Science.gov

Sample records for hydraulically actuated flexible

  1. Tracking control of the hydraulically actuated flexible manipulator

    SciTech Connect

    Kwon, D.S.; Babcock, S.M.; Burks, B.L.; Kress, R.L.

    1995-03-01

    The remediation of single-shell radioactive waste storage tanks is one of the urgent tasks of the Department of Energy that challenge state-of-the-art equipment and methods. The use of long-reach manipulators is being seriously considered for this remediation task. Because high payload capacity and high length-to-cross-section ratio requirements, these long-reach manipulator systems are expected to use hydraulic actuators and to exhibit significant structural flexibility. The controller has been designed to compensate for the hydraulic actuator dynamics by using a load-compensated velocity feedforward loop and to increase the bandwidth by using a pressure feed backloop. Shaping filter techniques have been applied as a feedforward controller to avoid structural vibrations during operation. Among various types of shaping filter methods investigated an approach, referred to as a ``feedforward simulation filter`` that uses embedded simulation, has been presented.

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

    SciTech Connect

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

    1996-12-01

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

  3. Variable stiffness actuator based on fluidic flexible matrix composites and piezoelectric-hydraulic pump

    NASA Astrophysics Data System (ADS)

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

    2010-04-01

    Recently, a new biological-inspired fluidic flexible matrix composite (in short, F2MC) concept has been developed for linear/torsional actuation and structural stiffness tailoring. Although the actuation and the variable stiffness features of the F2MC have been successfully demonstrated individually, their combined functions and full potentials were not yet manifested. In addition, the current hydraulic pressurization systems are bulky and heavy, limiting the potential of the F2MC actuator. To address these issues, we synthesize a new variable stiffness actuator concept that can provide both effective actuation and tunable stiffness (dual-mode), incorporating the F2MC with a compact piezoelectric-hydraulic pump (in short, PHP). This dual-mode mechanism will significantly enhance the potential of the F2MC adaptive structures.

  4. 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

  5. Hydraulically actuated artificial muscles

    NASA Astrophysics Data System (ADS)

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

    2012-04-01

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

  6. Vehicle hydraulic actuating system

    SciTech Connect

    Tordoff, R.L.

    1988-01-05

    A hydraulic actuating system for a mechanical element is described comprising: a single-acting master cylinder having a ram and at least one cylinder port at a first elevation, the master cylinder ram being biased in a first direction; acturator means for moving the master cylinder ram in a second direction opposite the first direction and generating fluid pressure in the master cylinder; a single-acting slave cylinder with at least one cylinder port at a second lower elevation, the slave cylinder having fluid communication with the master cylinder and the slave cylinder controlling the mechanical element; and a fluid reservoir having selective fluid communication with the cylinder port of the first elevation for bleeding the hydraulic actuating system.

  7. Hydraulically actuated well shifting tool

    SciTech Connect

    Roth, B.A.

    1992-10-20

    This patent describes a hydraulically actuated shifting tool for actuating a sliding member in a well tool. It comprises: a housing having a hydraulic fluid bore therein; shifting dog means positioned on the housing for movement away and toward the housing; locking dog means positioned on the housing for movement away and toward the body; shifting dog hydraulic actuating means in fluid communication with the bore for causing engagement of the shifting dogs with the sliding member; locking dog hydraulic actuating means in communication with the bore for causing engagement of the locking dogs with the locking means; and hydraulic shifting means in communication with the bore for causing relative movement between the shifting dog means and the locking dog means for shifting the sliding sleeve.

  8. Downhole hydraulic actuated pump

    SciTech Connect

    Roeder, G.K.

    1988-09-06

    This patent describes a downhole hydraulically actuated pump assembly of the type having a main housing within which an engine and pump is enclosed; a connecting rod, an engine piston, a pump plunger, means by which the engine and connecting rod reciprocate the pump plunger and thereby produces fluid; the main housing has a lower end having a formation fluid inlet; and upper end having a power fluid inlet; and, a produced fluid outlet; the plunger divides one marginal end of the housing into upper and lower production chambers; the lower end of the connecting rod is hollow and extends through the plunger into fluid communication with the formation fluid inlet to provide a source of formation fluid for the upper and lower production chambers; a traveling value assembly contained within the plunger and arranged to transfer formation fluid from the hollow rod, through the plunger, and into the upper and lower production chambers, respectively, as the plunger upstrokes and downstrokes; produced fluid valve means by which fluid flows from the upper and lower production chambers and through the produced fluid outlet.

  9. Hydraulic Actuator Project

    DTIC Science & Technology

    2003-11-01

    Protocol discussed and revised JTP divided into two parts: • Part I: Coupon Testing • Part II: Functional Rod/Seal Testing Keith Legg prepared latest...unclassified c. THIS PAGE unclassified Standard Form 298 (Rev. 8-98) Prescribed by ANSI Std Z39-18 Actuator JTP: Coupon Testing Substrate...to verify properties Actuator JTP: Coupon Testing Fatigue Testing • Axial per ASTM 466-96, hourglass sample • Environment: lab air and NaCl

  10. Hydraulic involute cam actuator

    DOEpatents

    Love, Lonnie J [Knoxville, TN; Lind, Randall F [Loudon, TX

    2011-11-01

    Mechanical joints are provided in which the angle between a first coupled member and a second coupled member may be varied by mechanical actuators. In some embodiments the angle may be varied around a pivot axis in one plane and in some embodiments the angle may be varied around two pivot axes in two orthogonal planes. The joints typically utilize a cam assembly having two lobes with an involute surface. Actuators are configured to push against the lobes to vary the rotation angle between the first and second coupled member.

  11. 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.

  12. Hydraulic Actuator for Ganged Control Rods

    NASA Technical Reports Server (NTRS)

    Thompson, D. C.; Robey, R. M.

    1986-01-01

    Hydraulic actuator moves several nuclear-reactor control rods in unison. Electromagnetic pump pushes liquid lithium against ends of control rods, forcing them out of or into nuclear reactor. Color arrows show lithium flow for reactor startup and operation. Flow reversed for shutdown. Conceived for use aboard spacecraft, actuator principle applied to terrestrial hydraulic machinery involving motion of ganged rods.

  13. Hydraulic actuator motion limiter ensures operator safety

    NASA Technical Reports Server (NTRS)

    Steinmetz, C. P.

    1971-01-01

    Device regulates action of hydraulic linkage to control column to minimize hazard to operator. Primary components of device are flow rate control valve, limiter accumulator, and shutoff valve. Limiter may be incorporated into other hydraulic systems to prevent undue wear on hydraulic actuators and associated components.

  14. 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.

  15. A comparison of hydraulic, pneumatic, and electro-mechanical actuators for general aviation flight controls

    NASA Technical Reports Server (NTRS)

    Roskam, J.; Rice, M.; Eysink, H.

    1979-01-01

    Mathematical models for electromechanical (EM), pneumatic and hydraulic actuations are discussed. It is shown that EM and hydraulic actuators provide better and faster time responses than pneumatic actuators but EM actuators utilizing the recently developed samarium-cobalt technology have significant advantages in terms of size, weight and power requirements. In terms of ease and flexibility of installation EM actuators apparently have several advantages over hydraulic actuators, and cost is a primary reason for the popularity of EM actuation for secondary control function since no additional systems need to be added to the aircraft. While new rare earth magnets are currently in developmental stage, costs are relatively high; but continued research should bring prices down.

  16. A comparison of hydraulic, pneumatic, and electro-mechanical actuators for general aviation flight controls

    NASA Technical Reports Server (NTRS)

    Roskam, J.; Rice, M.; Eysink, H.

    1979-01-01

    Mathematical models for electromechanical (EM), pneumatic and hydraulic actuations are discussed. It is shown that EM and hydraulic actuators provide better and faster time responses than pneumatic actuators but EM actuators utilizing the recently developed samarium-cobalt technology have significant advantages in terms of size, weight and power requirements. In terms of ease and flexibility of installation EM actuators apparently have several advantages over hydraulic actuators, and cost is a primary reason for the popularity of EM actuation for secondary control function since no additional systems need to be added to the aircraft. While new rare earth magnets are currently in developmental stage, costs are relatively high; but continued research should bring prices down.

  17. Piezoelectric valve actuator for flexible diesel operation

    NASA Astrophysics Data System (ADS)

    MacLachlan, Brian J.; Elvin, Niell; Blaurock, Carl; Keegan, N. J.

    2004-07-01

    Mide Technology Corporation, under the supervision of the U.S. Army, is developing fast hydraulic valve technologies for fuel injection systems. Mide aims to address the Army's 21st Century Vehicle programs by providing the flexibility to achieve economic, environmentally friendly, and power dense diesel operation from a single platform. The technology couples a highly efficient gained piezoelectric actuator to a diesel unit injector's control valve spool. Piezoelectric actuation enables proportional authority over the injector's control valve, as opposed to traditional digital (on/off) operation. This authority allows the integrated device to provide electronically controlled fuel injection rate shaping capability. Each injection event profile may be independently shaped to govern diesel engine operation in one of three selectable modes: Lean, for fuel efficiency; Clean, for reduced emissions; Mean, for improved battlefield performance. To date, Mide has shown injection rate shaping capability in the laboratory using the industry standard "rate tube test" to measure injection profiles. Future development will focus on an engine demonstration of Lean, Clean, and Mean operating mode flexibility using rate shaping technology.

  18. Simulated dynamic response of a servovalve controlled hydraulic actuator

    NASA Technical Reports Server (NTRS)

    Babcock, Dale A.

    1990-01-01

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

  19. Control of flexible robots with prismatic joints and hydraulic drives

    SciTech Connect

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

    1997-03-01

    The design and control of long-reach, flexible manipulators has been an active research topic for over 20 years. Most of the research to date has focused on single link, fixed length, single plane of vibration test beds. In addition, actuation has been predominantly based upon electromagnetic motors. Ironically, these elements are rarely found in the existing industrial long-reach systems. One example is the Modified Light Duty Utility Arm (MLDUA) designed and built by Spar Aerospace for Oak Ridge National Laboratory (ORNL). This arm operates in larger, underground waste storage tanks located at ORNL. The size and nature of the tanks require that the robot have a reach of approximately 15 ft and a payload capacity of 250 lb. In order to achieve these criteria, each joint is hydraulically actuated. Furthermore, the robot has a prismatic degree-of-freedom to ease deployment. When fully extended, the robot`s first natural frequency is 1.76 Hz. Many of the projected tasks, coupled with the robot`s flexibility, present an interesting problem. How will many of the existing flexure control algorithms perform on a hydraulic, long-reach manipulator with prismatic links? To minimize cost and risk of testing these algorithms on the MLDUA, the authors have designed a new test bed that contains many of the same elements. This manuscript described a new hydraulically actuated, long-reach manipulator with a flexible prismatic link at ORNL. Focus is directed toward both modeling and control of hydraulic actuators as well as flexible links that have variable natural frequencies.

  20. Feasibility of transparent flexible ultrasonic haptic actuator

    NASA Astrophysics Data System (ADS)

    Akther, Asma; Kafy, Abdullahil; Kim, Hyun Chan; Kim, Jaehwan

    2016-04-01

    Ultrasonic haptics actuator is a device that can create a haptic feedback to user's hand. The modulation of ultrasonic frequency can give different textures to the users. In this study, a feasibility of the ultrasonic haptic actuator made on a flexible piezoelectric substrate is investigated. As the piezoelectric substrate helps to propagate flexural waves, a pair of interdigital transducer (IDT) with reflectors can produce standing waves, which can increase the vibrational displacement of the actuator. A pair of IDT pattern was fabricated on a piezoelectric polymer substrate. A finite element analysis is at first performed to design the actuator. A sinusoidal excitation voltage is applied on IDT electrodes at ultrasonic frequencies and the displacement waveforms are found. The displacement waveforms clearly represent how ultrasonic waves propagate through the piezoelectric substrate.

  1. 12. VIEW OF HYDRAULIC PUMP INSIDE SILO. ACTUATING ARMS FOR ...

    Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

    12. VIEW OF HYDRAULIC PUMP INSIDE SILO. ACTUATING ARMS FOR DOORS EXPOSED Everett Weinreb, photographer, April 1988 - Los Pinetos Nike Missile Site, Santa Clara Road, Los Angeles National Forest, Sylmar, Los Angeles County, CA

  2. 14 CFR 33.72 - Hydraulic actuating systems.

    Code of Federal Regulations, 2014 CFR

    2014-01-01

    ... 14 Aeronautics and Space 1 2014-01-01 2014-01-01 false Hydraulic actuating systems. 33.72 Section 33.72 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION AIRCRAFT AIRWORTHINESS STANDARDS: AIRCRAFT ENGINES Design and Construction; Turbine Aircraft Engines § 33.72 Hydraulic...

  3. 14 CFR 33.72 - Hydraulic actuating systems.

    Code of Federal Regulations, 2013 CFR

    2013-01-01

    ... 14 Aeronautics and Space 1 2013-01-01 2013-01-01 false Hydraulic actuating systems. 33.72 Section 33.72 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION AIRCRAFT AIRWORTHINESS STANDARDS: AIRCRAFT ENGINES Design and Construction; Turbine Aircraft Engines § 33.72 Hydraulic...

  4. 14 CFR 33.72 - Hydraulic actuating systems.

    Code of Federal Regulations, 2012 CFR

    2012-01-01

    ... 14 Aeronautics and Space 1 2012-01-01 2012-01-01 false Hydraulic actuating systems. 33.72 Section 33.72 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION AIRCRAFT AIRWORTHINESS STANDARDS: AIRCRAFT ENGINES Design and Construction; Turbine Aircraft Engines § 33.72 Hydraulic...

  5. Actuator Grouping Optimization on Flexible Space Reflectors

    NASA Technical Reports Server (NTRS)

    Hill, Jeffrey R.; Wang, K. W.; Fang, Houfei; Quijano, Ubaldo

    2011-01-01

    With the rapid advances in deployable membrane and mesh antenna technologies, the feasibility of developing large, lightweight reflectors has greatly improved. In order to achieve the required surface accuracy, precision surface control is needed on these lightweight reflectors. For this study, an analytical model is shown which combines a flexible Kapton reflector with Polyvinylidene fluoride (PVDF) actuators for surface control. Surface errors are introduced that are similar to real world scenarios, and a least squares control algorithm is developed for surface control. Experimental results on a 2.4 meter reflector show that while the analytical reflector model is generally correct, due to idiosyncrasies in the reflector it cannot be used for online control. A new method called the En Mass Elimination algorithm is used to determine the optimal grouping of actuators when the number of actuators in the system exceeds the number of power supplies available.

  6. Hydraulically-actuated operating system for an electric circuit breaker

    DOEpatents

    Barkan, Philip; Imam, Imdad

    1978-01-01

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

  7. Redundancy of hydraulic flight control actuators

    NASA Technical Reports Server (NTRS)

    Chenoweth, C. C.; Ryder, D. R.

    1976-01-01

    The constraint of requiring airplanes to have inherent aerodynamic stability can be removed by using active control systems. The resulting airplane requires control system reliability approaching that of the basic airframe. Redundant control actuators can be used to achieve the required reliability, but create mechanization and operational problems. Of numerous candidate systems, two different approaches to solving the problems associated with redundant actuators which appear the most likely to be used in advanced airplane control systems are described.

  8. Theoretical Investigation of the Viscous Damping Coefficient of Hydraulic Actuators

    NASA Astrophysics Data System (ADS)

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

    2017-07-01

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

  9. 46 CFR 58.25-60 - Non-duplicated hydraulic rudder actuators.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ... 46 Shipping 2 2010-10-01 2010-10-01 false Non-duplicated hydraulic rudder actuators. 58.25-60... AND AUXILIARY MACHINERY AND RELATED SYSTEMS Steering Gear § 58.25-60 Non-duplicated hydraulic rudder actuators. Non-duplicated hydraulic rudder actuators may be installed in the steering-gear control systems...

  10. 46 CFR 58.25-60 - Non-duplicated hydraulic rudder actuators.

    Code of Federal Regulations, 2011 CFR

    2011-10-01

    ... 46 Shipping 2 2011-10-01 2011-10-01 false Non-duplicated hydraulic rudder actuators. 58.25-60... AND AUXILIARY MACHINERY AND RELATED SYSTEMS Steering Gear § 58.25-60 Non-duplicated hydraulic rudder actuators. Non-duplicated hydraulic rudder actuators may be installed in the steering-gear control systems...

  11. 46 CFR 58.25-60 - Non-duplicated hydraulic rudder actuators.

    Code of Federal Regulations, 2013 CFR

    2013-10-01

    ... 46 Shipping 2 2013-10-01 2013-10-01 false Non-duplicated hydraulic rudder actuators. 58.25-60... AND AUXILIARY MACHINERY AND RELATED SYSTEMS Steering Gear § 58.25-60 Non-duplicated hydraulic rudder actuators. Non-duplicated hydraulic rudder actuators may be installed in the steering-gear control...

  12. 46 CFR 58.25-60 - Non-duplicated hydraulic rudder actuators.

    Code of Federal Regulations, 2012 CFR

    2012-10-01

    ... 46 Shipping 2 2012-10-01 2012-10-01 false Non-duplicated hydraulic rudder actuators. 58.25-60... AND AUXILIARY MACHINERY AND RELATED SYSTEMS Steering Gear § 58.25-60 Non-duplicated hydraulic rudder actuators. Non-duplicated hydraulic rudder actuators may be installed in the steering-gear control...

  13. 46 CFR 58.25-60 - Non-duplicated hydraulic rudder actuators.

    Code of Federal Regulations, 2014 CFR

    2014-10-01

    ... 46 Shipping 2 2014-10-01 2014-10-01 false Non-duplicated hydraulic rudder actuators. 58.25-60... AND AUXILIARY MACHINERY AND RELATED SYSTEMS Steering Gear § 58.25-60 Non-duplicated hydraulic rudder actuators. Non-duplicated hydraulic rudder actuators may be installed in the steering-gear control...

  14. 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.

  15. Simulation and control of an electro-hydraulic actuated clutch

    NASA Astrophysics Data System (ADS)

    Balau, Andreea-Elena; Caruntu, Constantin-Florin; Lazar, Corneliu

    2011-08-01

    The basic function of any type of automotive transmission is to transfer the engine torque to the vehicle with the desired ratio smoothly and efficiently and the most common control devices inside the transmission are clutches and hydraulic pistons. The automatic control of the clutch engagement plays a crucial role in Automatic Manual Transmission (AMT) vehicles, being seen as an increasingly important enabling technology for the automotive industry. It has a major role in automatic gear shifting and traction control for improved safety, drivability and comfort and, at the same time, for fuel economy. In this paper, a model for a wet clutch actuated by an electro-hydraulic valve used by Volkswagen for automatic transmissions is presented. Starting from the developed model, a simulator was implemented in Matlab/Simulink and the model was validated against data obtained from a test-bench provided by Continental Automotive Romania, which includes the Volkswagen wet clutch actuated by the electro-hydraulic valve. Then, a predictive control strategy is applied to the model of the electro-hydraulic actuated clutch with the aims of controlling the clutch piston displacement and decreasing the influence of the network-induced delays on the control performances. The simulation results obtained with the proposed method are compared with the ones obtained with different networked controllers and it is shown that the strategy proposed in this paper can indeed improve the performances of the control system.

  16. 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.

  17. Microcomputer Control of a Hydraulically Actuated Piston.

    DTIC Science & Technology

    1987-06-01

    control circuits for hydraulic systems. No doubt a leading advantage is cost. As the complexity of the control system rises analog control circuitry costs...agram :s shown in F~gure (2.4). Figur ,4 K. Anao Syte BlcSiarm D.j- ANLYI OFI THESYT) :n~~~~ereKur 2r4 :es tmiecotAnandg brsek Brloecis. ordr espns...been more complex a more rigorous approach would have been employed. The equaticn would have been arranged in such a manner as to permrit its

  18. Hydraulically actuated fuel injector including a pilot operated spool valve assembly and hydraulic system using same

    DOEpatents

    Shafer, Scott F.

