber would be made via a microscopic ball lens. Switching of the optical connection from one output fiber to another would be effected by using a pair of thin-film shape-memory-alloy (SMA) actuators to toggle the lens between two resting switch positions. There are many optical switches some made of macroscopic parts by conventional fabrication techniques and some that are microfabricated and, hence, belong to the class of microelectromechanical systems (MEMS). Conventionally fabricated optical switches tend to be expensive. MEMS switches can be mass-produced at relatively low cost, but their attractiveness has been diminished by the fact that, heretofore, MEMS switches have usually been found to exhibit high insertion losses. The present switch is intended to serve as a prototype of low-loss MEMS switches. In addition, this is the first reported SMA-based optical switch. The optical fibers would be held in V grooves in a silicon frame. The lens would have a diameter of 1 m; it would be held by, and positioned between, the SMA actuators, which would be made of thin films of TiNi alloy. Although the SMA actuators are depicted here as having simple shapes for the sake of clarity of illustration, the real actuators would have complex, partly net-like shapes. With the exception of the lens and the optical fibers, the SMA actuators and other components of the switch would be made by microfabrication techniques. The components would be assembled into a sandwich structure to complete the fabrication of the switch. To effect switching, an electric current would be passed through one of the SMA actuators to heat it above

  4. VIEW OF THE EXTERNAL TANK VENT VALVE ACTUATION PANEL, SIXTH ...

    Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

    VIEW OF THE EXTERNAL TANK VENT VALVE ACTUATION PANEL, SIXTH LEVEL OF THE EXTERNAL TANK CHECK-OUT CELLS, HB-2, FACING SOUTH - Cape Canaveral Air Force Station, Launch Complex 39, Vehicle Assembly Building, VAB Road, East of Kennedy Parkway North, Cape Canaveral, Brevard County, FL

  5. DETAIL VIEW OF ET VENT VALVE ACTUATION PANEL, MAIN FLOOR ...

    Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

    DETAIL VIEW OF ET VENT VALVE ACTUATION PANEL, MAIN FLOOR LEVEL, PLATFORM E-NORTH, HB-3, FACING NORTH - Cape Canaveral Air Force Station, Launch Complex 39, Vehicle Assembly Building, VAB Road, East of Kennedy Parkway North, Cape Canaveral, Brevard County, FL

  6. MSAD actuator solenoid, performance evaluation and modification

    SciTech Connect

    North, G.

    1983-04-19

    A small conical-faced solenoid actuator is tested in order to develop design criteria for improved performance including increased pull sensitivity. In addition to increased pull for the normal electrical inputs, a reduction in pull response to short duration electrical noise pulses is also required. Along with dynamic testing of the solenoid, a linear circuit model is developed. This model permits calculation of the dynamic forces and currents which can be expected with various electrical inputs. The model parameters are related to the actual solenoid and allow the effects of winding density and shading rings to be evaluated.

  7. Nanophotonic implementation of optoelectrowetting for microdroplet actuation

    NASA Astrophysics Data System (ADS)

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

    2015-02-01

    The development and ultimate operation of a nanocomposite high-aspect-ratio photoinjection (HARP) device is presented in this work. The device makes use of a nanocomposite material as the optically active layer and the device achieves a large optical penetration depth with a high aspect ratio which provides a strong actuation force far away from the point of photoinjection. The nanocomposite material can be continuously illuminated and the position of the microdroplets can, therefore, be controlled to diffraction limited resolution. The nanocomposite HARP device shows great potential for future on-chip applications.

  8. Lightweight Exoskeletons with Controllable Actuators

    NASA Technical Reports Server (NTRS)

    Bar-Cohen, Yoseph; Mavrodis, Constantinos; Melli-Huber, Juan; Fisch, Avi (Alan)

    2004-01-01

    A proposed class of lightweight exoskeletal electromechanical systems would include electrically controllable actuators that would generate torques and forces that, depending on specific applications, would resist and/or assist wearers movements. The proposed systems would be successors to relatively heavy, bulky, and less capable human-strength-amplifying exoskeletal electromechanical systems that have been subjects of research during the past four decades. The proposed systems could be useful in diverse applications in which there are needs for systems that could be donned or doffed easily, that would exert little effect when idle, and that could be activated on demand: examples of such applications include (1) providing controlled movement and/or resistance to movement for physical exercise and (2) augmenting wearers strengths in the performance of military, law-enforcement, and industrial tasks. An exoskeleton according to the proposal would include adjustable lightweight graphite/epoxy struts and would be attached to the wearer's body by belts made of hook-and-pile material. At selected rotary and linear joints, the exoskeleton would be fitted, variously, with lightweight, low-power-consumption rotary and linear brakes, clutches, and motors. The exoskeleton would also be equipped with electronic circuitry for monitoring, control, and possibly communication with external electronic circuits that would perform additional monitoring and control functions.