    2002-01-01

    The present invention relates to hydraulic systems including hydraulically actuated fuel injectors that have a pilot operated spool valve assembly. One class of hydraulically actuated fuel injectors includes a solenoid driven pilot valve that controls the initiation of the injection event. However, during cold start conditions, hydraulic fluid, typically engine lubricating oil, is particularly viscous and is often difficult to displace through the relatively small drain path that is defined past the pilot valve member. Because the spool valve typically responds slower than expected during cold start due to the difficulty in displacing the relatively viscous oil, accurate start of injection timing can be difficult to achieve. There also exists a greater difficulty in reaching the higher end of the cold operating speed range. Therefore, the present invention utilizes a fluid evacuation valve to aid in displacement of the relatively viscous oil during cold start conditions.

  19. Pneumatic squirming robot based on flexible pneumatic actuator

    NASA Astrophysics Data System (ADS)

    Yang, Qinghua; Zhang, Libin; Bao, Guanjun; Ruan, Jian

    2005-12-01

    The design of a kind of pneumatic squirming robot is presented. It is based on the use of flexible pneumatic actuator. The flexible pneumatic actuator was made of caoutchouc. Its working principle is described. The structure, working principle, pneumatic and electrical control system of the pneumatic squirming robot are designed. All of the actuator's driving and squirming parts are composed of pneumatic elements. The vacuum osculums, which act as feet, are connected to the flexible pneumatic actuator. When the vacuum pumps operate, vacuum will be produced in the corresponding osculums, which can adsorb on the contacting surface and orient the robot. The actuator, operating under air pressure, drives the robot. By controlling the vacuum pumps and the actuator, straight and bending squirming of this robot can be obtained.

  20. Hydraulic actuator for an electric circuit breaker

    DOEpatents

    Imam, Imdad [Colonie, NY

    1983-01-01

    This actuator comprises a fluid motor having a piston, a breaker-opening space at one side of the piston, and a breaker-closing space at its opposite side. An accumulator freely communicates with the breaker-opening space for supplying pressurized fluid thereto during a circuit breaker opening operation. The breaker-opening space and the breaker-closing space are connected by an impeded flow passage. A pilot valve opens to allow the pressurized liquid in the breaker-closing space to flow to a back chamber of a normally closed main valve to cause the main valve to be opened during a circuit breaker opening operation to release the pressurized liquid from the breaker-closing space. An impeded passage affords communication between the back chamber and a sump located on the opposite side of the main valve from the back chamber. The pilot valve and impeded passage allow rapid opening of the main valve with pressurized liquid from the breaker closing side of the piston.

  1. Hydraulic actuator for an electric circuit breaker

    DOEpatents

    Imam, I.

    1983-05-17

    This actuator comprises a fluid motor having a piston, a breaker-opening space at one side of the piston, and a breaker-closing space at its opposite side. An accumulator freely communicates with the breaker-opening space for supplying pressurized fluid thereto during a circuit breaker opening operation. The breaker-opening space and the breaker-closing space are connected by an impeded flow passage. A pilot valve opens to allow the pressurized liquid in the breaker-closing space to flow to a back chamber of a normally closed main valve to cause the main valve to be opened during a circuit breaker opening operation to release the pressurized liquid from the breaker-closing space. An impeded passage affords communication between the back chamber and a sump located on the opposite side of the main valve from the back chamber. The pilot valve and impeded passage allow rapid opening of the main valve with pressurized liquid from the breaker closing side of the piston. 3 figs.

  2. A New Type of Hydraulic Actuator Using Electrorheological Fluids

    NASA Astrophysics Data System (ADS)

    Wendt, Eckhard; Büsing, Klaus W.

    Electrorheological Fluids (ERF) are usually used in semi active damping elements, e.g. shock absorbers or engine mounts because of their continuously controllable shear stress. A totally new field of application may be achieved, if an ERF is used as a hydraulic fluid and not only as a control medium. In this case a fundamental need is the capability to produce a volume flow by using normal hydraulic pumps, e.g. gear pumps. The ERF and the hydraulic components both must have a long lifetime without unusual wear. Bayer AG has developed an ERF based on soft crosslinked PU-particles dispersed in silicone oil. These ERF are characterised by a low basic viscosity, a high ER-effect and a moderate conductivity. Compared with previous ERF where hard inorganic particles were used, the new fluid is not abrasive. It is foremostly this characteristic which gives the possibility of using the ERF in hydraulic systems with high shear rates and high shear stresses. The usage of ERF as hydraulic fluid allows the construction of proportional valves without mechanically driven parts. The control of the pressure drop over the valves is realised directly by an electrical signal. It is possible to realise actuators with very fast response times since the reaction time of ERF is within milliseconds. For demonstration purpose Bayer AG has built an actuator which is controlled by an electrorheological valve-block. The calculation of the dimension of this actuator and the valves will be shown and the realised response time will be demonstrated.

  3. Piezoelectric hydraulic hybrid actuator for a potential smart rotor application

    NASA Astrophysics Data System (ADS)

    Sirohi, Jayant

    A piezoelectric hydraulic hybrid actuator is proposed as a potential actuator for a trailing edge flap on a smart rotor. Piezoceramics are very attractive for the smart rotor concept due to their high energy density and electro-mechanical coupling. To optimally design systems based on piezoceramic actuators and sensors, accurate prediction of their response and power consumption is necessary. However, at present, experimental data as well as analytical tools in this regard are limited. Additionally, actuation capabilities of conventional piezoceramic actuators are often limited by their small stroke. In order to address this issue, detailed experiments were conducted on PZT-5H piezoceramic sheet elements to identify their actuation, sensing and power consumption characteristics. The response of PZT-5H sheet actuators was measured under a variety of mechanical loadings and electrical conditions. Using this experimental data, a simple empirical model predicting the hysteretic free strain behavior of a PZT-5H sheet was developed. Calibration of piezoelectric strain sensors was performed along with the theoretical derivation and experimental validation of shear lag and transverse sensitivity correction factors. Power consumption of piezoceramic actuators was modeled and experimentally validated. Empirical correction factors to account for the nonlinear variation of material properties with applied electric field were identified. Additionally, the possibility of reducing the magnitude of current drawn by the actuator was investigated in conjunction with the novel use of a pseudo-inductor. In order to obtain higher output stroke levels than that of conventional piezoceramic actuators, a hybrid device combining piezoceramic actuation and hydraulic power transmission was investigated. A prototype was designed to meet the requirements of a trailing edge flap on a section of a full scale MD900 rotor blade. The prototype was fabricated and tested, specifically concentrating

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

    NASA Technical Reports Server (NTRS)

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

    1989-01-01

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

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

    NASA Astrophysics Data System (ADS)

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

    2017-07-01

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

  6. 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.

  7. Hydraulic engine valve actuation system including independent feedback control

    DOEpatents

    Marriott, Craig D

    2013-06-04

    A hydraulic valve actuation assembly may include a housing, a piston, a supply control valve, a closing control valve, and an opening control valve. The housing may define a first fluid chamber, a second fluid chamber, and a third fluid chamber. The piston may be axially secured to an engine valve and located within the first, second and third fluid chambers. The supply control valve may control a hydraulic fluid supply to the piston. The closing control valve may be located between the supply control valve and the second fluid chamber and may control fluid flow from the second fluid chamber to the supply control valve. The opening control valve may be located between the supply control valve and the second fluid chamber and may control fluid flow from the supply control valve to the second fluid chamber.

  8. Servo-Elastic Dynamics of a Hydraulic Actuator Pitching a Blade with Large Deflections

    NASA Astrophysics Data System (ADS)

    Hansen, M. H.; Kallesøe, B. S.

    2007-07-01

    This paper deals with the servo-elastic dynamics of a hydraulic pitch actuator acting on a largely bend wind turbine blade. The compressibility of the oil and flexibility of the hoses introduce a dynamic mode in the pitch bearing degree of freedom. This mode may obtain negative damping if the proportional gain on the actuator position error is defined too large relative to the viscous forces in the hydraulic system and the total rotational inertia of the pitch bearing degree of freedom. A simple expression for the stability limit of this proportional gain is derived for tuning the gain based on the Ziegler-Nichols method. Computed transfer functions from reference to actual pitch angles indicate that the actuator can be approximated as a low-pass filter with some appropriate limitations on pitching speed and acceleration. The structural blade model includes the geometrical coupling of edgewise bending and torsion for large flapwise deflections. This coupling is shown to introduce edgewise bending response for pitch reference oscillations around the natural frequency of the edgewise bending mode, in which frequency range the transfer function from reference to actual pitch angle cannot be modeled as a simple low-pass filter. The pitch bearing is assumed to be frictionless as a first approximation.

  9. Multiplexed hydraulic valve actuation using ionic liquid filled soft channels and Braille displays

    NASA Astrophysics Data System (ADS)

    Gu, Wei; Chen, Hao; Tung, Yi-Chung; Meiners, Jens-Christian; Takayama, Shuichi

    2007-01-01

    Pneumatic actuation with multilayer soft lithography enables operation of up to thousands of valves in parallel using far fewer control lines. However, it is dependent on macroscopic switches and external pressure sources that require interconnects and limit portability. The authors present a more portable and multiplexed valve actuation strategy that uses a grid of mechanically actuated Braille pins to hydraulically, rather than pneumatically, deform elastic actuation channels that act as valves. Experimental and theoretical analyses show that the key to reliable operation of the hydraulic system is the use of nonvolatile ionic liquids as the hydraulic fluid.

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

    SciTech Connect

    Iman, Imdad

    1983-06-07

    This hydraulically-actuated operating system comprises a cylinder, a piston movable therein in an opening direction to open a circuit breaker, and an accumulator for supplying pressurized liquid to a breaker-opening piston-actuating space within the cylinder. A normally-closed valve between the accumulator and the actuating space is openable to allow pressurized liquid from the accumulator to flow through the valve into the actuating space to drive the piston in an opening direction. A dashpotting mechanism operating separately from the hydraulic actuating system is provided, thereby reducing flow restriction interference with breaker opening.

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

    DOEpatents

    Iman, I.

    1983-06-07

    This hydraulically-actuated operating system comprises a cylinder, a piston movable therein in an opening direction to open a circuit breaker, and an accumulator for supplying pressurized liquid to a breaker-opening piston-actuating space within the cylinder. A normally-closed valve between the accumulator and the actuating space is openable to allow pressurized liquid from the accumulator to flow through the valve into the actuating space to drive the piston in an opening direction. A dashpotting mechanism operating separately from the hydraulic actuating system is provided, thereby reducing flow restriction interference with breaker opening. 3 figs.

  12. Bio-Inspired Flexible Cellular Actuating Systems

    DTIC Science & Technology

    2013-11-21

    multi-physics modeling of EAP under combined electric and mechanical loading and (ii) the role of geometric reinforcement and stiffeners on macroscopic...Jo Chung. Fabrication and Analysis of Planar Dielectric Elastomer ActuatorsCapable of Complex 3-D Deformation, IEEE International Conference on...As far as material characterization is concerned, we focused on: (i) multi-physics modeling of EAP under combined electric and mechanical loading

  13. Engine end for a downhole hydraulically actuated pump assembly

    SciTech Connect

    Roeder, G.K.

    1992-04-14

    This patent describes a hydraulically actuated downhole pump assembly for producing a well when power fluid is pumped thereto whereupon produced fluid admixed with spent power fluid is returned therefrom. It comprises: the engine end has an engine piston connected to actuate the pump end; the engine end has an annular outer housing, the annular valve element moves axially between an uphole position and a downhole position respective to the annular housing ; the engine piston moves axially within the annular valve element between an uphole position and a downhole position respective to the engine barrel; flow passageway means connecting the valve element for conducting flow of power fluid to the engine end to provide a force against the engine piston to move the engine piston in an uphole and downhole direction, whereupon the annular valve element is moved between an uphole and downhole position in response to the movement of the engine piston and conducts flow of power fluid to alternate sides of the engine piston to provide a force against the engine piston to reciprocate the engine piston.

  14. Development of a 3He-hydraulic actuator for spin pump in superfluid 3He-A1

    NASA Astrophysics Data System (ADS)

    Yamaguchi, A.; Wada, M.; Tanaka, H.; Motoyama, G.; Sumiyama, A.; Aoki, Y.; Okuda, Y.; Murakawa, S.; Karaki, Y.; Kubota, M.; Kojima, H.

    2012-12-01

    The superfluid 3He A1 phase contains a spin-polarized condensate. This property allows novel superfluid spin current experiments. In the mechano-spin effect of the A1 phase a mechanically applied pressure gradient and a superleak-spin filter enable to directly boost spin polarization of 3He in a small chamber. Using a flexible membrane as an electrostatically actuated pump, we carried out such experiments and observed 50% enhancement of spin density. Here we report on a new 3He-hydraulic actuator for achieving greater enhancement of spin density. The actuator consists of two liquid 3He chambers located at a 4.2 K plate and in the interior of the cell. The pressure in the 4.2 K chamber is heater-controlled and it transmits a force onto a membrane in the cell. The motion of the membrane induces spin-polarized current into an accumulation chamber.

  15. Engine including hydraulically actuated valvetrain and method of valve overlap control

    SciTech Connect

    Cowgill, Joel

    2012-05-08

    An exhaust valve control method may include displacing an exhaust valve in communication with the combustion chamber of an engine to an open position using a hydraulic exhaust valve actuation system and returning the exhaust valve to a closed position using the hydraulic exhaust valve actuation assembly. During closing, the exhaust valve may be displaced for a first duration from the open position to an intermediate closing position at a first velocity by operating the hydraulic exhaust valve actuation assembly in a first mode. The exhaust valve may be displaced for a second duration greater than the first duration from the intermediate closing position to a fully closed position at a second velocity at least eighty percent less than the first velocity by operating the hydraulic exhaust valve actuation assembly in a second mode.

  16. Chord-wise Tip Actuation on Flexible Flapping Plates

    NASA Astrophysics Data System (ADS)

    Martin, Nathan; Gharib, Morteza

    2015-11-01

    The aerodynamic characteristics of low aspect ratio flapping plates are strongly influenced by the interaction between tip and edge vortices. This has led to the development of tip actuation mechanisms which bend the tip towards the root of the plate in the span-wise direction during oscillation to investigate its impact. In our current work, a tip actuation mechanism to bend a flat plate's two free corners towards one another in the chord-wise direction is developed using a shape memory alloy. The aerodynamic forces and resulting flow field are investigated from dynamically altering the tip chord-wise curvature while flapping. The frequency of oscillation, stroke angle, flexibility, and tip actuation timing are independently varied to determine their individual effects. These results will further the fundamental understanding of flapping wing aerodynamics. This material is based upon work supported by the National Science Foundation Graduate Research Fellowship under Grant No. DGE 1144469.

  17. Understanding the Space Shuttle Main Engine Hydraulic Actuation System and Reviewing Its Evolution

    NASA Technical Reports Server (NTRS)

    McWade, Robert J.; Minor, Robert B.; McNutt, Leslie M.

    2010-01-01

    The complex engine start and thrust control requirements of the Space Shuttle Main Engine (SSME) require unique valve, actuator and control system hardware. The Hydraulic Actuation System (HAS) was designed, developed, and now operates to meet tight engine control requirement limits to assure safe, reliable and correct engine thrust at all times. The actuator is designed to be fail safe and fail operate in the areas where redundancy is important. The HAS has an additional pneumatic operating capability that insures a safe sequential closure of all actuators and propellant valves in the event of the loss of hydraulic system pressure or loss of electrical closed loop control of the actuator. The objective of this paper is to provide a complete description of the actuator s internal operating system, along with its interaction with all SSME system interfaces. Additionally the paper addresses the challenges, problems identified, and corrected, and lessons learned, during the course of the almost 35 years of engine operation.

  18. Understanding the Space Shuttle Main Engine Hydraulic Actuation System and Reviewing Its Evolution

    NASA Technical Reports Server (NTRS)

    McWade, Robert J.; Minor, Robert B.; McNutt, Leslie M.

    2010-01-01

    The complex engine start and thrust control requirements of the Space Shuttle Main Engine (SSME) require unique valve, actuator and control system hardware. The Hydraulic Actuation System (HAS) was designed, developed, and now operates to meet tight engine control requirement limits to assure safe, reliable and correct engine thrust at all times. The actuator is designed to be fail safe and fail operate in the areas where redundancy is important. The HAS has an additional pneumatic operating capability that insures a safe sequential closure of all actuators and propellant valves in the event of the loss of hydraulic system pressure or loss of electrical closed loop control of the actuator. The objective of this paper is to provide a complete description of the actuator s internal operating system, along with its interaction with all SSME system interfaces. Additionally the paper addresses the challenges, problems identified, and corrected, and lessons learned, during the course of the almost 35 years of engine operation.

  19. Lyapunov stable displacement-mode haptic manipulation of hydraulic actuators: theory and experiment

    NASA Astrophysics Data System (ADS)

    Zarei-nia, Kurosh; Sepehri, Nariman

    2012-09-01

    In this article, a stable control scheme is designed and experimentally evaluated for haptic-enabled teleoperated control of hydraulic actuators. At the actuator (slave) side, the controller allows the hydraulic actuator to have a stable position tracking. At the master side, the haptic device provides a kind of 'feel' of telepresence to the operator by creating a force that acts like a virtual spring, coupling the displacement of the haptic device to the displacement of the hydraulic actuator. In free motion, this virtual spring restricts the operator's hand to move fast when the slave manipulator is behind/ahead in terms of tracking the master manipulator's displacement. On the other hand, when interacting with the environment, the constrained force imposed on the hydraulic actuator is indirectly reflected through this virtual spring force. Extension of Lyapunov's stability theory to non-smooth systems is first employed to prove the stability of the resulting control system. Effectiveness of the controller is then validated via experimental studies. It is shown that the control scheme performs well in terms of both positioning the hydraulic actuator and providing a haptic feel to the operator. The control scheme is easy to implement since very little knowledge about system parameters is needed and the required on-line measurements are actuator's supply and line pressures and displacement.

  20. 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.

  1. Hydraulically controlled flexible arm can bend in any direction

    NASA Technical Reports Server (NTRS)

    Griffin, F. D.

    1966-01-01

    Arm assembly consisting of four flexible tubes controlled by a four-way hydraulic or pneumatic valve can bend in any direction. The flexible arm could be used for probing areas that cannot be reached by ordinary tools, handling hazardous materials, and for graph recording.

  2. 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

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

    PubMed

    Kimura, Hitoshi; Matsuzaki, Takuya; Kataoka, Mokutaro; Inou, Norio

    2013-01-01

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

  4. Quantitative fault tolerant control design for a hydraulic actuator with a leaking piston seal

    NASA Astrophysics Data System (ADS)

    Karpenko, Mark

    Hydraulic actuators are complex fluid power devices whose performance can be degraded in the presence of system faults. In this thesis a linear, fixed-gain, fault tolerant controller is designed that can maintain the positioning performance of an electrohydraulic actuator operating under load with a leaking piston seal and in the presence of parametric uncertainties. Developing a control system tolerant to this class of internal leakage fault is important since a leaking piston seal can be difficult to detect, unless the actuator is disassembled. The designed fault tolerant control law is of low-order, uses only the actuator position as feedback, and can: (i) accommodate nonlinearities in the hydraulic functions, (ii) maintain robustness against typical uncertainties in the hydraulic system parameters, and (iii) keep the positioning performance of the actuator within prescribed tolerances despite an internal leakage fault that can bypass up to 40% of the rated servovalve flow across the actuator piston. Experimental tests verify the functionality of the fault tolerant control under normal and faulty operating conditions. The fault tolerant controller is synthesized based on linear time-invariant equivalent (LTIE) models of the hydraulic actuator using the quantitative feedback theory (QFT) design technique. A numerical approach for identifying LTIE frequency response functions of hydraulic actuators from acceptable input-output responses is developed so that linearizing the hydraulic functions can be avoided. The proposed approach can properly identify the features of the hydraulic actuator frequency response that are important for control system design and requires no prior knowledge about the asymptotic behavior or structure of the LTIE transfer functions. A distributed hardware-in-the-loop (HIL) simulation architecture is constructed that enables the performance of the proposed fault tolerant control law to be further substantiated, under realistic operating

  5. Hydraulic hydrogel actuators and robots optically and sonically camouflaged in water.

    PubMed

    Yuk, Hyunwoo; Lin, Shaoting; Ma, Chu; Takaffoli, Mahdi; Fang, Nicolas X; Zhao, Xuanhe

    2017-02-01

    Sea animals such as leptocephali develop tissues and organs composed of active transparent hydrogels to achieve agile motions and natural camouflage in water. Hydrogel-based actuators that can imitate the capabilities of leptocephali will enable new applications in diverse fields. However, existing hydrogel actuators, mostly osmotic-driven, are intrinsically low-speed and/or low-force; and their camouflage capabilities have not been explored. Here we show that hydraulic actuations of hydrogels with designed structures and properties can give soft actuators and robots that are high-speed, high-force, and optically and sonically camouflaged in water. The hydrogel actuators and robots can maintain their robustness and functionality over multiple cycles of actuations, owing to the anti-fatigue property of the hydrogel under moderate stresses. We further demonstrate that the agile and transparent hydrogel actuators and robots perform extraordinary functions including swimming, kicking rubber-balls and even catching a live fish in water.