  9. 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

  10. 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

    2015-01-01

    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.

  11. 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

    2015-01-01

    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

  12. New design for a rotatory joint actuator made with shape memory alloy contractile wire

    NASA Astrophysics Data System (ADS)

    Wang, Guoping; Shahinpoor, Mohsen

    1996-05-01

    A design approach for a rotatory joint actuator using a contractile shape memory alloy (SMA) wire is presented and an example design is followed. In this example, the output torque of the actuator is 18 Newton-meters, and its angular range is 30 degrees. Compared with a SMA spring type actuating component, a SMA wire type actuating component uses less SMA material and uses less electrical energy when it is electrically powered. On the other hand, a SMA wire type actuating component must have a large SMA wire length to produce a required amount of angular rotation of the joint. When pulleys are used to arrange a lengthy SMA wire in a small space, the friction between pulleys and pins is introduced and the performance of the joint actuator is degenerated to some degree. The investigated joint actuator provides a good chance for developing powered orthoses with SMA actuators for disabled individuals. It can relieve the weight concern with hydraulic and motor-powered orthoses and the safety concern with motor-powered orthoses. When electrically powered, a SMA actuator has the disadvantage of low energy efficiency.

  13. Parylene-coated ionic liquid-carbon nanotube actuators for user-safe haptic devices.

    PubMed

    Bubak, Grzegorz; Gendron, David; Ceseracciu, Luca; Ansaldo, Alberto; Ricci, Davide

    2015-07-22

    Simple fabrication, high power-to-weight and power-to-volume ratios, and the ability to operate in open air at low voltage make the ionic electroactive polymer actuators highly attractive for haptic applications. Whenever a direct tactile stimulation of the skin is involved, electrical and chemical insulation as well as a long-term stability of the actuator are required. Because of its inherent physicochemical properties such as high dielectric strength, resistance to solvents, and biological inactivity, Parylene C meets the requirements for making biocompatible actuators. We have studied the displacement and the generated force of Parylene-coated carbon nanotube actuators as well as the encapsulation quality. A 2 μm coating creates an effective electrical insulation of the actuators without altering the blocking force at frequencies from 50 mHz to 1 Hz. Moreover, the generated strain is preserved at higher frequencies (from 0.5 to 5 Hz). We employed a simple mechanical model to explain the relation between the key parameters-flexural stiffness, displacement, and force-for uncoated and coated actuators. In addition, we demonstrated that our Parylene-coated actuators are not damaged by rinsing in liquid media such as 2-propanol or water. In conclusion, our results indicate that Parylene C encapsulated actuators are safe to touch and can be used in contact with human skin and in biomedical applications in direct contact with tissues and physiological fluids.

  14. Actuator operated microvalves

    NASA Technical Reports Server (NTRS)

    Okojie, Robert S. (Inventor)

    2008-01-01

    An actuator operated microvalve and the method of making same is disclosed and claimed. The microvalve comprises a SiC housing which includes a first lower portion and a second upper portion. The lower portion of the SiC housing includes a passageway therethrough, a microvalve seat, and a moveable SiC diaphragm. The SiC diaphragm includes a centrally located boss and radially extending corrugations which may be sinusoidally shaped. The boss of the SiC diaphragm moves and modulates in a range of positions between a closed position wherein the boss interengages said microvalve seat prohibiting communication of fluid through the passageway and a fully open position when the boss is spaced apart from the seat at its maximum permitting communication of fluid through said passageway. The actuator includes a SiC top plate affixed to the boss of the diaphragm and a first electrode and the second upper portion of the SiC housing further includes a second electrode.

  15. Shape Control of Solar Collectors Using Shape Memory Alloy Actuators

    NASA Technical Reports Server (NTRS)

    Lobitz, D. W.; Grossman, J. W.; Allen, J. J.; Rice, T. M.; Liang, C.; Davidson, F. M.