  6. Hydraulic hydrogel actuators and robots optically and sonically camouflaged in water

    NASA Astrophysics Data System (ADS)

    Yuk, Hyunwoo; Lin, Shaoting; Ma, Chu; Takaffoli, Mahdi; Fang, Nicolas X.; Zhao, Xuanhe

    2017-02-01

    Sea animals such as leptocephali develop tissues and organs composed of active transparent hydrogels to achieve agile motions and natural camouflage in water. Hydrogel-based actuators that can imitate the capabilities of leptocephali will enable new applications in diverse fields. However, existing hydrogel actuators, mostly osmotic-driven, are intrinsically low-speed and/or low-force; and their camouflage capabilities have not been explored. Here we show that hydraulic actuations of hydrogels with designed structures and properties can give soft actuators and robots that are high-speed, high-force, and optically and sonically camouflaged in water. The hydrogel actuators and robots can maintain their robustness and functionality over multiple cycles of actuations, owing to the anti-fatigue property of the hydrogel under moderate stresses. We further demonstrate that the agile and transparent hydrogel actuators and robots perform extraordinary functions including swimming, kicking rubber-balls and even catching a live fish in water.

  7. Hydraulic hydrogel actuators and robots optically and sonically camouflaged in water

    PubMed Central

    Yuk, Hyunwoo; Lin, Shaoting; Ma, Chu; Takaffoli, Mahdi; Fang, Nicolas X.; Zhao, Xuanhe

    2017-01-01

    Sea animals such as leptocephali develop tissues and organs composed of active transparent hydrogels to achieve agile motions and natural camouflage in water. Hydrogel-based actuators that can imitate the capabilities of leptocephali will enable new applications in diverse fields. However, existing hydrogel actuators, mostly osmotic-driven, are intrinsically low-speed and/or low-force; and their camouflage capabilities have not been explored. Here we show that hydraulic actuations of hydrogels with designed structures and properties can give soft actuators and robots that are high-speed, high-force, and optically and sonically camouflaged in water. The hydrogel actuators and robots can maintain their robustness and functionality over multiple cycles of actuations, owing to the anti-fatigue property of the hydrogel under moderate stresses. We further demonstrate that the agile and transparent hydrogel actuators and robots perform extraordinary functions including swimming, kicking rubber-balls and even catching a live fish in water. PMID:28145412

  8. Actuation fluid adapter for hydraulically-actuated electronically-controlled fuel injector and engine using same

    DOEpatents

    Keyster, Eric S.; Merchant, Jack A.

    2002-01-01

    A fuel injector adapter consists of a block defining a pressure communication passage therethrough and an actuation fluid passage. The actuation fluid passage includes three separate branches that open through an outer surface of the block at three separate locations.

  9. Flexible and stretchable electrodes for dielectric elastomer actuators

    NASA Astrophysics Data System (ADS)

    Rosset, Samuel; Shea, Herbert R.

    2013-02-01

    Dielectric elastomer actuators (DEAs) are flexible lightweight actuators that can generate strains of over 100 %. They are used in applications ranging from haptic feedback (mm-sized devices), to cm-scale soft robots, to meter-long blimps. DEAs consist of an electrode-elastomer-electrode stack, placed on a frame. Applying a voltage between the electrodes electrostatically compresses the elastomer, which deforms in-plane or out-of plane depending on design. Since the electrodes are bonded to the elastomer, they must reliably sustain repeated very large deformations while remaining conductive, and without significantly adding to the stiffness of the soft elastomer. The electrodes are required for electrostatic actuation, but also enable resistive and capacitive sensing of the strain, leading to self-sensing actuators. This review compares the different technologies used to make compliant electrodes for DEAs in terms of: impact on DEA device performance (speed, efficiency, maximum strain), manufacturability, miniaturization, the integration of self-sensing and self-switching, and compatibility with low-voltage operation. While graphite and carbon black have been the most widely used technique in research environments, alternative methods are emerging which combine compliance, conduction at over 100 % strain with better conductivity and/or ease of patternability, including microfabrication-based approaches for compliant metal thin-films, metal-polymer nano-composites, nanoparticle implantation, and reel-to-reel production of μm-scale patterned thin films on elastomers. Such electrodes are key to miniaturization, low-voltage operation, and widespread commercialization of DEAs.

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

    NASA Astrophysics Data System (ADS)

    Larson, John P.; Dapino, Marcelo J.

    2013-03-01

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

  11. Hydraulically actuated gas exchange valve assembly and engine using same

    DOEpatents

    Carroll, Thomas S.; Taylor, Gregory O.

    2002-09-03

    An engine comprises a housing that defines a hollow piston cavity that is separated from a gas passage by a valve seat. The housing further defines a biasing hydraulic cavity and a control hydraulic cavity. A gas valve member is also included in the engine and is movable relative to the valve seat between an open position at which the hollow piston cavity is open to the gas passage and a closed position in which the hollow piston cavity is blocked from the gas passage. The gas valve member includes a ring mounted on a valve piece and a retainer positioned between the ring and the valve piece. A closing hydraulic surface is included on the gas valve member and is exposed to liquid pressure in the biasing hydraulic cavity.

  12. Piezo-Hydraulic Actuation for Driving High Frequency Miniature Split-Stirling Pulse Tube Cryocoolers

    NASA Astrophysics Data System (ADS)

    Garaway, I.; Grossman, G.

    2008-03-01

    In recent years piezoelectric actuation has been identified as a promising means of driving miniature Stirling devices. It supports miniaturization, has a high power to volume ratio, can operate at almost any frequency, good electrical to mechanical efficiencies, and potentially has a very long operating life. The major drawback of piezoelectric actuation, however, is the very small displacements that this physical phenomenon produces. This study shows that by employing valve-less hydraulic amplification an oscillating pressure wave can be created that is sufficiently large to drive a high frequency miniature pulse tube cryocooler (as high as 500 Hz in our experiments and perhaps higher). Beyond the direct benefits derived from using piezoelectric actuation, there are further benefits derived from using the piezo-hydraulic arrangement with membranes. Due to the incompressibility of the hydraulic fluid, the actuator may be separated from the main body of the cryocooler by relatively large distances with almost no detrimental effects, and the complete lack of rubbing parts in the power conversion processes makes this type of cryocooler extremely robust. The design and experimental device, coined the "Piezo-Hydraulic Membrane Oscillator", are presented along with some test results.

  13. Hydraulic actuation technology for full- and semi-active railway suspensions

    NASA Astrophysics Data System (ADS)

    Goodall, Roger; Freudenthaler, Gerhard; Dixon, Roger

    2014-12-01

    The paper describes a simulation study that provides a comprehensive comparison between full-active and semi-active suspensions for improving the vertical ride quality of railway vehicles. It includes an assessment of the ride quality benefits that can theoretically be achieved with idealised devices, and also examines the impact of real devices based upon hydraulic actuation technology.

  14. Transparent and flexible haptic array actuator made with cellulose acetate for tactile sensation

    NASA Astrophysics Data System (ADS)

    Mohiuddin, Md; Kim, Hyun-Chan; Kim, Sang-Yeon; Kim, Jaehwan

    2014-04-01

    This paper reports an array type film haptic actuator based on cellulose acetate. Suggested actuator can vibrate with faster response time and various frequencies to give a range of haptic feedbacks to users which can be used in touch screen devices. Fabrication process, performance evaluation and electrostatic behavior of haptic actuator are reported for tactile sensation. Cellulose acetate film is suitable for haptic actuator for its transparency, flexibility and high dielectric constant. An element of haptic actuator is made by using cellulose acetate film with patterned adhesive tape spacer, then haptic actuator elements arrayed to 3 x 3 to embed in haptic devices. Experiment to measure vibration acceleration is carried out on wide range of actuation frequency and voltage for single actuator to evaluate 3x3 array actuator.

  15. Flexible strain sensors based on electrostatically actuated graphene flakes

    NASA Astrophysics Data System (ADS)

    Fardindoost, Somayeh; Alipour, Akbar; Mohammadi, Saeed; Gokyar, Sayim; Sarvari, Reza; Iraji zad, Azam; Demir, Hilmi Volkan

    2015-07-01

    In this paper we present flexible strain sensors made of graphene flakes fabricated, characterized, and analyzed for the electrical actuation and readout of their mechanical vibratory response in strain-sensing applications. For a typical suspended graphene membrane fabricated with an approximate length of 10 µm, a mechanical resonance frequency around 136 MHz with a quality factor (Q) of ~60 in air under ambient conditions was observed. The applied strain can shift the resonance frequency substantially, which is found to be related to the alteration of physical dimension and the built-in strain in the graphene flake. Strain sensing was performed using both planar and nonplanar surfaces (bending with different radii of curvature) as well as by stretching with different elongations.

  16. Aircraft Digital Input Controlled Hydraulic Actuation and Control System.

    DTIC Science & Technology

    1981-03-01

    unexplained actuator phase shift with speed is thought to be explained by transient " wire drawing " of flow across the active metering lands of the...rotary valve. This " wire drawing " effect occurs at the time of switching of each cylinder pressure between the load and return pressure states. 169 N~o...the afforementioned upward spread of the performance curves. The major factor in this spread in believed to be the, so called, " wire drawing " at the

  17. Rigid-flexible coupling dynamic modeling and investigation of a redundantly actuated parallel manipulator with multiple actuation modes

    NASA Astrophysics Data System (ADS)

    Liang, Dong; Song, Yimin; Sun, Tao; Jin, Xueying

    2017-09-01

    A systematic dynamic modeling methodology is presented to develop the rigid-flexible coupling dynamic model (RFDM) of an emerging flexible parallel manipulator with multiple actuation modes. By virtue of assumed mode method, the general dynamic model of an arbitrary flexible body with any number of lumped parameters is derived in an explicit closed form, which possesses the modular characteristic. Then the completely dynamic model of system is formulated based on the flexible multi-body dynamics (FMD) theory and the augmented Lagrangian multipliers method. An approach of combining the Udwadia-Kalaba formulation with the hybrid TR-BDF2 numerical algorithm is proposed to address the nonlinear RFDM. Two simulation cases are performed to investigate the dynamic performance of the manipulator with different actuation modes. The results indicate that the redundant actuation modes can effectively attenuate vibration and guarantee higher dynamic performance compared to the traditional non-redundant actuation modes. Finally, a virtual prototype model is developed to demonstrate the validity of the presented RFDM. The systematic methodology proposed in this study can be conveniently extended for the dynamic modeling and controller design of other planar flexible parallel manipulators, especially the emerging ones with multiple actuation modes.

  18. 14 CFR 33.72 - Hydraulic actuating systems.

    Code of Federal Regulations, 2011 CFR

    2011-01-01

    ... 33.72 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION AIRCRAFT AIRWORTHINESS STANDARDS: AIRCRAFT ENGINES Design and Construction; Turbine Aircraft Engines § 33.72 Hydraulic... engine is expected to operate. Each filter or screen must be accessible for servicing and each tank must...

  19. 14 CFR 33.72 - Hydraulic actuating systems.

    Code of Federal Regulations, 2010 CFR

    2010-01-01

    ... 33.72 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION AIRCRAFT AIRWORTHINESS STANDARDS: AIRCRAFT ENGINES Design and Construction; Turbine Aircraft Engines § 33.72 Hydraulic... engine is expected to operate. Each filter or screen must be accessible for servicing and each tank must...

  20. 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.

  1. 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

  2. Performance characterization of flexible dipole rectennas for smart actuator use

    NASA Astrophysics Data System (ADS)

    Kim, Jaehwan; Yang, Sang Yeol; Song, Kyo D.; Jones, Sean; Choi, Sang H.

    2006-06-01

    The concept of power transmission by a microwave is envisioned as the best option for alleviating the complexity associated with hard-wired control circuitry in controlling smart actuators and robots such as micro-aerial vehicles, biomimetic robots and space vehicles to produce remotely maneuverable capability. A flexible dipole rectenna array is conformably adaptable on the complex structure of vehicles used for practical applications of wireless power. For these applications, various flexible dipole rectennas and arrays were designed, fabricated and characterized over a frequency range of 9-12 GHz with 20 W and 200 W amplifiers through laboratory testing. The irradiance of the microwave power was measured. Also the irradiated power, the output power and the efficiency of the rectenna arrays were evaluated along with the microwave power and frequency. The maximum voltage of 65 VDC was observed from a series connected dipole rectenna array and the maximum current of 2.50 mA was obtained from a parallel connected rectenna array. The efficiency of dipole rectenna arrays ranges from 20% to 50% depending on the input power and the pole configuration. It was also demonstrated that the voltage, current and power output from a dipole rectenna array can be tailored by configuring the dipole rectenna elements in serial and parallel mode connections.

  3. Optimum vibration control of flexible beams by piezo-electric actuators

    NASA Technical Reports Server (NTRS)

    Baz, A.; Poh, S.; Studer, P.

    1988-01-01

    The utilization of piezoelectric actuators in controlling the structural vibrations of flexible beams is examined. A Modified Independent Modal Space Control (MIMSC) method is devised to enable the selection of the optimal location, control gains and excitation voltage of the piezoelectric actuators in a way that would minimize the amplitudes of vibrations of beams to which these actuators are bonded, as well as the input control energy necessary to suppress these vibrations. The developed method accounts for the effects that the piezoelectric actuators have on changing the elastic and inertial properties of the flexible beams. Numerical examples are presented to illustrate the application of the developed MIMSC method in minimizing the structural vibrations of beams of different materials when subjected to different loading and end conditions using ceramic or polymeric piezoelectric actuators. The obtained results emphasize the importance of the devised method in designing more realistic active control systems for flexible beams, in particular, and large flexible structures in general.

  4. Optimum vibration control of flexible beams by piezo-electric actuators

    NASA Technical Reports Server (NTRS)

    Baz, A.; Poh, S.

    1987-01-01

    The utilization of piezoelectric actuators in controlling the structural vibrations of flexible beams is examined. A Modified Independent Modal Space Control (MIMSC) method is devised to enable the selection of the optimal location, control gains and excitation voltage of the piezoelectric actuators in a way that would minimize the amplitudes of vibrations of beams to which these actuators are bonded, as well as the input control energy necessary to suppress these vibrations. The developed method accounts for the effects that the piezoelectric actuators have on changing the elastic and inertial properties of the flexible beams. Numerical examples are presented to illustrate the application of the developed MIMSC method in minimizing the structural vibrations of beams of different materials when subjected to different loading and end conditions using ceramic or polymeric piezoelectric actuators. The obtained results emphasize the importance of the devised method in designing more realistic active control systems for flexible beams, in particular, and large flexible structures in general.

  5. Integrating a piezoelectric actuator with mechanical and hydraulic devices to control camless engines

    NASA Astrophysics Data System (ADS)

    Mercorelli, Paolo; Werner, Nils

    2016-10-01

    The paper deals with some interdisciplinary aspects and problems concerning the actuation control which occur in the integration of a piezoelectric structure in an aggregate actuator consisting of a piezoelectric, a stroke ratio displacement, a mechanical and a hydraulic part. Problems like compensation of the piezo hysteresis effect, scaling force-position to obtain an adequate displacement of the actuator and finally the control of such a complex aggregate system are considered and solved. Even though this work considers a particular application, the solutions proposed in the paper are quite general. In fact, the considered technical aspects occurring in systems which utilize piezoelectric technologies can be used in a variegated gamma of actuators integrating piezoelectric technologies. A cascade controller is proposed to combine a Feedforward action with an internal and an external PI-Controller. The Feedforward Controller is based on the model of the whole actuator, so particular attention is paid to the model structure. The resulting Feedforward action is an adaptive one to compensate hydraulic pressure faults. Real measurements are shown.

  6. Optimum shape control of flexible beams by piezo-electric actuators

    NASA Technical Reports Server (NTRS)

    Baz, A.; Poh, S.

    1987-01-01

    The utilization of piezoelectric actuators in controlling the static deformation and shape of flexible beams is examined. An optimum design procedure is presented to enable the selection of the optimal location, thickness and excitation voltage of the piezoelectric actuators in a way that would minimize the deflection of the beam to which these actuators are bonded. Numerical examples are presented to illustrate the application of the developed optimization procedure in minimizing structural deformation of beams using ceramic and polymeric piezoelectric actuators bonded to the beams with a typical bonding agent. The obtained results emphasize the importance of the devised rational produce in designing beam-actuator systems with minimal elastic distortions.

  7. Simulation and experimental verification of flexible cellulose acetate haptic array actuator

    NASA Astrophysics Data System (ADS)

    Akther, Asma; Mohiuddin, Md; Min, Seung-Ki; Kim, Sang Yeon; Kim, Jaehwan

    2015-04-01

    This paper reports the experiment and finite element (FEM) simulation of an array type film haptic actuator. Haptic actuator was made of cellulose acetate films and adhesive tape separator between two films. For preparing 3×3 array haptic device, nine identical actuators were joined together. The purpose of an actuator is to create vibration feedback resulting from applied potential. Cellulose acetate based film actuator is suitable for transparent haptic devices because of its high dielectric constant, flexibility and transparency. The focus of this paper is to use a finite element model to simulate and analysis haptic actuator and verify that result with experiment. The reason of preferring ANSYS simulation is for the flexibility of modeling, time saving, post processing criteria and result accuracy.

  8. Accurate state estimation for a hydraulic actuator via a SDRE nonlinear filter

    NASA Astrophysics Data System (ADS)

    Strano, Salvatore; Terzo, Mario

    2016-06-01

    The state estimation in hydraulic actuators is a fundamental tool for the detection of faults or a valid alternative to the installation of sensors. Due to the hard nonlinearities that characterize the hydraulic actuators, the performances of the linear/linearization based techniques for the state estimation are strongly limited. In order to overcome these limits, this paper focuses on an alternative nonlinear estimation method based on the State-Dependent-Riccati-Equation (SDRE). The technique is able to fully take into account the system nonlinearities and the measurement noise. A fifth order nonlinear model is derived and employed for the synthesis of the estimator. Simulations and experimental tests have been conducted and comparisons with the largely used Extended Kalman Filter (EKF) are illustrated. The results show the effectiveness of the SDRE based technique for applications characterized by not negligible nonlinearities such as dead zone and frictions.