    1996-01-01

    Solar collectors that are focused on a central receiver are designed with a mechanism for defocusing the collector or disabling it by turning it out of the path of the sun's rays. This is required to avoid damaging the receiver during periods of inoperability. In either of these two cases a fail-safe operation is very desirable where during power outages the collector passively goes to its defocused or deactivated state. This paper is principally concerned with focusing and defocusing the collector in a fail-safe manner using shape memory alloy actuators. Shape memory alloys are well suited to this application in that once calibrated the actuators can be operated in an on/off mode using a minimal amount of electric power. Also, in contrast to other smart materials that were investigated for this application, shape memory alloys are capable of providing enough stroke at the appropriate force levels to focus the collector. Design and analysis details presented, along with comparisons to test data taken from an actual prototype, demonstrate that the collector can be repeatedly focused and defocused within accuracies required by typical solar energy systems. In this paper the design, analysis and testing of a solar collector which is deformed into its desired shape by shape memory alloy actuators is presented. Computations indicate collector shapes much closer to spherical and with smaller focal lengths can be achieved by moving the actuators inward to a radius of approximately 6 inches. This would require actuators with considerably more stroke and some alternate SMA actuators are currently under consideration. Whatever SMA actuator is finally chosen for this application, repeatability and fatigue tests will be required to investigate the long term performance of the actuator.

  16. A hybrid actuated microrobot using an electromagnetic field and flagellated bacteria for tumor-targeting therapy.

    PubMed

    Li, Donghai; Choi, Hyunchul; Cho, Sunghoon; Jeong, Semi; Jin, Zhen; Lee, Cheong; Ko, Seong Young; Park, Jong-Oh; Park, Sukho

    2015-08-01

    In this paper, we propose a new concept for a hybrid actuated microrobot for tumor-targeting therapy. For drug delivery in tumor therapy, various electromagnetic actuated microrobot systems have been studied. In addition, bacteria-based microrobot (so-called bacteriobot), which use tumor targeting and the therapeutic function of the bacteria, has also been proposed for solid tumor therapy. Compared with bacteriobot, electromagnetic actuated microrobot has larger driving force and locomotive controllability due to their position recognition and magnetic field control. However, because electromagnetic actuated microrobot does not have self-tumor targeting, they need to be controlled by an external magnetic field. In contrast, the bacteriobot uses tumor targeting and the bacteria's own motility, and can exhibit self-targeting performance at solid tumors. However, because the propulsion forces of the bacteria are too small, it is very difficult for bacteriobot to track a tumor in a vessel with a large bloodstream. Therefore, we propose a hybrid actuated microrobot combined with electromagnetic actuation in large blood vessels with a macro range and bacterial actuation in small vessels with a micro range. In addition, the proposed microrobot consists of biodegradable and biocompatible microbeads in which the drugs and magnetic particles can be encapsulated; the bacteria can be attached to the surface of the microbeads and propel the microrobot. We carried out macro-manipulation of the hybrid actuated microrobot along a desired path through electromagnetic field control and the micro-manipulation of the hybrid actuated microrobot toward a chemical attractant through the chemotaxis of the bacteria. For the validation of the hybrid actuation of the microrobot, we fabricated a hydrogel microfluidic channel that can generate a chemical gradient. Finally, we evaluated the motility performance of the hybrid actuated microrobot in the hydrogel microfluidic channel. We expect

  17. A hybrid actuated microrobot using an electromagnetic field and flagellated bacteria for tumor-targeting therapy.

    PubMed

    Li, Donghai; Choi, Hyunchul; Cho, Sunghoon; Jeong, Semi; Jin, Zhen; Lee, Cheong; Ko, Seong Young; Park, Jong-Oh; Park, Sukho