  9. Active Control of Flexible Space Structures Using the Nitinol Shape Memory Actuators

    DTIC Science & Technology

    1987-10-01

    number) FIELD !GROUP SUBGROUP I Active Control, Nitinol Actuators, Space Structures 9. ABSTRACT (Continue on reverse if necessary and identify by block...number) Summarizes research progress in the feasibility demonstration of active vibration control using Nitinol shape memory actuators. Tests on...FLEXIBLE SPACE STRUCTURES USING NITINOL SHAPE MEMORY ACTUATORS FINAL REPORT FOR PHASE I SDIO CONTRACT #F49620-87-C-0035 0 BY DR. AMR M. BAZ KARIM R

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

    DOEpatents

    Brennan, Daniel G

    2013-12-10

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

  11. Modeling and analysis of a meso-hydraulic climbing robot with artificial muscle actuation.

    PubMed

    Chapman, Edward M; Jenkins, Tyler E; Bryant, Matthew

    2017-07-10

    This paper presents a fully coupled electro-hydraulic model of a bio-inspired climbing robot actuated by fluidic artificial muscles (FAMs). This analysis expands upon previous FAM literature by considering not only the force and contraction characteristics of the actuator, but the complete hydraulic and electromechanical circuits as well as the dynamics of the climbing robot. This analysis allows modeling of the time-varying applied pressure, electrical current, and actuator contraction for accurate prediction of the robot motion, energy consumption, and mechanical work output. The developed model is first validated against mechanical and electrical data collected from a proof-of-concept prototype robot. The model is then employed to study the system-level sensitivities of the robot locomotion efficiency and average climbing speed to several design and operating parameters. The results of this analysis demonstrate that considering only the transduction efficiency of the FAM actuators is insufficient to maximize the efficiency of the complete robot, and that a holistic approach can lead to significant improvements in performance. © 2017 IOP Publishing Ltd.

  12. 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.

  13. 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

  14. Validation of HVOF Thermal Spray Coatings as a Replacement for Hard Chrome Plating on Hydraulic/Pneumatic Actuators

    DTIC Science & Technology

    2007-12-01

    Thermal Spray Coatings as a Replacement for Hard Chrome Plating on Hydraulic/Pneumatic Actuators December 2007 Report Documentation Page Form...00-00-2007 to 00-00-2007 4. TITLE AND SUBTITLE Validation of HVOF Thermal Spray Coatings as a Replacement for Hard Chrome Plating on Hydraulic...Advantages and Limitations of HVOF Thermal Spraying as a Chrome Replacement

  15. Design of Flexible Rods with Embedded SMA Actuators

    DTIC Science & Technology

    1993-01-18

    55.1 wt% .045" diameter Nitinol wire was obtained courtesy of L.McD. Shetky and Menuy Tech (Brookefield. CT). A review of thermoset and thermoplastic...preparation of SMA actuators from raw, as annealed, Nitinol wire. This wire was received in a coil. In order to insure that the actuators have a perfectly

  16. 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.

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

    NASA Astrophysics Data System (ADS)

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

    2014-09-01

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

  18. 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.

  19. Dynamics and design of a power unit with a hydraulic piston actuator

    NASA Astrophysics Data System (ADS)

    Misyurin, S. Yu.; Kreinin, G. V.

    2016-07-01

    The problem of the preselection of parameters of a power unit of a mechatronic complex on the basis of the condition for providing a required control energy has been discussed. The design of the unit is based on analysis of its dynamics under the effect of a special-type test conditional control signal. The specific features of the approach used are a reasonably simplified normalized dynamic model of the unit and the formation of basic similarity criteria. Methods of designing a power unit with a hydraulic piston actuator that operates in point-to-point and oscillatory modes have been considered.

  20. Static deflection control of flexible beams by piezo-electric actuators

    NASA Technical Reports Server (NTRS)

    Baz, A. M.

    1986-01-01

    This study deals with the utilization of piezo-electric actuators in controlling the static deformation of flexible beams. An optimum design procedure is presented to enable the selection of the optimal location, thickness and excitation voltage of the piezo-electric actuators in a way that would minimize the deflection of the beam to which these actuators are bonded. Numerical examples are presented to illustrate the application of the developed optimization procedure in minimizing the structural deformation of beams of different materials when subjected to different loading and end conditions using ceramic or polymeric piezo-electric actuators. The results obtained emphasize the importance of the devised rational procedure in designing beam-actuator systems with minimal elastic distortions.

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

    SciTech Connect

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

    1994-12-31

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

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

    NASA Astrophysics Data System (ADS)

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

    1997-06-01

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

  3. Robust adaptive precision motion control of hydraulic actuators with valve dead-zone compensation.

    PubMed

    Deng, Wenxiang; Yao, Jianyong; Ma, Dawei

    2017-09-01

    This paper addresses the high performance motion control of hydraulic actuators with parametric uncertainties, unmodeled disturbances and unknown valve dead-zone. By constructing a smooth dead-zone inverse, a robust adaptive controller is proposed via backstepping method, in which adaptive law is synthesized to deal with parametric uncertainties and a continuous nonlinear robust control law to suppress unmodeled disturbances. Since the unknown dead-zone parameters can be estimated by adaptive law and then the effect of dead-zone can be compensated effectively via inverse operation, improved tracking performance can be expected. In addition, the disturbance upper bounds can also be updated online by adaptive laws, which increases the controller operability in practice. The Lyapunov based stability analysis shows that excellent asymptotic output tracking with zero steady-state error can be achieved by the developed controller even in the presence of unmodeled disturbance and unknown valve dead-zone. Finally, the proposed control strategy is experimentally tested on a servovalve controlled hydraulic actuation system subjected to an artificial valve dead-zone. Comparative experimental results are obtained to illustrate the effectiveness of the proposed control scheme. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  4. Deformations of Active Flexible Rods with Embedded Line Actuators

    DTIC Science & Technology

    1993-01-18

    paper by Lagoudas and Tadjbakhsh (1992). The distributed axial compressive force and bending moment due to phase transformation in the SMA fiber was...deformations (bending, twist and extension). An example is presented for the case of a SMA fiber actuator undergoing repeated phase transformations ...SMA fiber upon attempted shape recovery of the SMA fiber due to the martensitic-austenitic phase transformation . 5.0 2-D Bending of a Rod Induced by

  5. Self-sensing and self-actuating CFRP structure using partially flexible composites

    NASA Astrophysics Data System (ADS)

    Kumagai, Keisuke; Todoroki, A.; Matsuzaki, Ryosuke

    2008-03-01

    For Unmanned aerial vehicles, a morphing wing is desired to improve the maneuverability and reduce the total weight of structures. Our research group has developed a foldable composite structure for a morphing wing skin plate by using Carbon Fiber Reinforced Plastics (CFRP). The material system is called Partially Flexible Composites (PFC). In the present paper, PFC is introduced and a self-sensing system of the PFC is investigated. Since carbon fibers have electrical conductivity, damages of the PFC can be detected by monitoring electrical resistance changes of the PFC. This method is called Electrical Resistance Changes Method. An electrical resistance model of the PFC is built and a relationship of ratio of fiber fractures and electrical resistance changes is obtained. Then, to investigate the performance of the PFC, cyclic-bending tests are conducted. Damages of the PFC caused by cyclic-bending are detected by using ERCM. As a result, the PFC with more than 10mm-long flexible part has almost no damage; the stiffness of the structure remains unchanged. After that, a McKibben pneumatic artificial muscles actuator is made and it is founded that this can be applied to the PFC as an actuator. This actuator consists of a silicon rubber and a carbon fiber that are the same as the material of flexible part of the PFC. This enables us to make actuator-integrated composite structures. In the present study, the applicability of the McKibben pneumatic artificial muscles actuator is investigated.

  6. Biomimetic flexible plate actuators are faster and more efficient with a passive attachment

    NASA Astrophysics Data System (ADS)

    Yeh, Peter D.; Alexeev, Alexander

    2016-12-01

    Using three-dimensional computer simulations, we probe biomimetic free swimming of an internally actuated flexible plate in the regime near the first natural frequency. The plate is driven by an oscillating internal moment approximating the actuation mechanism of a piezoelectric macro fiber composite (MFC) bimorph. We show in our simulations that the addition of a passive attachment increases both swimming velocity and efficiency. Specifically, if the active and passive sections are of similar size, the overall performance is the best. We determine that this optimum is a result of two competing factors. If the passive section is too large, then the actuated portion is unable to generate substantial deflection to create sufficient thrust. On the other hand, a large actuated section leads to a bending pattern that is inefficient at generating thrust especially at higher frequencies.

  7. Internally-actuated flexible fins swim faster and more efficiently with a passive attachment

    NASA Astrophysics Data System (ADS)

    Yeh, Peter; Alexeev, Alexander

    2016-11-01

    Using three dimensional computer simulations, we probe biomimetic free swimming of an internally-actuated flexible plate in the regime near the first natural frequency. The plate is driven by an oscillating internal moment approximating the actuation mechanism of a piezoelectric MFC bimorph. We show in our simulations that the addition of a passive attachment increases both swimming velocity and efficiency. Specifically, if the active and passive sections are of similar size, the overall performance is the best. We determine that this optimum is a result of two competing factors. If the passive section is too large, then the actuated portion is unable to generate substantial deflection to create sufficient thrust. On the other hand, a large actuated section leads to a bending pattern that is inefficient at generating thrust especially at higher frequencies.

  8. Input shaping for vibration-damped slewing of a flexible beam using a heavy-lift hydraulic robot

    SciTech Connect

    Parker, G.G.; Eisler, R.; Phelan, J.; Robinett, R.D.

    1994-08-01

    An input shaping scheme originally used to slew flexible beams via a tabletop D.C. motor is modified for use with an industrial-type, hydraulic-drive robot. This trajectory generation method was originally developed to produce symmetric, rest-to-rest maneuvers of flexible rotating rods where the angular velocity vector and gravitational vector were collinear. In that configuration, out-of-plane oscillations were excited due to centripetal acceleration of the rod. The bang-coast-bang acceleration profile resulted in no oscillations in either plane at the end of the symmetric slew maneuver. In this paper, a smoothed version of the bang-coast-bang acceleration is used for symmetric maneuvers where the angular velocity vector is orthogonal to the gravitational vector. Furthermore, the hydraulic robot servo dynamics are considered explicitly in determining the input joint angle trajectory. An instrumented mass is attached to the tip of a flexible aluminum rod. The first natural frequency of this system is about 1.0Hz. Joint angle responses obtained with encoder sensors are used to identify the servo actuator dynamics.

  9. Input shaping for vibration-damped slewing of a flexible beam using a heavy-lift hydraulic robot

    NASA Astrophysics Data System (ADS)

    Parker, G. G.; Eisler, R.; Phelan, J.; Robinett, R. D.

    An input shaping scheme originally used to slew flexible beams via a tabletop D.C. motor is modified for use with an industrial-type, hydraulic-drive robot. This trajectory generation method was originally developed to produce symmetric, rest-to-rest maneuvers of flexible rotating rods where the angular velocity vector and gravitational vector were collinear. In that configuration, out-of-plane oscillations were excited due to centripetal acceleration of the rod. The bang-coast-bang acceleration profile resulted in no oscillations in either plane at the end of the symmetric slew maneuver. In this paper, a smoothed version of the bang-coast-bang acceleration is used for symmetric maneuvers where the angular velocity vector is orthogonal to the gravitational vector. Furthermore, the hydraulic robot servo dynamics are considered explicitly in determining the input joint angle trajectory. An instrumented mass is attached to the tip of a flexible aluminum rod. The first natural frequency of this system is about 1.0 Hz. Joint angle responses obtained with encoder sensors are used to identify the servo actuator dynamics.

  10. 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.

  11. Fault Identification in an Electro-Hydraulic Actuator and Experimental Validation of Prognosis Based Life Extending Control

    DTIC Science & Technology

    2010-08-01

    Vishal Mahulkar, Hassan Mcginnis, and Douglas E. Adams, 1500 Kepner Drive, Lafayette IN 47905 Mark Derriso , USAF Air Vehicles Directorate, Air...Identification in an Electro-Hydraulic Actuator and Experimental Validation of Prognosis Based Life Extending Control V. MAHULKAR, H. MCGINNIS, M. DERRISO

  12. Design of a novel flexible shape memory alloy actuator with multilayer tubular structure for easy integration into a confined space

    NASA Astrophysics Data System (ADS)

    Leng, Jiaming; Yan, Xiaojun; Zhang, Xiaoyong; Huang, Dawei; Gao, Zhenjian

    2016-02-01

    This paper presents a novel flexible shape memory alloy (SMA) actuator, which is mainly composed of an SMA wire and a multilayer tubular structure. The multilayer tubular structure, which consists of a polytetrafluoroethylene tube, a metallic hose and a rubber tube, possesses the properties of good flexibility and high axial stiffness. The flexibility makes the SMA actuator easy to integrate into a compact or thin, narrow space with dimension constraints. The high axial stiffness helps in handling serious bending and prevents buckling of the SMA actuator. To verify the performance of the proposed actuator, a prototype was fabricated and a corresponding experimental setup was established. The effects of critical parameters, including heating current, winding angle, and applied load were experimentally investigated. The result demonstrates the feasibility of the proposed actuator and its easy integration into confined spaces. This work creates expanded opportunities for developing SMA actuators into broader application fields.

  13. Hierarchical design of an electro-hydraulic actuator based on robust LPV methods

    NASA Astrophysics Data System (ADS)

    Németh, Balázs; Varga, Balázs; Gáspár, Péter

    2015-08-01

    The paper proposes a hierarchical control design of an electro-hydraulic actuator, which is used to improve the roll stability of vehicles. The purpose of the control system is to generate a reference torque, which is required by the vehicle dynamic control. The control-oriented model of the actuator is formulated in two subsystems. The high-level hydromotor is described in a linear form, while the low-level spool valve is a polynomial system. These subsystems require different control strategies. At the high level, a linear parameter-varying control is used to guarantee performance specifications. At the low level, a control Lyapunov-function-based algorithm, which creates discrete control input values of the valve, is proposed. The interaction between the two subsystems is guaranteed by the spool displacement, which is control input at the high level and must be tracked at the low-level control. The spool displacement has physical constraints, which must also be incorporated into the control design. The robust design of the high-level control incorporates the imprecision of the low-level control as an uncertainty of the system.

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

    PubMed

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

    2017-07-01

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

  15. Robust H∞VIBRATION Control for Flexible Linkage Mechanism Systems with Piezoelectric Sensors and Actuators

    NASA Astrophysics Data System (ADS)

    ZHANG, X.; SHAO, C.; LI, S.; XU, D.; ERDMAN, A. G.

    2001-05-01

    It is well known that the unmodelled dynamics may deteriorate the efficiency of a controller if the controller is not robust enough. This paper presents a robust H∞vibration control method for high-speed flexible linkage mechanism systems with piezoelectric actuators and sensors. The robust H∞controller is designed based on the complex mode and the H∞control theory. The numerical simulation shows that the vibration can be significantly suppressed with permitted actuator voltages by the controller. The robustH∞ controller can avoid the spillover due to mode truncation to compare with some other method.

  16. High temperature, flexible pressure-actuated, brush seal

    NASA Technical Reports Server (NTRS)

    Steinetz, Bruce M. (Inventor); Sirocky, Paul J. (Inventor)

    1991-01-01

    A high temperature, flexible brush seal comprises a bundle of fibers or bristles held tightly together and secured at one end with a backing plate. The assembly includes a secondary spring-clip having one end anchored to the brush seal backing plate. An alternate embodiment of the seal utilizes a metal bellows containing coolant holes. Another embodiment of the seal uses non-circular cross-sectional fibers which may be square, rectangular or hexagonal in cross section.

  17. Design of a Magnetostrictive-Hydraulic Actuator Considering Nonlinear System Dynamics and Fluid-Structure Coupling

    NASA Astrophysics Data System (ADS)

    Larson, John Philip

    Smart material electro-hydraulic actuators (EHAs) utilize fluid rectification via one-way check valves to amplify the small, high-frequency vibrations of certain smart materials into large motions of a hydraulic cylinder. Although the concept has been demonstrated in previously, the operating frequency of smart material EHA systems has been limited to a small fraction of the available bandwidth of the driver materials. The focus of this work is to characterize and model the mechanical performance of a magnetostrictive EHA considering key system components: rectification valves, smart material driver, and fluid-system components, leading to an improved actuator design relative to prior work. The one-way valves were modeled using 3-D finite element analysis, and their behavior was characterized experimentally by static and dynamic experimental measurement. Taking into account the effect of the fluid and mechanical conditions applied to the valves within the pump, the dynamic response of the valve was quantified and applied to determine rectification bandwidth of different valve configurations. A novel miniature reed valve, designed for a frequency response above 10~kHz, was fabricated and tested within a magnetostrictive EHA. The nonlinear response of the magnetostrictive driver, including saturation and hysteresis effects, was modeled using the Jiles-Atherton approach to calculate the magnetization and the resulting magnetostriction based on the applied field calculated within the rod from Maxwell's equations. The dynamic pressure response of the fluid system components (pumping chamber, hydraulic cylinder, and connecting passages) was measured over a range of input frequencies. For the magnetostrictive EHA tested, the peak performance frequency was found to be limited by the fluid resonances within the system. A lumped-parameter modeling approach was applied to model the overall behavior of a magnetostrictive EHA, incorporating models for the reed valve response

  18. 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.

  19. Flexible and Actuating Nanoporous Poly(ionic liquids)-paper based Hybrid Membranes.

    PubMed

    Lin, Huijuan; Gong, Jiang; Miao, Han; Guterman, Ryan; Song, Hao-Jie; Zhao, Qiang; Dunlop, John W C; Yuan, Jiayin

    2017-04-04

    Porous and flexible actuating materials are important in the development of smart systems. We report here a facile method to prepare scalable, flexible actuating porous membranes based on a poly(ionic liquid)-modified tissue paper. The targeted membrane property profile was based on a synergy of a gradient porous structure of poly(ionic liquid) network and the flexibility of tissue paper. The gradient porous structure was built up through ammonia-triggered electrostatic complexation of a poly(ionic liquid) with poly(acrylic acid) (PAA) that were previously impregnated inside the tissue paper. As a result, these porous membranes undergo bending deformation in response to organic solvents in vapor or liquid phase and can recover their shape back in air, which was demonstrated to be able to serve as solvent sensors. Besides, they show enhanced mechanical properties due to the introduction of mechanically flexible tissue paper that allows the membranes to be designed as new responsive textiles and contractile actuators.

  20. Scheduling policies of intelligent sensors and sensor/actuators in flexible structures

    NASA Astrophysics Data System (ADS)

    Demetriou, Michael A.; Potami, Raffaele

    2006-03-01

    In this note, we revisit the problem of actuator/sensor placement in large civil infrastructures and flexible space structures within the context of spatial robustness. The positioning of these devices becomes more important in systems employing wireless sensor and actuator networks (WSAN) for improved control performance and for rapid failure detection. The ability of the sensing and actuating devices to possess the property of spatial robustness results in reduced control energy and therefore the spatial distribution of disturbances is integrated into the location optimization measures. In our studies, the structure under consideration is a flexible plate clamped at all sides. First, we consider the case of sensor placement and the optimization scheme attempts to produce those locations that minimize the effects of the spatial distribution of disturbances on the state estimation error; thus the sensor locations produce state estimators with minimized disturbance-to-error transfer function norms. A two-stage optimization procedure is employed whereby one first considers the open loop system and the spatial distribution of disturbances is found that produces the maximal effects on the entire open loop state. Once this "worst" spatial distribution of disturbances is found, the optimization scheme subsequently finds the locations that produce state estimators with minimum transfer function norms. In the second part, we consider the collocated actuator/sensor pairs and the optimization scheme produces those locations that result in compensators with the smallest norms of the disturbance-to-state transfer functions. Going a step further, an intelligent control scheme is presented which, at each time interval, activates a subset of the actuator/sensor pairs in order provide robustness against spatiotemporally moving disturbances and minimize power consumption by keeping some sensor/actuators in sleep mode.

  1. Motion planning and actuator specialization in the control of active-flexible link robots

    NASA Astrophysics Data System (ADS)

    Reis, João C. P.; Sá da Costa, José

    2012-07-01

    Trajectory planning is a well-known open-loop control strategy to minimize residual vibrations in point-to-point tasks of systems featuring mechanical flexibility. However, the major drawback of open-loop control is its limitation in coping with modeling uncertainty. In this paper a novel approach to trajectory planning based on LQR theory is proposed and applied to a single flexible link robot. To improve performance under parameter uncertainty the strategy is combined with collocated vibration control through piezoelectric actuation of the link. This combination raises the issue of the roles and the contribution of each actuator type to the overall performance of the maneuver. An actuator specialization is proposed where the joint controller is responsible for the gross vibrationless motion of the link, while the link actuators are expected to deal only with residual vibrations that may arise from modeling errors. Simulation and experimental results validate the trajectory planning methodology and the combination of the open-loop strategy with collocated vibration control.

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

    PubMed

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

    2012-09-01

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

  3. The smart Peano fluidic muscle: a low profile flexible orthosis actuator that feels pain

    NASA Astrophysics Data System (ADS)

    Veale, Allan J.; Anderson, Iain A.; Xie, Shane Q.

    2015-03-01

    Robotic orthoses have the potential to provide effective rehabilitation while overcoming the availability and cost constraints of therapists. These orthoses must be characterized by the naturally safe, reliable, and controlled motion of a human therapist's muscles. Such characteristics are only possible in the natural kingdom through the pain sensing realized by the interaction of an intelligent nervous system and muscles' embedded sensing organs. McKibben fluidic muscles or pneumatic muscle actuators (PMAs) are a popular orthosis actuator because of their inherent compliance, high force, and muscle-like load-displacement characteristics. However, the circular cross-section of PMA increases their profile. PMA are also notoriously unreliable and difficult to control, lacking the intelligent pain sensing systems of their biological muscle counterparts. Here the Peano fluidic muscle, a new low profile yet high-force soft actuator is introduced. This muscle is smart, featuring bioinspired embedded pressure and soft capacitive strain sensors. Given this pressure and strain feedback, experimental validation shows that a lumped parameter model based on the muscle geometry and material parameters can be used to predict its force for quasistatic motion with an average error of 10 - 15N. Combining this with a force threshold pain sensing algorithm sets a precedent for flexible orthosis actuation that uses embedded sensors to prevent damage to the actuator and its environment.

  4. Roll maneuvering of flexible aircraft with distributed-parameter actuation via modal synthesis

    NASA Astrophysics Data System (ADS)

    Oz, Hayrani; Khot, Narendra S.

    1999-06-01

    The focus is on obtaining and identifying optimal distributed- parameter-control equivalent actuation profiles for desired roll maneuvers by a modal synthesis approach. The solution for distributed-parameter-control of an aeroelastic system is developed by synthesis of modal-state-space controllers designed via the globally power optimal Independent Modal- Space Control (IMSC) technique. The desired maneuver (set- point) control performance is achieved by a modal-performance- output synthesis (MPOS) approach. The MPOS approach requires that each independent modal controller be allocated a desired portion of the total desired output performance. In view of this, a modal performance-output allocation optimization problem is also defined, which minimizes a hybrid measure of control power and elastic strain energy of the structure during aeroelastic control. Insight to distributed-parameter- control equivalent actuation solutions are sought by considering the aeroservoelastic interactions among vehicle motion, aerodynamics, structural flexibility and control actuators from the perspective of work-energy, control power, and control loading requirements. The modal synthesis approach is illustrated for a flight vehicle wing design to achieve a 90 deg/sec roll-rate in a Mach 2 flight condition at altitude (20000 ft) via distributed-parameter equivalent actuation. The preliminary results indicate that such a roll-rate maneuver can be accomplished via distributed-parameter actuation with feasible levels of control power, work-energy, and control loadings through eliciting favorable aeroservoelastic interactions.

  5. Effect of temperature on leg kinematics in sprinting tarantulas (Aphonopelma hentzi): high speed may limit hydraulic joint actuation

    PubMed Central

    Booster, N. A.; Su, F. Y.; Adolph, S. C.; Ahn, A. N.

    2015-01-01

    ABSTRACT Tarantulas extend the femur–patella (proximal) and tibia–metatarsal (distal) joints of their legs hydraulically. Because these two hydraulically actuated joints are positioned in series, hemolymph flow within each leg is expected to mechanically couple the movement of the joints. In the current study, we tested two hypotheses: (1) at lower temperatures, movement of the two in-series hydraulic joints within a leg will be less coupled because of increased hemolymph viscosity slowing hemolymph flow; and (2) at higher temperatures, movement of the two in-series hydraulic joints will be less coupled because the higher stride frequencies limit the time available for hemolymph flow. We elicited maximal running speeds at four ecologically relevant temperatures (15, 24, 31 and 40°C) in Texas Brown tarantulas (Aphonopelma hentzi). The spiders increased sprint speed 2.5-fold over the temperature range by changing their stride frequency but not stride length. The coefficient of determination for linear regression (R2) of the proximal and distal joint angles was used as the measure of the degree of coupling between the two joints. This coupling coefficient between the proximal and distal joint angles, for both forelegs and hind­legs, was significantly lowest at the highest temperature at which the animals ran the fastest with the highest stride frequencies. The coordination of multiple, in-series hydraulically actuated joints may be limited by operating speed. PMID:25833132

  6. A voice coil actuator driven active vibration isolation system with the consideration of flexible modes

    NASA Astrophysics Data System (ADS)

    Park, Kyihwan; Choi, Dongyoub; Ozer, Abdullah; Kim, Sangyoo; Lee, Yongkwan; Joo, Dongik

    2008-06-01

    We develop a four-mount active vibration isolation system (AVIS) using voice coil actuators. The flexible body modes in the upper plate of the AVIS can cause an instability problem due to control signal whose frequency is close to the resonant frequency of the flexible modes. The loop shaping technique is applied to reduce the amplitude of the control signal. We investigate the performances of the active vibration isolation system proposed in the word in the time domain and frequency domain by comparing to the passive isolation system.

  7. A voice coil actuator driven active vibration isolation system with the consideration of flexible modes.

    PubMed

    Park, Kyihwan; Choi, Dongyoub; Ozer, Abdullah; Kim, Sangyoo; Lee, Yongkwan; Joo, Dongik

    2008-06-01

    We develop a four-mount active vibration isolation system (AVIS) using voice coil actuators. The flexible body modes in the upper plate of the AVIS can cause an instability problem due to control signal whose frequency is close to the resonant frequency of the flexible modes. The loop shaping technique is applied to reduce the amplitude of the control signal. We investigate the performances of the active vibration isolation system proposed in the word in the time domain and frequency domain by comparing to the passive isolation system.

  8. Motion and vibration control of a slewing flexible structure by SMA actuators and parameter sensitivity analysis

    NASA Astrophysics Data System (ADS)

    Janzen, F. C.; Tusset, A. M.; Piccirillo, V.; Balthazar, J. M.; Brasil, R. M. L. R. F.

    2015-11-01

    This work presents two approaches to the problem of vibration and positioning control of a flexible structural beam driven by a DC motor. The position is controlled by the current applied to the DC motor armature. A Shape Memory Alloy (SMA) actuator controls vibrations of the flexible structural beam. The State Dependent Riccati Equation (SDRE) technique is used to provide a control action which uses sub-optimal control and system local stability search. The robustness of these two controllers is tested by sensitivity analysis to parametric uncertainties. Numerical simulations results are presented to demonstrate the effectiveness of the proposed control strategy.

  9. A fuzzy robust control scheme for vibration suppression of a nonlinear electromagnetic-actuated flexible system

    NASA Astrophysics Data System (ADS)

    Tavakolpour-Saleh, A. R.; Haddad, M. A.

    2017-03-01

    In this paper, a novel robust vibration control scheme, namely, one degree-of-freedom fuzzy active force control (1DOF-FAFC) is applied to a nonlinear electromagnetic-actuated flexible plate system. First, the flexible plate with clamped-free-clamped-free (CFCF) boundary conditions is modeled and simulated. Then, the validity of the simulation platform is evaluated through experiment. A nonlinear electromagnetic actuator is developed and experimentally modeled through a parametric system identification scheme. Next, the obtained nonlinear model of the actuator is applied to the simulation platform and performance of the proposed control technique in suppressing unwanted vibrations is investigated via simulation. A fuzzy controller is applied to the robust 1DOF control scheme to tune the controller gain using acceleration feedback. Consequently, an intelligent self-tuning vibration control strategy based on an inexpensive acceleration sensor is proposed in the paper. Furthermore, it is demonstrated that the proposed acceleration-based control technique owns the benefits of the conventional velocity feedback controllers. Finally, an experimental rig is developed to investigate the effectiveness of the 1DOF-FAFC scheme. It is found that the first, second, and third resonant modes of the flexible system are attenuated up to 74%, 81%, and 90% respectively through which the effectiveness of the proposed control scheme is affirmed.

  10. Evaluation of a dynamic armrest for hydraulic-actuation controller use.

    PubMed

    Murphy, T; Oliver, M L

    2011-07-01

    The efficacy of a newly designed dynamic armrest was evaluated during joystick operation of a typical North American hydraulic-actuation joystick. The dynamic design was evaluated against a stationary armrest condition as well as no armrest condition. Electromyography (EMG) and subjective measurements were used to make the evaluation. The dynamic armrest, which mimics the natural pendulation of a joystick operator's arm in the forward and backward directions, was shown to significantly decrease the muscular activation in the upper trapezius, posterior deltoid, and anterior deltoid (p ≤ 0.01) over a stationary armrest. A questionnaire revealed that subjects significantly (p = 0.01) preferred the dynamic armrest design over either a standard armrest or no armrest with 17 of 21 operators preferring the dynamic armrest. Ratings from the questionnaire indicated that subjects felt that the dynamic armrest required less effort, was more comfortable, and was more effective than either of the other two armrest conditions. Crown Copyright © 2010. Published by Elsevier Ltd. All rights reserved.

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

    NASA Astrophysics Data System (ADS)

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

    2013-02-01

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

  12. Aligned carbon nanotube-based flexible gel substrates for engineering bio-hybrid tissue actuators.

    PubMed

    Shin, Su Ryon; Shin, Courtney; Memic, Adnan; Shadmehr, Samaneh; Miscuglio, Mario; Jung, Hyun Young; Jung, Sung Mi; Bae, Hojae; Khademhosseini, Ali; Tang, Xiaowu Shirley; Dokmeci, Mehmet R

    2015-07-20

    Muscle-based biohybrid actuators have generated significant interest as the future of biorobotics but so far they move without having much control over their actuation behavior. Integration of microelectrodes into the backbone of these systems may enable guidance during their motion and allow precise control over these actuators with specific activation patterns. Here, we addressed this challenge by developing aligned CNT forest microelectrode arrays and incorporated them into scaffolds for stimulating the cells. Aligned CNTs were successfully embedded into flexible and biocompatible hydrogel exhibiting excellent anisotropic electrical conductivity. Bioactuators were then engineered by culturing cardiomyocytes on the CNT microelectrode-integrated hydrogel constructs. The resulting cardiac tissue showed homogeneous cell organization with improved cell-to-cell coupling and maturation, which was directly related to the contractile force of muscle tissue. This centimeter-scale bioactuator has excellent mechanical integrity, embedded microelectrodes and is capable of spontaneous actuation behavior. Furthermore, we demonstrated that a biohybrid machine can be controlled by an external electrical field provided by the integrated CNT microelectrode arrays. In addition, due to the anisotropic electrical conductivity of the electrodes provided from aligned CNTs, significantly different excitation thresholds were observed in different configurations such as the ones in parallel vs. perpendicular direction to the CNT alignment.

  13. Optimal vibration control and co-design of very flexible actuated structures

    NASA Astrophysics Data System (ADS)

    Maraniello, S.; Palacios, R.

    2016-09-01

    The single shooting method is applied to the optimal control and combined structural and control design (co-design) of very flexible beams. The objective is to assess feasibility, advantages and limitations of an integrated design approach when dealing with actuated structures exhibiting large oscillations and, more generally, strongly nonlinear couplings. A gradient based approach is proposed for the large design space defined by both the optimal control and co-design problems. Numerical studies are presented for the case of a very flexible actuated pendulum with large rigid-body motion. The impact of local (B-splines) and global (discrete sines) set of basis functions is investigated for increasing levels of actuation authority, showing the importance of the time-frequency resolution of the parametrisation on the convergence properties and outcome quality of the process. Locking between control and structural disciplines around specific design points is found, thus highlighting the disadvantage of a sequential design approach. Simultaneous designing of control law and structure is seen, instead, to explore efficiently larger regions of the design space.

  14. 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.

  15. Apu/hydraulic/actuator Subsystem Computer Simulation. Space Shuttle Engineering and Operation Support, Engineering Systems Analysis. [for the space shuttle

    NASA Technical Reports Server (NTRS)

    1975-01-01

    Major developments are examined which have taken place to date in the analysis of the power and energy demands on the APU/Hydraulic/Actuator Subsystem for space shuttle during the entry-to-touchdown (not including rollout) flight regime. These developments are given in the form of two subroutines which were written for use with the Space Shuttle Functional Simulator. The first subroutine calculates the power and energy demand on each of the three hydraulic systems due to control surface (inboard/outboard elevons, rudder, speedbrake, and body flap) activity. The second subroutine incorporates the R. I. priority rate limiting logic which limits control surface deflection rates as a function of the number of failed hydraulic. Typical results of this analysis are included, and listings of the subroutines are presented in appendicies.

  16. Effect of stiffness and movement speed on selected dynamic torque characteristics of hydraulic-actuation joystick controls for heavy vehicles.

    PubMed

    Oliver, Michele; Rogers, Robert; Rickards, Jeremy; Tingley, Maureen; Biden, Edmund

    2006-02-22

    The purpose of this work was to quantify the effects of joystick stiffness and movement speed on the dynamic torque characteristics of hydraulic-actuation joystick controls, as found in off-road vehicles, as one of the initial steps towards the development of a joystick design protocol. Using a previously developed mathematical model in which a hydraulic-actuation joystick is assumed to rotate about two axes where the rotation origin is a universal joint, the dynamic torque characteristics incurred by an operator were predicted. Utilizing a laboratory mock-up of an excavator cab environment, three actuation torque characteristics (peak torque, angular impulse and deceleration at the hard endpoint) were quantified for nine unskilled joystick operators during the use of a commonly used North American hydraulic-actuation joystick. The six different experimental conditions included combinations of three joystick stiffnesses and two movement speeds. The highest instantaneous input torque over the course of the joystick movement (not including the hard endpoint) was evaluated using the peak torque value. Angular impulse provided an indication of the sustained exposure to force. The third indicator, deceleration at the hard endpoint, was included to provide a description of impact loading on the hand as the joystick came to a sudden stop. The most important result of this work is that the dynamic torque characteristics incurred during hydraulic-actuation joystick use are substantial. While the peak torque values were not very different between the fast and slow motion conditions, the high decelerations even for slow movements observed at maximum excursion of the joystick indicate that the dynamics do matter. On the basis of deceleration at the hard endpoint and peak torque, the joystick movements that require the highest values for a combination of torque variables are the side-to-side ones. This suggests that less stiff balance and return springs should be considered for

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

    PubMed

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

    2016-11-03

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

  18. A flexible framework for process-based hydraulic and water ...

    EPA Pesticide Factsheets

    Background Models that allow for design considerations of green infrastructure (GI) practices to control stormwater runoff and associated contaminants have received considerable attention in recent years. While popular, generally, the GI models are relatively simplistic. However, GI model predictions are being relied upon by many municipalities and State/Local agencies to make decisions about grey vs. green infrastructure improvement planning. Adding complexity to GI modeling frameworks may preclude their use in simpler urban planning situations. Therefore, the goal here was to develop a sophisticated, yet flexible tool that could be used by design engineers and researchers to capture and explore the effect of design factors and properties of the media used in the performance of GI systems at a relatively small scale. We deemed it essential to have a flexible GI modeling tool that is capable of simulating GI system components and specific biophysical processes affecting contaminants such as reactions, and particle-associated transport accurately while maintaining a high degree of flexibly to account for the myriad of GI alternatives. The mathematical framework for a stand-alone GI performance assessment tool has been developed and will be demonstrated.Framework Features The process-based model framework developed here can be used to model a diverse range of GI practices such as green roof, retention pond, bioretention, infiltration trench, permeable pavement and

  19. A flexible framework for process-based hydraulic and water ...

    EPA Pesticide Factsheets

    Background Models that allow for design considerations of green infrastructure (GI) practices to control stormwater runoff and associated contaminants have received considerable attention in recent years. While popular, generally, the GI models are relatively simplistic. However, GI model predictions are being relied upon by many municipalities and State/Local agencies to make decisions about grey vs. green infrastructure improvement planning. Adding complexity to GI modeling frameworks may preclude their use in simpler urban planning situations. Therefore, the goal here was to develop a sophisticated, yet flexible tool that could be used by design engineers and researchers to capture and explore the effect of design factors and properties of the media used in the performance of GI systems at a relatively small scale. We deemed it essential to have a flexible GI modeling tool that is capable of simulating GI system components and specific biophysical processes affecting contaminants such as reactions, and particle-associated transport accurately while maintaining a high degree of flexibly to account for the myriad of GI alternatives. The mathematical framework for a stand-alone GI performance assessment tool has been developed and will be demonstrated.Framework Features The process-based model framework developed here can be used to model a diverse range of GI practices such as green roof, retention pond, bioretention, infiltration trench, permeable pavement and

  20. Design and analysis on the dynamics of ICPF actuated tortoise-like flexible micro-robot

    NASA Astrophysics Data System (ADS)

    Nie, Lin; Li, Desheng; Guo, Shuxiang

    2006-11-01

    In the paper, we present a novel tortoise-like flexible micro-robot with four legs which can crawl and swim underwater. These legs are actuated by ICPF (Ionic Conducting Polymer Film) which is a kind of smart film and has the characteristics of flexibility, good response and being driven by a low voltage. For improving the robot's reliability and feasibility, we establish the micro-robot's dynamic model by applying Pseudo-Rigid-Body-Dynamic-Model (PRBDM). The model is established by considering the dynamic effect of the robot, which is based on statics and kinematics. Then, the frequency analysis of a micro-robot based on PRBDM is investigated. Based on the PRBDM, the relation between the robot's structure parameters and its natural frequency is theoretically derived and a numerical computation of the robot is performed.

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

    PubMed

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

    2015-05-27

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

  2. Trajectory tracking and vibration control in a space frame flexible structure with a PZT stack actuator

    NASA Astrophysics Data System (ADS)

    Garcia-Perez, Oscar A.; Silva-Navarro, G.; Peza-Solís, J. F.; Trujillo-Franco, L. G.

    2015-04-01

    This work deals with the robust asymptotic output tracking control problem of the tip position of a space frame flexible structure, mounted on a rigid revolute servomechanism actuated and controlled with a dc motor. The structure is also affected by undesirable vibrations due to excitation of its first lateral vibration modes and possible variations of the tip mass. The overall flexible structure is modeled by using finite element methods and this is validated via experimental modal analysis techniques. The tip position of the structure is estimated from acceleration and strain gauge measurements. The asymptotic output tracking problem is formulated and solved by means of Passivity-Based and Sliding-Mode Control techniques, applied to the dc motor coupled to the rigid part of the structure, and those undesirable vibrations are simultaneously attenuated by an active vibration control using Positive Position Feedback control schemes implemented on a PZT stack actuator properly located into the mechanical structure. The investigation also addresses the trajectory tracking problem of fast motions, with harmonic excitations close to the first vibration modes of the structure. The overall dynamic performance is evaluated and validated by numerical and experimental results.

  3. Preliminary validation of Sm-Fe-N magnetic silicone rubber for a flexible magnetic actuator

    NASA Astrophysics Data System (ADS)

    Fukushi, Takanori; Kim, Sung Hoon; Hashi, Shuichiro; Ishiyama, Kazushi

    2014-06-01

    In this paper, we present a new approach for a flexible magnetic actuator (FMA) using Sm-Fe-N magnetic silicone rubber (MSR) that has a higher degree of freedom (DOF) in shape, flexibility, ease of fabrication and combinative ability than permanent magnets. To verify its potential for use in an FMA, we examined its magnetic and elastic properties and focused on magnetic torque control within a uniform rotating magnetic field. Silicone rubber liquid and hardener were mixed with Sm-Fe-N powder and poured into a mold. The fabricated Sm-Fe-N MSR included Sm-Fe-N powder of 13.5, 17.3, and 21.2 vol% ratio. The physical and elastic properties were determined by a vibrating sample magnetometer (VSM) and elastic load, respectively. Furthermore, we fabricated two FMAs (multiple-magnetic anisotropy type and spiral-type), and evaluated the suitability of the Sm-Fe-N MSR for magnetic wireless actuators based on magnetic torque control.