    2015-08-01

    In this paper, we propose a new concept for a hybrid actuated microrobot for tumor-targeting therapy. For drug delivery in tumor therapy, various electromagnetic actuated microrobot systems have been studied. In addition, bacteria-based microrobot (so-called bacteriobot), which use tumor targeting and the therapeutic function of the bacteria, has also been proposed for solid tumor therapy. Compared with bacteriobot, electromagnetic actuated microrobot has larger driving force and locomotive controllability due to their position recognition and magnetic field control. However, because electromagnetic actuated microrobot does not have self-tumor targeting, they need to be controlled by an external magnetic field. In contrast, the bacteriobot uses tumor targeting and the bacteria's own motility, and can exhibit self-targeting performance at solid tumors. However, because the propulsion forces of the bacteria are too small, it is very difficult for bacteriobot to track a tumor in a vessel with a large bloodstream. Therefore, we propose a hybrid actuated microrobot combined with electromagnetic actuation in large blood vessels with a macro range and bacterial actuation in small vessels with a micro range. In addition, the proposed microrobot consists of biodegradable and biocompatible microbeads in which the drugs and magnetic particles can be encapsulated; the bacteria can be attached to the surface of the microbeads and propel the microrobot. We carried out macro-manipulation of the hybrid actuated microrobot along a desired path through electromagnetic field control and the micro-manipulation of the hybrid actuated microrobot toward a chemical attractant through the chemotaxis of the bacteria. For the validation of the hybrid actuation of the microrobot, we fabricated a hydrogel microfluidic channel that can generate a chemical gradient. Finally, we evaluated the motility performance of the hybrid actuated microrobot in the hydrogel microfluidic channel. We expect

  18. Ionic and viscoelastic mechanisms of a bucky-gel actuator

    NASA Astrophysics Data System (ADS)

    Kruusamäe, Karl; Sugino, Takushi; Asaka, Kinji

    2015-07-01

    Ionic electromechanically active polymers (IEAPs) are considered attractive candidates for soft, miniature, and lightweight actuators. The bucky-gel actuator is a carbonaceous subtype of IEAP that due to its structure (i.e. two highly porous electrodes sandwiching a thin ion-permeable electrolyte layer) and composition (i.e. being composed of soft porous polymer, carbon nanotubes, and ionic liquid) is very similar to an electric double-layer capacitor. In response to the voltage applied between the electrodes of a bucky-gel actuator, the laminar structure bends. The time domain behavior exhibits, however, a phenomenon called the back-relaxation, i.e., after some time the direction of bending is reversed even though voltage remains constant. In spite of the working mechanism of IEAP actuators being generally attributed to the transport of ions within the soft multilayer system, the specific details remain unclear. A so-called two-carrier model proposes that the bending and subsequent back-relaxation are caused by the relocation of two ionic species having different mobilities as they enter and exit the electrode layers. By adopting the two-carrier model for bucky-gel actuators, we see very good agreement between the mathematical representation and the experimental data of the electromechanical behavior. Furthermore, since the bucky-gel actuator is viscoelastic, we propose to use the time domain response of a blocking force as the key parameter related to the inner ionic mechanism. We also introduce a method to estimate the viscoelastic creep compliance function from the time domain responses for curvature and blocking force. This analysis includes four types of bucky-gel actuators of varying composition and structure.

  19. A linear actuator for precision positioning of dual objects

    NASA Astrophysics Data System (ADS)

    Peng, Yuxin; Cao, Jie; Guo, Zhao; Yu, Haoyong

    2015-12-01

    In this paper, a linear actuator for precision positioning of dual objects is proposed based on a double friction drive principle using a single piezoelectric element (PZT). The linear actuator consists of an electromagnet and a permanent magnet, which are connected by the PZT. The electromagnet serves as an object 1, and another object (object 2) is attached on the permanent magnet by the magnetic force. For positioning the dual objects independently, two different friction drive modes can be alternated by an on-off control of the electromagnet. When the electromagnet releases from the guide way, it can be driven by impact friction force generated by the PZT. Otherwise, when the electromagnet clamps on the guide way and remains stationary, the object 2 can be driven based on the principle of smooth impact friction drive. A prototype was designed and constructed and experiments were carried out to test the basic performance of the actuator. It has been verified that with a compact size of 31 mm (L) × 12 mm (W) × 8 mm (H), the two objects can achieve long strokes on the order of several millimeters and high resolutions of several tens of nanometers. Since the proposed actuator allows independent movement of two objects by a single PZT, the actuator has the potential to be constructed compactly.

  20. Magnetic Actuation of Self-Assembled DNA Hinges

    NASA Astrophysics Data System (ADS)

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

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

  1. Magnetic resonance elastography using an air ball-actuator.

    PubMed

    Numano, Tomokazu; Kawabata, Yoshihiko; Mizuhara, Kazuyuki; Washio, Toshikatsu; Nitta, Naotaka; Homma, Kazuhiro

    2013-07-01

    The purpose of this study was to develop a new technique for a powerful compact MR elastography (MRE) actuator based on a pneumatic ball-vibrator. This is a compact actuator that generates powerful centrifugal force vibrations via high speed revolutions of an internal ball using compressed air. This equipment is easy to handle due to its simple principles and structure. Vibration frequency and centrifugal force are freely adjustable via air pressure changes (air flow volume), and replacement of the internal ball. In order to achieve MRI compatibility, all parts were constructed from non-ferromagnetic materials. Vibration amplitudes (displacements) were measured optically by a laser displacement sensor. From a bench test of displacement, even though the vibration frequency increased, the amount of displacement did not decrease. An essential step in MRE is the generation of mechanical waves within tissue via an actuator, and MRE sequences are synchronized to several phase offsets of vibration. In this system, the phase offset was detected by a four-channel optical-fiber sensor, and it was used as an MRI trigger signal. In an agarose gel phantom experiment, this actuator was used to make an MR elastogram. This study shows that the use of a ball actuator for MRE is feasible.

  2. A bioinspired soft actuated material.

    PubMed

    Roche, Ellen T; Wohlfarth, Robert; Overvelde, Johannes T B; Vasilyev, Nikolay V; Pigula, Frank A; Mooney, David J; Bertoldi, Katia; Walsh, Conor J

    2014-02-26

    A class of soft actuated materials that can achieve lifelike motion is presented. By embedding pneumatic actuators in a soft material inspired by a biological muscle fibril architecture, and developing a simple finite element simulation of the same, tunable biomimetic motion can be achieved with fully soft structures, exemplified here by an active left ventricle simulator.

  3. Bi-stable optical actuator

    DOEpatents

    Holdener, Fred R.; Boyd, Robert D.

    2000-01-01

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

  4. Rotary actuator for space applications

    NASA Astrophysics Data System (ADS)

    Andión, J. A.; Burgui, C.; Migliorero, G.

    2005-07-01

    SENER is developing a rotary actuator for space applications. The activity, partially funded under ESA GSTP contract, aims at the design, development and performance testing of an innovative rotary actuator concept for space applications. An engineering model has been manufactured and has been tested to demonstrate the compliance with the requirements specification.

  5. Actuated Hybrid Mirror Telescope

    NASA Technical Reports Server (NTRS)

    Hickey, Gregory; Redding, David; Lowman, Andrew; Cohen, David; Ohara, Catherine

    2005-01-01

    The figure depicts the planned Actuated Hybrid Mirror Telescope (AHMT), which is intended to demonstrate a new approach to the design and construction of wide-aperture spaceborne telescopes for astronomy and Earth science. This technology is also appropriate for Earth-based telescopes. The new approach can be broadly summarized as using advanced lightweight mirrors that can be manufactured rapidly at relatively low cost. More specifically, it is planned to use precise replicated metallic nanolaminate mirrors to obtain the required high-quality optical finishes. Lightweight, dimensionally stable silicon carbide (SiC) structures will support the nanolaminate mirrors in the required surface figures. To enable diffraction- limited telescope performance, errors in surface figures will be corrected by use of mirror-shape-control actuators that will be energized, as needed, by a wave-front-sensing and control system. The concepts of nanolaminate materials and mirrors made from nanolaminate materials were discussed in several previous NASA Tech Briefs articles. Nanolaminates constitute a relatively new class of materials that can approach theoretical limits of stiffness and strength. Nanolaminate mirrors are synthesized by magnetron sputter deposition of metallic alloys and/or compounds on optically precise master surfaces to obtain optical-quality reflector surfaces backed by thin shell structures. As an integral part of the deposition process, a layer of gold that will constitute the reflective surface layer is deposited first, eliminating the need for a subsequent and separate reflective-coating process. The crystallographic textures of the nanolaminate will be controlled to optimize the performance of the mirror. The entire deposition process for making a nanolaminate mirror takes less than 100 hours, regardless of the mirror diameter. Each nanolaminate mirror will be bonded to its lightweight SiC supporting structure. The lightweight nanolaminate mirrors and Si

  6. Shape-memory alloy micro-actuator

    NASA Technical Reports Server (NTRS)

    Busch, John D. (Inventor); Johnson, Alfred D. (Inventor)