  4. Adaptive backstepping fault-tolerant control for flexible spacecraft with unknown bounded disturbances and actuator failures.

    PubMed

    Jiang, Ye; Hu, Qinglei; Ma, Guangfu

    2010-01-01

    In this paper, a robust adaptive fault-tolerant control approach to attitude tracking of flexible spacecraft is proposed for use in situations when there are reaction wheel/actuator failures, persistent bounded disturbances and unknown inertia parameter uncertainties. The controller is designed based on an adaptive backstepping sliding mode control scheme, and a sufficient condition under which this control law can render the system semi-globally input-to-state stable is also provided such that the closed-loop system is robust with respect to any disturbance within a quantifiable restriction on the amplitude, as well as the set of initial conditions, if the control gains are designed appropriately. Moreover, in the design, the control law does not need a fault detection and isolation mechanism even if the failure time instants, patterns and values on actuator failures are also unknown for the designers, as motivated from a practical spacecraft control application. In addition to detailed derivations of the new controller design and a rigorous sketch of all the associated stability and attitude error convergence proofs, illustrative simulation results of an application to flexible spacecraft show that high precise attitude control and vibration suppression are successfully achieved using various scenarios of controlling effective failures.

  5. On the improvement for charging large-scale flexible electrostatic actuators

    NASA Astrophysics Data System (ADS)

    Liao, Hsu-Ching; Chen, Han-Long; Su, Yu-Hao; Chen, Yu-Chi; Ko, Wen-Ching; Liou, Chang-Ho; Wu, Wen-Jong; Lee, Chih-Kung

    2011-04-01

    Recently, the development of flexible electret based electrostatic actuator has been widely discussed. The devices was shown to have high sound quality, energy saving, flexible structure and can be cut to any shape. However, achieving uniform charge on the electret diaphragm is one of the most critical processes needed to have the speaker ready for large-scale production. In this paper, corona discharge equipment contains multi-corona probes and grid bias was set up to inject spatial charges within the electret diaphragm. The optimal multi-corona probes system was adjusted to achieve uniform charge distribution of electret diaphragm. The processing conditions include the distance between the corona probes, the voltages of corona probe and grid bias, etc. We assembled the flexible electret loudspeakers first and then measured their sound pressure and beam pattern. The uniform charge distribution within the electret diaphragm based flexible electret loudspeaker provided us with the opportunity to shape the loudspeaker arbitrarily and to tailor the sound distribution per specifications request. Some of the potential futuristic applications for this device such as sound poster, smart clothes, and sound wallpaper, etc. were discussed as well.

  6. Hydraulics.

    ERIC Educational Resources Information Center

    Decker, Robert L.; Kirby, Klane

    This curriculum guide contains a course in hydraulics to train entry-level workers for automotive mechanics and other fields that utilize hydraulics. The module contains 14 instructional units that cover the following topics: (1) introduction to hydraulics; (2) fundamentals of hydraulics; (3) reservoirs; (4) lines, fittings, and couplers; (5)…

  7. 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.

  8. Quasi-open loop hydraulic ram incremental actuator with power conserving properties

    SciTech Connect

    Raymond, E.T.; Robinson, C.W.

    1982-12-14

    An electric stepping motor, operated by command signals from a computer or a microprocessor, rotates a rotary control member of a distributor valve, for sequencing hydraulic pressure and hence flow to the cylinders of an axial piston hydraulic machine. A group of the cylinders are subjected to pressure and flow and the remaining cylinders are vented to a return line. Rotation of the rotary control valve member sequences pressurization by progressively adding a cylinder to the forward edge to the pressurized group and removing a cylinder from the trailing edge of the pressurized group. The double ended pistons of each new pressurized group function to drive a wobble plate into a new position of equilibrium and then hold it in such position until another change in the makeup of the pressurized group. These pistons also displace hydraulic fluid from the opposite cylinder head which serves as the output of a pumping element. An increment of displacement of the wobble plate occurs in direct response to each command pulse that is received by the stepping motor. Wobble plate displacement drives the rotary valve of the hydraulic power transfer unit, causing it to transfer hydraulic fluid from a first expansible chamber on one side of a piston in a hydraulic ram to a second expansible chamber on the opposite side of the piston. Reverse drive of the hydraulic power transfer unit reverses the direction of transfer of hydraulic fluid between the two expansible chambers.

  9. Softened and flexible biodegradable poly(lactic acid) and its electromechanical properties for actuator application.

    PubMed

    Thummarungsan, Natlita; Pattavarakorn, Datchanee; Sirivat, Anuvat

    2016-12-01

    Poly (lactic acid) (PLA) is a biodegradable polymer with high stiffness presenting a limitation for using in actuator applications. Adding a plasticizer is one way to solve this problem to enhance flexibility and improve electromechanical properties of pristine PLA. In this work, the PLA films were prepared via a simple solvent casting method. The influences of plasticizer type and electric field strength on electromechanical behavior of PLA films were investigated by the melt rheometer and bending measurement. For the PLA films filled with dibutyl phthalate (DBP), the storage modulus, G', immediately increased towards its steady state and rapidly recovered to its original value with and without electric field, respectively, which can be referred to a reversible system. On the other hand, the PLA film with Tween 20 processed the highest ∆G׳/G׳0 of 1.34 due to the available amount of polarized groups. In the bending measurement, the dielectrophoresis forces of plasticized PLA films were found to increase with increasing electric field where the deflections occurred towards anode side as the polarized groups generated negative charges. The DBP_PLA1.5D film exhibited the greatest bending and dielectrophoresis force. Thus, the biodegradable PLA along with DBP combine to have a great potential towards actuator application.

  10. Structural design of flexible Au electrode to enable shape memory polymer for electrical actuation

    NASA Astrophysics Data System (ADS)

    Lu, Haibao; Lei, Ming; Zhao, Chao; Xu, Ben; Leng, Jinsong; Fu, Y. Q.

    2015-04-01

    An effective resistive Joule heating approach was conducted to improve the electrical actuation and shape-recovery performance of a shape memory polymer (SMP) nanocomposite. Two types of gold (Au) film patterns were deposited to be used as electrodes to drive thermal-responsive SMPs and achieve a uniform temperature distribution during electro-activated shape recovery. Furthermore, the sensing capability of the Au electrode to both mechanical and thermal stimuli applied to the SMP nanocomposite was experimentally investigated and theoretically analyzed. It was found that the change in the electrical resistance of the Au electrode could be used as an indication of shape-recovery performance. The linear response of the electrical resistance to strain was identified mainly due to the opening/closing of microcracks and their propagations in the Au electrodes during out-of-plane deformations. With an increment of thermomechanical bending cycles, the electrical resistance was increased exponentially, but it returned back to the original reading when the SMP nanocomposite returned back to its permanent shape. Finally, the flexible Au electrode enabled the actuation of the SMP nanocomposite under an electric voltage of 13.4 V, with an improved shape-recovery performance and temperature distribution.

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

    NASA Technical Reports Server (NTRS)

    Orr, Jeb S.

    2011-01-01

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

  12. Fabrication and testing of thermally responsive hydrogel-based actuators using polymer heater elements for flexible microvalves

    NASA Astrophysics Data System (ADS)

    Li, Ang; Khosla, Ajit; Drewbrook, Connie; Gray, Bonnie L.

    2011-02-01

    We present the design, fabrication and characterization of a mechanically flexible diaphragm-based microvalve actuator employing a reservoir of the thermally responsive hydrogel PNIPAAm and a conductive nanocomposite polymer (C-NCP) heater element. The microvalve actuator can be fabricated employing traditional soft lithography processes for fabrication of all components, including the tungsten-based C-NCP heater element, the hydrogel reservoir, and the deflecting polymer membrane. Shrinking of the hydrogel under the application of heat supplied by the flexible heater, or the removal of this thermal energy by turning off the heater, forces the diaphragm to move. The silicone diaphragm actuator is compatible with a normally-closed polymer microvalve design where-by the fluidic channel can be opened and closed via the hydrogel diaphragm actuator, in which the hydrogel is normally swollen and heating opens the valve via membrane deflection. Our prototype hydrogel actuator diaphragms are between 100-200 micrometers in diameter, and experimentally deflect approximately 100 micrometers under heating to 32 degrees ºC or above, which is sufficient to theoretically open a microvalve to allow flow to pass through a 100 micrometer deep channel. We characterize the flexible tungsten C-NCP heaters for voltage versus temperature and show that the flexible heaters can reach the hydrogel transition temperature of 32 degrees °C at approximately 13-15 V. We further characterize the hydrogel response to heat, and diaphragm deflection using both hot plate and flexible C-NCP heater elements. While our results show diaphragm deflection adequate for microvalves at a reasonable voltage, the speed of deflection is currently very slow and would result in slow microvalve response speed (30 seconds to open the valve, and 120 seconds to reclose it).

  13. Study of hydraulic actuation system for Space Shuttle main engine propellant valves

    NASA Technical Reports Server (NTRS)

    Ewel, Bob (Editor)

    1993-01-01

    Recent performance concerns involving the Space Shuttle Main Engine Propellant Valve Actuator assemblies prompted the NASA Marshall Space Flight Center to request an independent design assessment. Moog Inc. responded to this request and received a study contract with objectives of increasing valve reliability, decreasing maintenance costs while preserving the existing design interfaces. The results of the Propellant Valve Actuation System review focus on contamination control and the bypass valve design. Three proof of concept bypass valves employing design changes were built and successfully tested. Test results are presented.

  14. Study of hydraulic actuation system for Space Shuttle main engine propellant valves

    NASA Astrophysics Data System (ADS)

    Ewel, Bob

    1993-06-01

    Recent performance concerns involving the Space Shuttle Main Engine Propellant Valve Actuator assemblies prompted the NASA Marshall Space Flight Center to request an independent design assessment. Moog Inc. responded to this request and received a study contract with objectives of increasing valve reliability, decreasing maintenance costs while preserving the existing design interfaces. The results of the Propellant Valve Actuation System review focus on contamination control and the bypass valve design. Three proof of concept bypass valves employing design changes were built and successfully tested. Test results are presented.

  15. Hydraulic manipulator research at ORNL

    SciTech Connect

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

    1997-03-01

    Recently, task requirements have dictated that manipulator payload capacity increase to accommodate greater payloads, greater manipulator length, and larger environmental interaction forces. General tasks such as waste storage tank cleanup and facility dismantlement and decommissioning require manipulator life capacities in the range of hundreds of pounds rather than tens of pounds. To meet the increased payload capacities demanded by present-day tasks, manipulator designers have turned once again to hydraulics as a means of actuation. In order to successfully design, build, and deploy a new hydraulic manipulator (or subsystem), sophisticated modeling, analysis, and control experiments are usually needed. Oak Ridge National Laboratory (ORNL) has a history of projects that incorporate hydraulics technology, including mobile robots, teleoperated manipulators, and full-scale construction equipment. In addition, to support the development and deployment of new hydraulic manipulators, ORNL has outfitted a significant experimental laboratory and has developed the software capability for research into hydraulic manipulators, hydraulic actuators, hydraulic systems, modeling of hydraulic systems, and hydraulic controls. The purpose of this article is to describe the past hydraulic manipulator developments and current hydraulic manipulator research capabilities at ORNL. Included are example experimental results from ORNL`s flexible/prismatic test stand.

  16. Hydraulics.

    ERIC Educational Resources Information Center

    Engelbrecht, Nancy; And Others

    These instructional materials provide an orientation to hydraulics for use at the postsecondary level. The first of 12 sections presents an introduction to hydraulics, including discussion of principles of liquids, definitions, liquid flow, the two types of hydraulic fluids, pressure gauges, and strainers and filters. The second section identifies…

  17. Development of a flexible and bendable vibrotactile actuator based on wave-shaped poly(vinyl chloride)/acetyl tributyl citrate gels for wearable electronic devices

    NASA Astrophysics Data System (ADS)

    Park, Won-Hyeong; Bae, Jin Woo; Shin, Eun-Jae; Kim, Sang-Youn

    2016-11-01

    The paradigm of consumer electronic devices is being shifted from rigid hand-held devices to flexible/wearable devices in search of benefits such as enhanced usability and portability, excellent wear characteristics, and more functions in less space. However, the fundamental incompatibility of flexible/wearable devices and a rigid actuator brought forth a new issue obstructing commercialization of flexible/wearable devices. In this paper, we propose a new wave-shaped eco-friendly PVC gel, and a new flexible and bendable vibrotactile actuator that could easily be applied to wearable electronic devices. We explain the vibration mechanism of the proposed vibrotactile actuator and investigate its influence on the content of plasticizer for the performance of the proposed actuator. An experiment for measuring vibrational amplitude was conducted over a wide frequency range. The experiment clearly showed that the proposed vibrotactile actuator could create a variety of haptic sensations in wearable devices.

  18. Optimal design of an electro-hydraulic valve for heavy-duty vehicle clutch actuator with certain constraints

    NASA Astrophysics Data System (ADS)

    Meng, Fei; Shi, Peng; Karimi, Hamid Reza; Zhang, Hui

    2016-02-01

    The main objective of this paper is to investigate the sensitivity analysis and optimal design of a proportional solenoid valve (PSV) operated pressure reducing valve (PRV) for heavy-duty automatic transmission clutch actuators. The nonlinear electro-hydraulic valve model is developed based on fluid dynamics. In order to implement the sensitivity analysis and optimization for the PRV, the PSV model is validated by comparing the results with data obtained from a real test-bench. The sensitivity of the PSV pressure response with regard to the structural parameters is investigated by using Sobol's method. Finally, simulations and experimental investigations are performed on the optimized prototype and the results reveal that the dynamical characteristics of the valve have been improved in comparison with the original valve.

  19. A planar comparison of actuators for vibration control of flexible structures

    NASA Technical Reports Server (NTRS)

    Clark, William W.; Robertshaw, Harry H.; Warrington, Thomas J.

    1989-01-01

    The methods and results of an analytical study comparing the effectiveness of four actuators in damping the vibrations of a planar clamped-free beam are presented. The actuators studied are two inertia-type actuators, the proof mass and reaction wheel, and two variable geometry trusses, the planar truss and the planar truss proof mass (a combination variable geometry truss/inertia-type actuator). Actuator parameters used in the models were chosen based on the results of a parametric study. A full-state, LQR optimal feedback control law was used for control in each system. Numerical simulations of each beam/actuator system were performed in response to initial condition inputs. These simulations provided information such as time response of the closed-loop system and damping provided to the beam. This information can be used to determine the 'best' actuator for a given purpose.

  20. Storage Reliability of Missile Materiel Program. Missile Hydraulic and Pneumatic Systems Actuator Analysis

    DTIC Science & Technology

    1976-05-01

    welded, or swaged should be when the components are installed into the system. 5-2 V SECTION 6 DATA COLLECTION Data collection for actuators has required...confidence limits. The confidence intervals to be given in following reportsA are of the type (0, AC); that is, they state with confidence C that the-unknown...rate is always zero. This, in effect, is equivalent to stating that the MTBF is infinite. Since zero failure rates and infinite MTBF’s are physically

  1. Parametric adaptive estimation and backstepping control of electro-hydraulic actuator with decayed memory filter.

    PubMed

    Guo, Qing; Sun, Ping; Yin, Jing-Min; Yu, Tian; Jiang, Dan

    2016-05-01

    Some unknown parameter estimation of electro-hydraulic system (EHS) should be considered in hydraulic controller design due to many parameter uncertainties in practice. In this study, a parametric adaptive backstepping control method is proposed to improve the dynamic behavior of EHS under parametric uncertainties and unknown disturbance (i.e., hydraulic parameters and external load). The unknown parameters of EHS model are estimated by the parametric adaptive estimation law. Then the recursive backstepping controller is designed by Lyapunov technique to realize the displacement control of EHS. To avoid explosion of virtual control in traditional backstepping, a decayed memory filter is presented to re-estimate the virtual control and the dynamic external load. The effectiveness of the proposed controller has been demonstrated by comparison with the controller without adaptive and filter estimation. The comparative experimental results in critical working conditions indicate the proposed approach can achieve better dynamic performance on the motion control of Two-DOF robotic arm. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

  2. Hydraulics.

    ERIC Educational Resources Information Center

    Decker, Robert L.

    Designed for use in courses where students are expected to become proficient in the area of hydraulics, including diesel engine mechanic programs, this curriculum guide is comprised of fourteen units of instruction. Unit titles include (1) Introduction, (2) Fundamentals of Hydraulics, (3) Reservoirs, (4) Lines, Fittings, and Couplers, (5) Seals,…

  3. Powerful Electromechanical Linear Actuator

    NASA Technical Reports Server (NTRS)

    Cowan, John R.; Myers, William N.

    1994-01-01

    Powerful electromechanical linear actuator designed to replace hydraulic actuator that provides incremental linear movements to large object and holds its position against heavy loads. Electromechanical actuator cleaner and simpler, and needs less maintenance. Two principal innovative features that distinguish new actuator are use of shaft-angle resolver as source of position feedback to electronic control subsystem and antibacklash gearing arrangement.

  4. Effect of joystick stiffness, movement speed and movement direction on joystick and upper limb kinematics when using hydraulic-actuation joystick controls in heavy vehicles.

    PubMed

    Oliver, M; Tingley, M; Rogers, R; Rickards, J; Biden, E

    2007-06-01

    Despite the widespread use of hydraulic-actuation joysticks in mobile North American construction, mining and forestry vehicles, the biomechanical effects that joysticks have on their human operators has not been studied extensively. Using nine unskilled joystick operators and a laboratory mock-up with a commonly used North American heavy off-road equipment hydraulic-actuation joystick and operator seat, the purpose of this work was to quantify and compare the effects of three hydraulic-actuation joystick stiffnesses and two movement speeds on upper limb and joystick kinematics as one of the initial steps towards the development of a hydraulic-actuation joystick design protocol. In addition to providing a detailed description of the kinematics of a constrained occupational task, coupled with the corresponding effects of the task on operator upper limb kinematics, results from principal component analysis and ANOVA procedures revealed a number of differences in joystick and upper limb angle ranges and movement curve shapes resulting from the various joystick stiffness-speed combinations tested. For the most part, these joystick motion alterations were caused by small, insignificant changes in one or more upper limb joint angles. The two exceptions occurred for forward movements of the joystick; the fast speed - light stiffness condition movement pattern shape change was caused primarily by an alteration of the elbow flexion-extension movement pattern. Similarly, the fast speed - normal stiffness condition movement curve shape perturbation - was caused principally by a combination of significant movement curve shape alterations to elbow flexion-extension, external-internal shoulder rotation and flexion-extension of the shoulder. The finding that joystick stiffness and speed alterations affect joystick and upper limb kinematics minimally indicates that the joystick design approach of modelling the joystick and operator upper limb as a closed linkage system should be

  5. Bioengineered novel robotic actuators for utilization in neuromuscular control

    NASA Astrophysics Data System (ADS)

    Paul, Eddie

    1998-07-01

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

  6. Investigation on micro-patterned gold-plated polymer substrate for a micro hydraulic actuator

    NASA Astrophysics Data System (ADS)

    Sundaresan, Vishnu Baba; Akle, Barbar; Leo, Donald J.