    1991-01-01

    A method of producing an integral piece of thermo-sensitive material, which is responsive to a shift in temperature from below to above a phase transformation temperature range to alter the material's condition to a shape-memory condition and move from one position to another. The method is characterized by depositing a thin film of shape-memory material, such as Nickel titanium (Ni-Ti) onto a substrate by vacuum deposition process such that the alloy exhibits an amorphous non-crystalline structure. The coated substrate is then annealed in a vacuum or in the presence of an inert atmosphere at a selected temperature, time and cool down rate to produce an ordered, partially disordered or fully disordered BCC structure such that the alloy undergoes thermoelastic, martinsetic phase transformation in response to alteration in temperature to pass from a martinsetic phase when at a temperature below a phase transformation range and capable of a high level of recoverable strain to a parent austenitic phase in a memory shape when at a temperature above the phase transformation range. Also disclosed are actuator devices employing shape-memory material actuators that deform from a set shape toward an original shape when subjected to a critical temperature level after having been initially deformed from the original shape into the set shape while at a lower temperature. The actuators are mechanically coupled to one or more movable elements such that the temperature-induce deformation of the actuators exerts a force or generates a motion of the mechanical element(s).

  7. Development of a shape memory alloy actuator for a robotic eye prosthesis

    NASA Astrophysics Data System (ADS)

    Bunton, T. B. Wolfe; Faulkner, M. G.; Wolfaardt, J.

    2005-08-01

    The quality of life of patients who wear an orbital prosthesis would be vastly improved if their prostheses were also able to execute vertical and horizontal motion. This requires appropriate actuation and control systems to create an intelligent prosthesis. A method of actuation that meets the demanding design criteria is currently not available. The present work considers an activation system that follows a design philosophy of biomimicry, simplicity and space optimization. While several methods of actuation were considered, shape memory alloys were chosen for their high power density, high actuation forces and high displacements. The behaviour of specific shape memory alloys as an actuator was investigated to determine the force obtained, the transformation temperatures and details of the material processing. In addition, a large-scale prototype was constructed to validate the response of the proposed system.

  8. Core-free rolled actuators for Braille displays using P(VDF-TrFE-CFE)

    NASA Astrophysics Data System (ADS)

    Levard, Thomas; Diglio, Paul J.; Lu, Sheng-Guo; Rahn, Christopher D.; Zhang, Q. M.

    2012-01-01

    Refreshable Braille displays require many small diameter actuators to move the pins. The electrostrictive P(VDF-TrFE-CFE) terpolymer can provide the high strain and actuation force under modest electric fields that are required for this application. In this paper, we develop core-free tubular actuators and integrate them into a 3 × 2 Braille cell. The terpolymer films are solution cast, stretched to 6 μm thick, electroded, laminated into a bilayer, rolled into a 2 mm diameter tube, bonded, and provided with top and bottom contacts. Experimental testing of 17 actuators demonstrates significant strains (up to 4%) and blocking forces (1 N) at moderate electric fields (100 MV m-1). A novel Braille cell is designed and fabricated using six of these actuators.

  9. Hydrodynamic analysis, performance assessment, and actuator design of a flexible tail propulsor in an artificial alligator

    NASA Astrophysics Data System (ADS)

    Philen, Michael; Neu, Wayne

    2011-09-01

    The overall objective of this research is to develop analysis tools for determining actuator requirements and assessing viable actuator technology for design of a flexible tail propulsor in an artificial alligator. A simple hydrodynamic model that includes both reactive and resistive forces along the tail is proposed and the calculated mean thrust agrees well with conventional estimates of drag. Using the hydrodynamic model forces as an input, studies are performed for an alligator ranging in size from 1 cm to 2 m at swimming speeds of 0.3-1.8 body lengths per second containing five antagonistic pairs of actuators distributed along the length of the tail. Several smart materials are considered for the actuation system, and preliminary analysis results indicate that the acrylic electroactive polymer and the flexible matrix composite actuators are potential artificial muscle technologies for the system.

  10. Reliability studies of electrostrictive actuators

    SciTech Connect

    Kumar, U.; Randall, M.; Hock, J.; Ritter, A.

    1994-12-31

    Multilayer electrostrictive actuators have numerous applications. Frequently these applications involve harsh mechanical and electrical loads. Furthermore, it is typically expected that these loads be incurred for >10{sup 8} repetitions (ideally for an infinite number of cycles). This paper describes the electrical and electro-mechanical analyses used at AVX Corporation to assess the performance characteristics of multilayer ceramic actuators, and addresses the effects of electro-mechanical cycling on selected device properties. In this study, lead magnesium niobate based multilayer electrostrictive actuators were subjected to a.c. fields at rated device voltage. Capacitance, dissipation factor, displacement vs. voltage, displacement hysteresis, electro-mechanical quality factor, and resonant frequency were monitored as a function of electro-mechanical cycling. The actuators exhibited highly stable displacements throughout the investigation. Changes observed in other properties indicate a possibility of using them as NDE techniques to assess the actuator reliability.

  11. Energy efficient fluid powered linear actuator with variable area

    DOEpatents

    Lind, Randall F.; Love, Lonnie J.

    2016-09-13

    Hydraulic actuation systems having variable displacements and energy recovery capabilities include cylinders with pistons disposed inside of barrels. When operating in energy consuming modes, high speed valves pressurize extension chambers or retraction chambers to provide enough force to meet or counteract an opposite load force. When operating in energy recovery modes, high speed valves return a working fluid from extension chambers or retraction chambers, which are pressurized by a load, to an accumulator for later use.

  12. Design and Control of a Pneumatically Actuated Transtibial Prosthesis

    PubMed Central

    Zheng, Hao; Shen, Xiangrong

    2015-01-01

    This paper presents the design and control of a pneumatically actuated transtibial prosthesis, which utilizes a pneumatic cylinder-type actuator to power the prosthetic ankle joint to support the user's locomotion. The pneumatic actuator has multiple advantages over the traditional electric motor, such as light weight, low cost, and high power-to-weight ratio. The objective of this work is to develop a compact and lightweight transtibial prosthesis, leveraging the multiple advantages provided by this highly competitive actuator. In this paper, the design details of the prosthesis are described, including the determination of performance specifications, the layout of the actuation mechanism, and the calculation of the torque capacity. Through the authors’ design calculation, the prosthesis is able to provide sufficient range of motion and torque capacity to support the locomotion of a 75 kg individual. The controller design is also described, including the underlying biomechanical analysis and the formulation of the finite-state impedance controller. Finally, the human subject testing results are presented, with the data indicating that the prosthesis is able to generate a natural walking gait and sufficient power output for its amputee user. PMID:26146497

  13. Low-Actuation Voltage MEMS Digital-to-Analog Converter with Parylene Spring Structures.

    PubMed

    Ma, Cheng-Wen; Lee, Fu-Wei; Liao, Hsin-Hung; Kuo, Wen-Cheng; Yang, Yao-Joe

    2015-01-01

    We propose an electrostatically-actuated microelectromechanical digital-to-analog converter (M-DAC) device with low actuation voltage. The spring structures of the silicon-based M-DAC device were monolithically fabricated using parylene-C. Because the Young's modulus of parylene-C is considerably lower than that of silicon, the electrostatic microactuators in the proposed device require much lower actuation voltages. The actuation voltage of the proposed M-DAC device is approximately 6 V, which is less than one half of the actuation voltages of a previously reported M-DAC equipped with electrostatic microactuators. The measured total displacement of the proposed three-bit M-DAC is nearly 504 nm, and the motion step is approximately 72 nm. Furthermore, we demonstrated that the M-DAC can be employed as a mirror platform with discrete displacement output for a noncontact surface profiling system.

  14. Low-Actuation Voltage MEMS Digital-to-Analog Converter with Parylene Spring Structures.

    PubMed

    Ma, Cheng-Wen; Lee, Fu-Wei; Liao, Hsin-Hung; Kuo, Wen-Cheng; Yang, Yao-Joe

    2015-01-01

    We propose an electrostatically-actuated microelectromechanical digital-to-analog converter (M-DAC) device with low actuation voltage. The spring structures of the silicon-based M-DAC device were monolithically fabricated using parylene-C. Because the Young's modulus of parylene-C is considerably lower than that of silicon, the electrostatic microactuators in the proposed device require much lower actuation voltages. The actuation voltage of the proposed M-DAC device is approximately 6 V, which is less than one half of the actuation voltages of a previously reported M-DAC equipped with electrostatic microactuators. The measured total displacement of the proposed three-bit M-DAC is nearly 504 nm, and the motion step is approximately 72 nm. Furthermore, we demonstrated that the M-DAC can be employed as a mirror platform with discrete displacement output for a noncontact surface profiling system. PMID:26343682