    2006-03-01

    Plants have the ability to develop large mechanical force from chemical energy available with bio-fuels. The energy released by the cleavage of a terminal phosphate ion during the hydrolysis of a bio-fuel assists the transport of ions and fluids in cellular homeostasis. Materials that develop pressure and hence strain similar to the response of plants to an external stimuli are classified as nastic materials. This new class of actuators use protein transporters as functional units to move species and result in deformation [Leo et al 2005 (Proceedings of IMECE - 06)]. The ion transporters are hydrocarbons which are formed across the cellular membranes. The membranes that house the ion transporters are aggregates of phospholipids rigidized by cytoskeleton. Reconstituting these nano-machines on a harder matrix is quintessential to build a functional device. Artificial phospholipid membranes or Biliayer lipid membranes (BLM) have poor structural integrity and do not adhere to most surfaces. Patterned arrays of pores made on Poly-propylene glycol-diacrylate (PPG-DA) substrate, a photo curable polymer was made available to us for initial design iterations for an actuator. Hydrophobicity of PPG-DA posed initial problems to support a BLM. We modified the surface of micropatterned PPG-DA membrane by gold plating it. The surface of the porous PPG-DA membranes was plated with gold (Au). A 10nm seeding layer of Au was sputtered on the surface of the membrane. Further gold was reduced onto the sputtered gold surface [Supriya et al(Langmuir 2004, 20, 8870-8876)] by suspending the samples in a solution of hydroxylamine and Hydrogen tetrachloroaurate(III) trihydrate [HAuCl4.3H2O]. This reduction process increased the thickness of the gold, enhanced its adhesion to the PPG-DA substrate and improved the shapes of the pores. This surface modification of PPG-DA helped us form stable BLM with 1-Palmitoyl-2-Oleoyl-sn-Glycero-3- [Phospho-L-Serine] (Sodium Salt) (POPS), 1-Palmitoyl-2

  7. The dynamics and control of large flexible space structures, 2. Part A: Shape and orientation control using point actuators

    NASA Technical Reports Server (NTRS)

    Bainum, P. M.; Reddy, A. S. S. R.

    1979-01-01

    The equations of planar motion for a flexible beam in orbit which includes the effects of gravity gradient torques and control torques from point actuators located along the beam was developed. Two classes of theorems are applied to the linearized form of these equations to establish necessary conditions for controlability for preselected actuator configurations. The feedback gains are selected: (1) based on the decoupling of the original coordinates and to obtain proper damping, and (2) by applying the linear regulator problem to the individual model coordinates separately. The linear control laws obtained using both techniques were evaluated by numerical integration of the nonlinear system equations. Numerical examples considering pitch and various number of modes with different combination of actuator numbers and locations are presented. The independent model control concept used earlier with a discretized model of the thin beam in orbit was reviewed for the case where the number of actuators is less than the number of modes. Results indicate that although the system is controllable it is not stable about the nominal (local vertical) orientation when the control is based on modal decoupling. An alternate control law not based on modal decoupling ensures stability of all the modes.

  8. Powerful Electromechanical Linear Actuator

    NASA Technical Reports Server (NTRS)

    Cowan, John R.; Myers, William N.

    1994-01-01

    Powerful electromechanical linear actuator designed to replace hydraulic actuator. Cleaner, simpler, and needs less maintenance. Features rotary-to-linear-motion converter with antibacklash gearing and position feedback via shaft-angle resolvers, which measure rotary motion.

  9. Flexible parallel implicit modelling of coupled thermal-hydraulic-mechanical processes in fractured rocks

    NASA Astrophysics Data System (ADS)

    Cacace, Mauro; Jacquey, Antoine B.

    2017-09-01

    Theory and numerical implementation describing groundwater flow and the transport of heat and solute mass in fully saturated fractured rocks with elasto-plastic mechanical feedbacks are developed. In our formulation, fractures are considered as being of lower dimension than the hosting deformable porous rock and we consider their hydraulic and mechanical apertures as scaling parameters to ensure continuous exchange of fluid mass and energy within the fracture-solid matrix system. The coupled system of equations is implemented in a new simulator code that makes use of a Galerkin finite-element technique. The code builds on a flexible, object-oriented numerical framework (MOOSE, Multiphysics Object Oriented Simulation Environment) which provides an extensive scalable parallel and implicit coupling to solve for the multiphysics problem. The governing equations of groundwater flow, heat and mass transport, and rock deformation are solved in a weak sense (either by classical Newton-Raphson or by free Jacobian inexact Newton-Krylow schemes) on an underlying unstructured mesh. Nonlinear feedbacks among the active processes are enforced by considering evolving fluid and rock properties depending on the thermo-hydro-mechanical state of the system and the local structure, i.e. degree of connectivity, of the fracture system. A suite of applications is presented to illustrate the flexibility and capability of the new simulator to address problems of increasing complexity and occurring at different spatial (from centimetres to tens of kilometres) and temporal scales (from minutes to hundreds of years).

  10. Sensor and Actuator Selection for Fault-Tolerant Control of Flexible Structures

    DTIC Science & Technology

    1989-02-01

    the actuator and sensor be duals , that is b = cT, and the relative weightings, including any with frequency dependencies, also be dual . This is not...further from the case if sensors measure directly linear combinations of modal displacement, 1(t), and not rate, which would be the dual to force...scaling for sensor selection. Sensors suitable for instrumenting structural dynamics are physically smaller and lighter than functionally dual actuators

  11. Vacuum-actuated percutaneous insertion/implantation tool for flexible neural probes and interfaces

    DOEpatents

    Sheth, Heeral; Bennett, William J.; Pannu, Satinderpall S.; Tooker, Angela C.

    2017-03-07

    A flexible device insertion tool including an elongated stiffener with one or more suction ports, and a vacuum connector for interfacing the stiffener to a vacuum source, for attaching the flexible device such as a flexible neural probe to the stiffener during insertion by a suction force exerted through the suction ports to, and to release the flexible device by removing the suction force.

  12. Graphene-polydimethylsiloxane/chromium bilayer-based flexible, reversible, and large bendable photomechanical actuators

    NASA Astrophysics Data System (ADS)

    Leeladhar; Raturi, Parul; Kumar, Ajeet; Singh, J. P.

    2017-09-01

    We demonstrate the fabrication of highly versatile photomechanical actuators based on graphene-polymer/metal bilayers that offers fast, low-cost fabrication, large deflection, reversible actuation under zero applied pre-strain, and wavelength-selective response. The photomechanical actuator consists of a graphene nanoplatelet (GNP)-polydimethylsiloxane (PDMS) nanocomposite with a thin chromium metal coating of 35 nm thickness on the backside of the structure. The photomechanical response of the GNP-PDMS/Cr photomechanical actuator was measured by recording the variation of the bending angle upon infrared (IR) light illumination. The bending in the bilayer actuator is caused by the generation of thermal stress due to the large mismatch (the ratio being 1/20) of the thermal expansion coefficient between the two layers as a result of IR absorption by GNPs and a subsequent increase in the local temperature. The maximum bending angle was found to be about 40 degrees with a corresponding large deflection value of about 6-7 mm within 6 s for IR illumination with an intensity of 550 mW cm-2. The corresponding actuation response and relaxation times were about 1 and 3 s, respectively. The GNP-PDMS/Cr bilayer combination when integrated with the standard surface micromachining technique of micro-electromechanical system fabrication can find useful applications in the realization of micro soft-robotics, controlled drug delivery, and light-driven micro switches i.e. micro-optomechanical systems.

  13. INDIRECT INTELLIGENT SLIDING MODE CONTROL OF A SHAPE MEMORY ALLOY ACTUATED FLEXIBLE BEAM USING HYSTERETIC RECURRENT NEURAL NETWORKS

    PubMed Central

    Hannen, Jennifer C.; Crews, John H.; Buckner, Gregory D.

    2012-01-01

    This paper introduces an indirect intelligent sliding mode controller (IISMC) for shape memory alloy (SMA) actuators, specifically a flexible beam deflected by a single offset SMA tendon. The controller manipulates applied voltage, which alters SMA tendon temperature to track reference bending angles. A hysteretic recurrent neural network (HRNN) captures the nonlinear, hysteretic relationship between SMA temperature and bending angle. The variable structure control strategy provides robustness to model uncertainties and parameter variations, while effectively compensating for system nonlinearities, achieving superior tracking compared to an optimized PI controller. PMID:22962538

  14. Application of Proportional Velocity Feedback Control to Attenuate the Vibrations of a Flexible Plate Using Piezoceramic Patch Actuators

    NASA Astrophysics Data System (ADS)

    Kulah, S.; Boz, U.; Basdogan, I.

    This paper presents a theoretical and experimental study on the control performance of proportional velocity feedback control with rectangular piezoceramic patch actuators to attenuate the vibrations of a thin flexible plate. For this purpose, first, frequency response funciton of the plate is obtained based on the experimental frequency sweep data. Then, a state space model was fitted to the measured frequency response to be used in the simulations to represent the plant dynamics. The controlled response of the plate is investigated via simulations using MATLAB/SIMULINK. Control performance of the controller is investigated and discussed for various feedback gains.

  15. KENNEDY SPACE CENTER, FLA. - In the Orbiter Processing Facility, Dan Clark, with KSC Boeing, operates the camera for a 3D digital scan of the actuator on the table. There are two actuators per engine on the Shuttle, one for pitch motion and one for yaw motion. The Space Shuttle Main Engine hydraulic servoactuators are used to gimbal the main engine.

    NASA Image and Video Library

    2003-09-03

    KENNEDY SPACE CENTER, FLA. - In the Orbiter Processing Facility, Dan Clark, with KSC Boeing, operates the camera for a 3D digital scan of the actuator on the table. There are two actuators per engine on the Shuttle, one for pitch motion and one for yaw motion. The Space Shuttle Main Engine hydraulic servoactuators are used to gimbal the main engine.

  16. KENNEDY SPACE CENTER, FLA. - In the Orbiter Processing Facility, Boeing worker Alden Pitard looks at a 3D digital scan of an actuator. There are two actuators per engine on the Shuttle, one for pitch motion and one for yaw motion. The Space Shuttle Main Engine hydraulic servoactuators are used to gimbal the main engine.

    NASA Image and Video Library

    2003-09-03

    KENNEDY SPACE CENTER, FLA. - In the Orbiter Processing Facility, Boeing worker Alden Pitard looks at a 3D digital scan of an actuator. There are two actuators per engine on the Shuttle, one for pitch motion and one for yaw motion. The Space Shuttle Main Engine hydraulic servoactuators are used to gimbal the main engine.

  17. KENNEDY SPACE CENTER, FLA. - In the Orbiter Processing Facility, an actuator is set up on a table for a 3D digital scan. There are two actuators per engine on the Shuttle, one for pitch motion and one for yaw motion. The Space Shuttle Main Engine hydraulic servoactuators are used to gimbal the main engine.

    NASA Image and Video Library

    2003-09-03

    KENNEDY SPACE CENTER, FLA. - In the Orbiter Processing Facility, an actuator is set up on a table for a 3D digital scan. There are two actuators per engine on the Shuttle, one for pitch motion and one for yaw motion. The Space Shuttle Main Engine hydraulic servoactuators are used to gimbal the main engine.

  18. Flexible Low-Mass Devices and Mechanisms Actuated by Electroactive Polymers

    NASA Technical Reports Server (NTRS)

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

    1999-01-01

    Miniature, lightweight, miser actuators that operate similar to biological muscles can be used to develop robotic devices with unmatched capabilities to impact many technology areas. Electroactive polymers (EAP) offer the potential to producing such actuators and their main attractive feature is their ability to induce relatively large bending or longitudinal strain. Generally, these materials produce a relatively low force and the applications that can be considered at the current state of the art are relatively limited. This reported study is concentrating on the development of effective EAPs and the resultant enabling mechanisms employing their unique characteristics. Several EAP driven mechanisms, which emulate human hand, were developed including a gripper, manipulator arm and surface wiper. The manipulator arm was made of a composite rod with an EAP actuator consisting of a scrolled rope that is activated longitudinally by an electrostatic field. A gripper was made to serve as an end effector and it consisted of multiple bending EAP fingers for grabbing and holding such objects as rocks. An EAP surface wiper was developed to operate like a human finger and to demonstrate the potential to remove dust from optical and IR windows as well as solar cells. These EAP driven devices are taking advantage of the large actuation displacement of these materials but there is need for a significantly greater actuation force capability.

  19. A Study on Piezoelectric Actuators and Sensors for Vibration Control of Flexible Space Structures

    DTIC Science & Technology

    1993-09-23

    design successful stabilizing control laws. Once again, the nearly co-located sensor/actuator system makes it possible to build a stabilizing set of... stabilizing control laws used in this thesis, in combination with optimal performance requirements 36 RBZRBZNCZB 1. Newman, Scott M., Active Damping Control of

  20. Ultrasonic wave propagation of flexible piezoelectric polymer for tactile actuator: simulation and experiment

    NASA Astrophysics Data System (ADS)

    Akther, Asma; Kafy, Abdullahil; Zhai, Lindong; Kim, Hyun Chan; Shishir, MD Imrul Reza; Kim, Jaehwan

    2016-11-01

    This study deals with ultrasonic wave propagation on a piezoelectric polymer substrate for tactile actuator. On the piezoelectric polymer substrate, a pair of interdigital transductor (IDT) electrodes is patterned by lift-off process and a resonator is made by exciting the IDTs. A standing wave is generated between the pair of IDT electrodes, of which the wavelength matches with the distance between two IDTs. The standing ultrasonic waves can give different textures to the users. The wave propagation in this periodic structure on the polymer substrate is studied by harmonic and transient analysis. Vertical displacement and induced voltage at the output IDT electrode are calculated and the ultrasonic wave generation is experimentally verified. The proposed concept of tactile actuator based on ultrasonic wave is explained.

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

    NASA Technical Reports Server (NTRS)

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

    1987-01-01

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

  2. Advanced aerospace hydraulic systems and components

    NASA Astrophysics Data System (ADS)

    1991-07-01

    The present volume discusses the development of a viable hydraulic circuit breaker, the electromodulated control of supply pressure in hydraulic systems, the flight control actuation system for the B-2 advanced technology bomber, and the B747-400 upper rudder control system with triple tandem valve. Also discussed are a total-flexibility cartridge-valve porting via innovative sealing technology, the A320 pilots' autothrust survey, an all-digital electrohydrostatic servoactuator, and a concurrent design/analysis tool for aircraft hydraulic systems. (For individual items see A93-21841 to A93-21844)

  3. Development of Dielectric Elastomer Nanocomposites as Stretchable and Flexible Actuating Materials

    NASA Astrophysics Data System (ADS)

    Wang, Yu

    Dielectric elastomers (DEs) are a new type of smart materials showing promising functionalities as energy harvesting materials as well as actuating materials for potential applications such as artificial muscles, implanted medical devices, robotics, loud speakers, micro-electro-mechanical systems (MEMS), tunable optics, transducers, sensors, and even generators due to their high electromechanical efficiency, stability, lightweight, low cost, and easy processing. Despite the advantages of DEs, technical challenges must be resolved for wider applications. A high electric field of at least 10-30 V/um is required for the actuation of DEs, which limits the practical applications especially in biomedical fields. We tackle this problem by introducing the multiwalled carbon nanotubes (MWNTs) in DEs to enhance their relative permittivity and to generate their high electromechanical responses with lower applied field level. This work presents the dielectric, mechanical and electromechanical properties of DEs filled with MWNTs. The micromechanics-based finite element models are employed to describe the dielectric, and mechanical behavior of the MWNT-filled DE nanocomposites. A sufficient number of models are computed to reach the acceptable prediction of the dielectric and mechanical responses. In addition, experimental results are analyzed along with simulation results. Finally, laser Doppler vibrometer is utilized to directly detect the enhancement of the actuation strains of DE nanocomposites filled with MWNTs. All the results demonstrate the effective improvement in the electromechanical properties of DE nanocomposites filled with MWNTs under the applied electric fields.

  4. Downhold hydraulic actuated pump

    SciTech Connect

    Roeder, G.K.

    1987-05-12

    This patent describes a downhole pump of the type having a main housing within which there is formed an engine chamber and a production chamber. A piston is reciprocatingly received within the engine chamber, a plunger reciprocatingly received within the production chamber, a connecting rod by which the piston and plunger are connected together; the combination with the main housing, piston, plunger.

  5. Novel adaptive neural control design for a constrained flexible air-breathing hypersonic vehicle based on actuator compensation

    NASA Astrophysics Data System (ADS)

    Bu, Xiangwei; Wu, Xiaoyan; He, Guangjun; Huang, Jiaqi

    2016-03-01

    This paper investigates the design of a novel adaptive neural controller for the longitudinal dynamics of a flexible air-breathing hypersonic vehicle with control input constraints. To reduce the complexity of controller design, the vehicle dynamics is decomposed into the velocity subsystem and the altitude subsystem, respectively. For each subsystem, only one neural network is utilized to approach the lumped unknown function. By employing a minimal-learning parameter method to estimate the norm of ideal weight vectors rather than their elements, there are only two adaptive parameters required for neural approximation. Thus, the computational burden is lower than the ones derived from neural back-stepping schemes. Specially, to deal with the control input constraints, additional systems are exploited to compensate the actuators. Lyapunov synthesis proves that all the closed-loop signals involved are uniformly ultimately bounded. Finally, simulation results show that the adopted compensation scheme can tackle actuator constraint effectively and moreover velocity and altitude can stably track their reference trajectories even when the physical limitations on control inputs are in effect.

  6. Computational Methods for the Optimization of the Mapping of Actuators and Sensors in the Control of Flexible Structures

    NASA Astrophysics Data System (ADS)

    Chemishkian, Sergey Y.

    1998-11-01

    In this work the problem of actuator and sensor mapping and controller design for the flexible structure control is approached as minimization of the residual deformations index (H∞ norm of the closed-loop disturbance - deformation path) over the set of non-destabilizing feedback controllers and over the set of possible actuator and sensor mappings. Computational load associated with this approach is reduced by restricting the search to the mapping areas where an inexpensive lower estimate of residual deformations index (derived as a part of this study) is less than the desired value of this index. Further improvement is achieved by including statistical description of the difference between the actual and the estimated performance index over the set of mappings, in order to adjust the level of the mapping acceptance/rejection in such a way that the number of rejected mappings is increased. Serial and parallel optimization procedures based on exhaustive search and genetic algorithms are discussed. These concepts and algorithms are applied to test cases of simply supported beam, the UCLA Large Space Structure, and a telescope mirror model: a hinged round plate.

  7. Structural Optimization of a Distributed Actuation System in a Flexible In-Plane Morphing Wing

    DTIC Science & Technology

    2007-06-01

    flexible skin of the wing is modeled with a nonlinear material stretched between two opposing vertices. It will be shown that the optimal orientation of...18 3.1. Single-cell finite element model. . . . . . . . . . . . . . . . . . . 22 3.2. Flexible skin for N-MAS wind tunnel model...7 Xout Displacement in x -direction where Fexx is applied . . . . . 7 Yout Displacement in y-direction where Fexy is applied . . . . . 7 Win Work

  8. A flexible system for the estimation of infiltration and hydraulic resistance parameters in surface irrigation

    USDA-ARS?s Scientific Manuscript database

    Critical to the use of modeling tools for the hydraulic analysis of surface irrigation systems is characterizing the infiltration and hydraulic resistance process. Since those processes are still not well understood, various formulations are currently used to represent them. A software component h...

  9. Decentralized harmonic active vibration control of a flexible plate using piezoelectric actuator-sensor pairs.

    PubMed

    Baudry, Matthieu; Micheau, Philippe; Berry, Alain

    2006-01-01

    We have investigated decentralized active control of periodic panel vibration using multiple pairs combining PZT actuators and PVDF sensors distributed on the panel. By contrast with centralized MIMO controllers used to actively control the vibrations or the sound radiation of extended structures, decentralized control using independent local control loops only requires identification of the diagonal terms in the plant matrix. However, it is difficult to a priori predict the global stability of such decentralized control. In this study, the general situation of noncollocated actuator-sensor pairs was considered. Frequency domain gradient and Newton-Raphson adaptation of decentralized control were analyzed, both in terms of performance and stability conditions. The stability conditions are especially derived in terms of the adaptation coefficient and a control effort weighting coefficient. Simulations and experimental results are presented in the case of a simply supported panel with four PZT-PVDF pairs distributed on it. Decentralized vibration control is shown to be highly dependent on the frequency, but can be as effective as a fully centralized control even when the plant matrix is not diagonal-dominant or is not strictly positive real (not dissipative).