  15. Low-Actuation Voltage MEMS Digital-to-Analog Converter with Parylene Spring Structures

    PubMed Central

    Ma, Cheng-Wen; Lee, Fu-Wei; Liao, Hsin-Hung; Kuo, Wen-Cheng; Yang, Yao-Joe

    2015-01-01

    We propose an electrostatically-actuated microelectromechanical digital-to-analog converter (M-DAC) device with low actuation voltage. The spring structures of the silicon-based M-DAC device were monolithically fabricated using parylene-C. Because the Young’s modulus of parylene-C is considerably lower than that of silicon, the electrostatic microactuators in the proposed device require much lower actuation voltages. The actuation voltage of the proposed M-DAC device is approximately 6 V, which is less than one half of the actuation voltages of a previously reported M-DAC equipped with electrostatic microactuators. The measured total displacement of the proposed three-bit M-DAC is nearly 504 nm, and the motion step is approximately 72 nm. Furthermore, we demonstrated that the M-DAC can be employed as a mirror platform with discrete displacement output for a noncontact surface profiling system. PMID:26343682

  16. Nuclear radiation actuated valve

    DOEpatents

    Christiansen, David W.; Schively, Dixon P.

    1985-01-01

    A nuclear radiation actuated valve for a nuclear reactor. The valve has a valve first part (such as a valve rod with piston) and a valve second part (such as a valve tube surrounding the valve rod, with the valve tube having side slots surrounding the piston). Both valve parts have known nuclear radiation swelling characteristics. The valve's first part is positioned to receive nuclear radiation from the nuclear reactor's fuel region. The valve's second part is positioned so that its nuclear radiation induced swelling is different from that of the valve's first part. The valve's second part also is positioned so that the valve's first and second parts create a valve orifice which changes in size due to the different nuclear radiation caused swelling of the valve's first part compared to the valve's second part. The valve may be used in a nuclear reactor's core coolant system.

  17. Optimizing Sensor and Actuator Arrays for ASAC Noise Control

    NASA Technical Reports Server (NTRS)

    Palumbo, Dan; Cabell, Ran

    2000-01-01

    This paper summarizes the development of an approach to optimizing the locations for arrays of sensors and actuators in active noise control systems. A type of directed combinatorial search, called Tabu Search, is used to select an optimal configuration from a much larger set of candidate locations. The benefit of using an optimized set is demonstrated. The importance of limiting actuator forces to realistic levels when evaluating the cost function is discussed. Results of flight testing an optimized system are presented. Although the technique has been applied primarily to Active Structural Acoustic Control systems, it can be adapted for use in other active noise control implementations.

  18. Boundary Layer Control by Means of Plasma Actuators

    SciTech Connect

    Quadros, R.

    2007-09-06

    The development of controlled transition in a flat-plate boundary layer is investigated using Large Eddy Simulations (LES) with the dynamic Smagorinsky model. The analysis of flow control with the objective to optimize the effects of Tollmien-Schlichting waves on a flat plate by means of plasma actuators was studied. The plasma effect is modeled as a body force in the momentum equations. These equations are solved in a uniform grid using a 2nd-order finite difference scheme in time and space. The response of plasma actuators operating in different time-dependent conditions, produced by transient or periodic inputs at different frequencies, is also analyzed.

  19. Phase effect on flow control for dielectric barrier plasma actuators

    SciTech Connect

    Singh, K. P.; Roy, Subrata

    2006-07-03

    Active control of flow has a wide range of applications. Specifically, mitigation of detachment due to the weakly ionized gas flow past a flat plate at an angle of attack is studied using two asymmetric sets of electrode pairs kept at a phase lag. The equations governing the dynamics of electrons, helium ions, and neutrals are solved self-consistently with charge-Poisson equation. The electrodynamic forces produced by two actuators largely depend on the relative phase between the potentials applied to rf electrodes and distance between them. A suitable phase and an optimum distance exist between two actuators for effective separation control.

  20. Optically driven actuators using poly(vinylidene difluoride)

    NASA Astrophysics Data System (ADS)

    Mizutani, Yasuhiro; Otani, Yukitoshi; Umeda, Norihiro

    2008-05-01

    Optically driven actuators have a feature of a non-contact method supplied by light energy. A new method is proposed with three poly(vinylidene difluoride) (PVDF) cantilevers as the legs and a polymer film as the body. The PVDF cantilevers are coated with silver on one surface. When one side of the cantilever is irradiated by a laser beam, an electric field is produced along a cross-section of the cantilever by the pyroelectric effect and a mechanical displacement occurs by the piezoelectric effect. Its response time and its generated force are measured experimentally. Two types of optically driven actuators using PVDF film are proposed to move using different characteristics.