  10. Flexible bacterial cellulose / permalloy nanocomposite xerogel sheets - Size scalable magnetic actuator-cum-electrical conductor

    NASA Astrophysics Data System (ADS)

    Thiruvengadam, V.; Vitta, Satish

    2017-03-01

    Permalloy nanoparticles containing bacterial cellulose hydrogel obtained after reduction was compressed into a xerogel flexible sheet by hot pressing at 60 ° C at different pressures. The permalloy nanoparticles with an ordered structure have a bimodal size distribution centered around 25 nm and 190 nm. The smaller nanoparticles are superparamagnetic while the larger particles are ferromagnetic at room temperature. The sheets have a room temperature magnetisation of 20 emug-1 and a coercivity of 32 Oe. The electrical conductivity of the flexible sheets increases with hot pressing pressure from 7 Scm-1 to 40 Scm-1 at room temperature.

  11. 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.

  12. Highly flexible and transparent dielectric elastomer actuators using silver nanowire and carbon nanotube hybrid electrodes.

    PubMed

    Lee, Ye Rim; Kwon, Hyungho; Lee, Do Hoon; Lee, Byung Yang

    2017-09-27

    We demonstrate a dielectric elastomer actuator (DEA) with a high areal strain value of 146% using hybrid electrodes of silver nanowires (AgNWs) and single-walled carbon nanotubes (SWCNTs). The addition of a very small amount of SWCNTs (∼35 ng mm(-2)) to a highly resistive AgNW network resulted in a remarkable reduction of the electrode sheet resistance by three orders, increasing the breakdown field by 183% and maximum strain, while maintaining the reduction of optical transmittance within 11%. The DEA based on our transparent and stretchable hybrid electrodes can be easily fabricated by a simple vacuum filtration and transfer process of the electrode film on a pre-strained dielectric elastomer membrane. We expect that our approach will be useful in the future for fabricating stretchable and transparent electrodes in various soft electronic devices.

  13. Sliding mode attitude control with L 2-gain performance and vibration reduction of flexible spacecraft with actuator dynamics

    NASA Astrophysics Data System (ADS)

    Hu, Qinglei

    2010-09-01

    This paper presents a dual-stage control system design method for the rotational maneuver control and vibration stabilization of a flexible spacecraft. In this design approach, the sub-systems of attitude control and vibration suppression are designed separately using the low order model. Based on the sliding mode control (SMC) theory, a discontinuous attitude control law in the form of the input voltage of the reaction wheel is derived to control the orientation of the spacecraft, incorporating the L 2-gain performance criterion constraint. The resulting closed-loop system is proven to be uniformly ultimately bounded stability and the effect of the external disturbance on both attitude quaternion and angular velocity can be attenuated to the prescribed level as well. In addition, an adaptive version of the control law is designed for adapting the unknown upper bounds of the lumped disturbance such that the limitation of knowing the bound of the disturbance in advance is released. For actively suppressing the induced vibration, strain rate feedback control method is also investigated by using piezoelectric materials as additional sensors and actuators bonded on the surface of the flexible appendages. Numerical simulations are performed to show that rotational maneuver and vibration suppression are accomplished in spite of the presence of disturbance and uncertainty.

  14. Linear hydraulic pressure-pulse actuator (LHPA): a versatile instrument that produces a simulated blood pressure pulse wave for small sized vessels.

    PubMed

    Field, S; Drzewiecki, G

    1996-06-01

    An instrument is presented which produces a simulated circulatory pulsatile pressure wave for small sized vessels. The linear hydraulic pressure-pulse actuator (LHPA) is designed to be extremely versatile, that is, a blood pressure wave source of any shape, amplitude, offset and frequency can be simulated. In addition, the LHPA can reproduce accurately a real pulse pressure wave by simply imputting an actual data record of a circulatory pressure pulse. The design is accomplished by incorporating the use of a linear force solenoid driven with a voltage-to-current source power amplifier. Testing of the device is presented here, as well as pressure pulse results from a recorded pulsatile pressure input to the LHPA. The device is simple to implement in that its response is linear, for volume changes upto +/- 5 mL, without the need for feedback compensation.

  15. Flexibility issues in discrete on-off actuated spacecraft: Numerical and experimental tests

    NASA Astrophysics Data System (ADS)

    Gasbarri, Paolo; Sabatini, Marco; Leonangeli, Nazareno; Palmerini, Giovanni B.

    2014-08-01

    Spacecraft are often characterized by the presence of large appendages with very low natural frequencies. Control strategies of such systems must necessarily take the rigid-flexible dynamics interaction into account. In particular, an unstable behavior can occur when important characteristics of a real control system, such as the time delay affecting the navigation and control loop, are considered. In fact, it is possible to show that the stability delay margins can become insufficient, and the maneuver, that can be aimed to change the platform attitude or just to damp the elastic oscillations, fails. In the present work, this problem is solved by compensating the time delay by means of a model-based prediction algorithm. A free floating platform is used to test the navigation, control and delay compensation algorithms, confirming the soundness and the robustness of the approach.

  16. Crosslinking metal nanoparticles into the polymer backbone of hydrogels enables preparation of soft, magnetic field-driven actuators with muscle-like flexibility.

    PubMed

    Fuhrer, Roland; Athanassiou, Evagelos Kimon; Luechinger, Norman Albert; Stark, Wendelin Jan

    2009-03-01

    The combination of force and flexibility is at the core of biomechanics and enables virtually all body movements in living organisms. In sharp contrast, presently used machines are based on rigid, linear (cylinders) or circular (rotator in an electrical engine) geometries. As a potential bioinspired alternative, magnetic elastomers can be realized through dispersion of micro- or nanoparticles in polymer matrices and have attracted significant interest as soft actuators in artificial organs, implants, and devices for controlled drug delivery. At present, magnetic particle loss and limited actuator strength have restricted the use of such materials to niche applications. We describe the direct incorporation of metal nanoparticles into the backbone of a hydrogel and application as an ultra-flexible, yet strong magnetic actuator. Covalent bonding of the particles prevents metal loss or leaching. Since metals have a far higher saturation magnetization and higher density than oxides, the resulting increased force/volume ratio afforded significantly stronger magnetic actuators with high mechanical stability, elasticity, and shape memory effect.

  17. Hydraulic manipulator design, analysis, and control at Oak Ridge National Laboratory

    SciTech Connect

    Kress, R.L.; Jansen, J.F.; Love, L.J.; Basher, A.M.H.

    1996-09-01

    To meet the increased payload capacities demanded by present-day tasks, manipulator designers have turned to hydraulics as a means of actuation. Hydraulics have always been the actuator of choice when designing heavy-life construction and mining equipment such as bulldozers, backhoes, and tunneling devices. In order to successfully design, build, and deploy a new hydraulic manipulator (or subsystem) sophisticated modeling, analysis, and control experiments are usually needed. To support the development and deployment of new hydraulic manipulators Oak Ridge National Laboratory (ORNL) has outfitted a significant experimental laboratory and has developed the software capability for research into hydraulic manipulators, hydraulic actuators, hydraulic systems, modeling of hydraulic systems, and hydraulic controls. The hydraulics laboratory at ORNL has three different manipulators. First is a 6-Degree-of-Freedom (6-DoF), multi-planer, teleoperated, flexible controls test bed used for the development of waste tank clean-up manipulator controls, thermal studies, system characterization, and manipulator tracking. Finally, is a human amplifier test bed used for the development of an entire new class of teleoperated systems. To compliment the hardware in the hydraulics laboratory, ORNL has developed a hydraulics simulation capability including a custom package to model the hydraulic systems and manipulators for performance studies and control development. This paper outlines the history of hydraulic manipulator developments at ORNL, describes the hydraulics laboratory, discusses the use of the equipment within the laboratory, and presents some of the initial results from experiments and modeling associated with these hydraulic manipulators. Included are some of the results from the development of the human amplifier/de-amplifier concepts, the characterization of the thermal sensitivity of hydraulic systems, and end-point tracking accuracy studies. Experimental and analytical

  18. Flexible Zinc-Tin Oxide Thin Film Transistors Operating at 1 kV for Integrated Switching of Dielectric Elastomer Actuators Arrays.

    PubMed

    Marette, Alexis; Poulin, Alexandre; Besse, Nadine; Rosset, Samuel; Briand, Danick; Shea, Herbert

    2017-08-01

    Flexible high-voltage thin-film transistors (HVTFTs) operating at more than 1 kV are integrated with compliant dielectric elastomer actuators (DEA) to create a flexible array of 16 independent actuators. To allow for high-voltage operation, the HVTFT implements a zinc-tin oxide channel, a thick dielectric stack, and an offset gate. At a source-drain bias of 1 kV, the HVTFT has a 20 µA on-current at a gate voltage bias of 30 V. Their electrical characteristics enable the switching of DEAs which require drive voltages of over 1 kV, making control of an array simpler in comparison to the use of external high-voltage switching. These HVTFTs are integrated in a flexible haptic display consisting of a 4 × 4 matrix of DEAs and HVTFTs. Using a single 1.4 kV supply, each DEA is independently switched by its associated HVTFT, requiring only a 30 V gate voltage for full DEA deflection. The 4 × 4 display operates well even when bent to a 5 mm radius of curvature. By enabling DEA switching at low voltages, flexible metal-oxide HVTFTs enable complex flexible systems with dozens to hundreds of independent DEAs for applications in haptics, Braille displays, and soft robotics. © 2017 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

  19. Soft and flexible PEDOT/PSS films for applications to soft actuators

    NASA Astrophysics Data System (ADS)

    Li, Yuechen; Tanigawa, Ryo; Okuzaki, Hidenori

    2014-07-01

    Stretchable and highly conductive PEDOT/PSS/Xyl films were prepared by casting an aqueous dispersion of poly(3,4-ethylenedioxythiophene) doped with poly(4-styrenesulfonate) (PEDOT/PSS) as colloidal gel particles containing xylitol (Xyl) and subsequent heating. The electrical conductivity of the PEDOT/PSS/Xyl film containing 50 wt% of xylitol significantly increased from 115 S cm-1 to 407 S cm-1 by heating at 140 °C in air for 1 h. It was found that the xylitol had two functions as (i) a plasticizer to weaken hydrogen bonds between PSS of colloidal particles by replacing with that between xylitol and PSS and (ii) the additional capability of increasing the mobility of charge carriers between the colloidal particles. The transparent ionic liquid/polyurethane (IL/PU) gels were fabricated by dissolving thermoplastic polyurethane and ionic liquid of 1-ethyl-3-methylimidazolium bis(trifluoromethylsulfonyl)imide. By increasing the IL content from 0 wt% to 70 wt%, both ionic conductivity and electric-double-layer capacitance under an electric field increased, while Young’s modulus, strength and elongation at break decreased. The IL/PU/PEDOT/PSS/Xyl composites were fabricated by sandwiching the IL/PU gel between two soft and flexible PEDOT/PSS/Xyl films. Upon application of 2 V, the IL/PU/PEDOT/PSS/Xyl composite (IL = 70%) showed quick and intensive bending toward anode, where the bending displacement at 0.1 Hz attained 2.9 mm, corresponding to the strain of 0.15%, and still worked at frequencies higher than 50 Hz.

  20. Low-Shock Pyrotechnic Actuator

    NASA Technical Reports Server (NTRS)

    Lucy, M. H.

    1984-01-01

    Miniature 1-ampere, 1-watt pyrotechnic actuator enclosed in flexible metal bellows. Bellows confines outgassing products, and pyrotechnic shock reduction achieved by action of bellows, gas cushion within device, and minimum use of pyrotechnic material. Actuator inexpensive, compact, and lightweight.

  1. Integrated high pressure microhydraulic actuation and control for surgical instruments.

    PubMed

    Moers, A J M; De Volder, M F L; Reynaerts, D

    2012-08-01

    To reduce the surgical trauma to the patient, minimally invasive surgery is gaining considerable importance since the eighties. More recently, robot assisted minimally invasive surgery was introduced to enhance the surgeon's performance in these procedures. This resulted in an intensive research on the design, fabrication and control of surgical robots over the last decades. A new development in the field of surgical tool manipulators is presented in this article: a flexible manipulator with distributed degrees of freedom powered by microhydraulic actuators. The tool consists of successive flexible segments, each with two bending degrees of freedom. To actuate these compliant segments, dedicated fluidic actuators are incorporated, together with compact hydraulic valves which control the actuator motion. Especially the development of microvalves for this application was challenging, and are the main focus of this paper. The valves distribute the hydraulic power from one common high pressure supply to a series of artificial muscle actuators. Tests show that the angular stroke of the each segment of this medical instrument is 90°.

  2. Flexibility.

    ERIC Educational Resources Information Center

    Humphrey, L. Dennis

    1981-01-01

    Flexibility is an important aspect of all sports and recreational activities. Flexibility can be developed and maintained by stretching exercises. Exercises designed to develop flexibility in ankle joints, knees, hips, and the lower back are presented. (JN)

  3. Flexibility.

    ERIC Educational Resources Information Center

    Humphrey, L. Dennis

    1981-01-01

    Flexibility is an important aspect of all sports and recreational activities. Flexibility can be developed and maintained by stretching exercises. Exercises designed to develop flexibility in ankle joints, knees, hips, and the lower back are presented. (JN)

  4. Quiet Clean Short-haul Experimental Engine (QCSEE): Hamilton Standard cam/harmonic drive variable pitch fan actuation system detail design report

    NASA Technical Reports Server (NTRS)

    1976-01-01

    A variable pitch fan actuation system was designed which incorporates a remote nacelle-mounted blade angle regulator. The regulator drives a rotating fan-mounted mechanical actuator through a flexible shaft and differential gear train. The actuator incorporates a high ratio harmonic drive attached to a multitrack spherical cam which changes blade pitch through individual cam follower arms attached to each blade trunnion. Detail design parameters of the actuation system are presented. These include the following: design philosophies, operating limits, mechanical, hydraulic and thermal characteristics, mechanical efficiencies, materials, weights, lubrication, stress analyses, reliability and failure analyses.

  5. Attitude and vibration control of a satellite containing flexible solar arrays by using reaction wheels, and piezoelectric transducers as sensors and actuators

    NASA Astrophysics Data System (ADS)

    da Fonseca, Ijar M.; Rade, Domingos A.; Goes, Luiz C. S.; de Paula Sales, Thiago

    2017-10-01

    The primary purpose of this paper is to provide insight into control-structure interaction for satellites comprising flexible appendages and internal moving components. The physical model considered herein aiming to attend such purpose is a rigid-flexible satellite consisting of a rigid platform containing two rotating flexible solar panels. The solar panels rotation is assumed to be in a sun-synchronous configuration mode. The panels contain surface-bonded piezoelectric patches that can be used either as sensors for the elastic displacements or as actuators to counteract the vibration motion. It is assumed that in the normal mode operation the satellite platform points towards the Earth while the solar arrays rotate so as to follow the Sun. The vehicle moves in a low Earth polar orbit. The technique used to obtain the mathematical model combines the Lagrangian formulation with the Finite Elements Method used to describe the dynamics of the solar panel. The gravity-gradient torque as well as the torque due to the interaction of the Earth magnetic field and the satellite internal residual magnetic moment is included as environmental perturbations. The actuators are three reaction wheels for attitude control and piezoelectric actuators to control the flexible motion of the solar arrays. Computer simulations are performed using the MATLAB® software package. The following on-orbit satellite operating configurations are object of analysis: i) Satellite pointing towards the Earth (Earth acquisition maneuver) by considering the initial conditions in the elastic displacement equal to zero, aiming the assessment of the flexible modes excitation by the referred maneuver; ii) the satellite pointing towards the Earth with the assumption of an initial condition different from zero for the flexible motion such that the attitude alterations are checked against the elastic motion disturbance; and iii) attitude acquisition accomplished by taking into account initial conditions

  6. 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.

  7. High Performance Flexible Actuator of Urchin-Like ZnO Nanostructure/Polyvinylenefluoride Hybrid Thin Film with Graphene Electrodes for Acoustic Generator and Analyzer.

    PubMed

    Cheong, Oug Jae; Lee, James S; Kim, Jae Hyun; Jang, Jyongsik

    2016-05-01

    A bass frequency response enhanced flexible polyvinylidene fluoride (PVDF) based thin film acoustic actuator is successfully fabricated. High concentrations of various zinc oxide (ZnO) is embedded in PVDF matrix, enhancing the β phase content and the dielectric property of the composite thin film. ZnO acts as a nucleation agent for the crystallization of PVDF. A chemical vapor deposition grown graphene is used as electrodes, enabling high electron mobility for the distortion free acoustic signals. The frequency response of the fabricated acoustic actuator is studied as a function of the film thickness and filler content. The optimized film has a thickness of 80 μm with 30 wt% filler content and shows 72% and 42% frequency response enhancement in bass and midrange compared to the commercial PVDF, respectively. Also, the total harmonic distortion decreases to 82% and 74% in the bass and midrange regions, respectively. Furthermore, the composite film shows a promising potential for microphone applications. Most of all, it is demonstrated that acoustic actuator performance is strongly influenced by degree of PVDF crystalline. © 2016 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

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

    NASA Astrophysics Data System (ADS)

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

    2012-06-01

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

  9. KENNEDY SPACE CENTER, FLA. - Boeing workers perform a 3D digital scan of the actuator on the table. At left is Dan Clark. At right are Alden Pitard (seated at computer) and John Macke, from Boeing, St. Louis. . There are two actuators per engine on the Shuttle, one for pitch motion and one for yaw motion. The Space Shuttle Main Engine hydraulic servoactuators are used to gimbal the main engine.

    NASA Image and Video Library

    2003-09-03

    KENNEDY SPACE CENTER, FLA. - Boeing workers perform a 3D digital scan of the actuator on the table. At left is Dan Clark. At right are Alden Pitard (seated at computer) and John Macke, from Boeing, St. Louis. . There are two actuators per engine on the Shuttle, one for pitch motion and one for yaw motion. The Space Shuttle Main Engine hydraulic servoactuators are used to gimbal the main engine.

  10. KENNEDY SPACE CENTER, FLA. - Boeing workers get ready to perform a 3D digital scan of the actuator on the table. At left is John Macke, from Boeing, St. Louis. At right is Dan Clark.. There are two actuators per engine on the Shuttle, one for pitch motion and one for yaw motion. The Space Shuttle Main Engine hydraulic servoactuators are used to gimbal the main engine.

    NASA Image and Video Library

    2003-09-03

    KENNEDY SPACE CENTER, FLA. - Boeing workers get ready to perform a 3D digital scan of the actuator on the table. At left is John Macke, from Boeing, St. Louis. At right is Dan Clark.. There are two actuators per engine on the Shuttle, one for pitch motion and one for yaw motion. The Space Shuttle Main Engine hydraulic servoactuators are used to gimbal the main engine.

  11. KENNEDY SPACE CENTER, FLA. - John Macke (standing, center), with Boeing St. Louis, Alden Pitard (seated, left) and Dan Clark (right), with KSC Boeing, check results after 3D digital scanning of actuators in the Orbiter Processing Facility. There are two actuators per engine on the Shuttle, one for pitch motion and one for yaw motion. The Space Shuttle Main Engine hydraulic servoactuators are used to gimbal the main engine.

    NASA Image and Video Library

    2003-09-03

    KENNEDY SPACE CENTER, FLA. - John Macke (standing, center), with Boeing St. Louis, Alden Pitard (seated, left) and Dan Clark (right), with KSC Boeing, check results after 3D digital scanning of actuators in the Orbiter Processing Facility. There are two actuators per engine on the Shuttle, one for pitch motion and one for yaw motion. The Space Shuttle Main Engine hydraulic servoactuators are used to gimbal the main engine.

  12. KENNEDY SPACE CENTER, FLA. - John Macke (standing, left), with Boeing St. Louis, Alden Pitard (seated, left) and Dan Clark (right), with KSC Boeing, look at a monitor after 3D digital scanning of actuators in the Orbiter Processing Facility. There are two actuators per engine on the Shuttle, one for pitch motion and one for yaw motion. The Space Shuttle Main Engine hydraulic servoactuators are used to gimbal the main engine.

    NASA Image and Video Library

    2003-09-03

    KENNEDY SPACE CENTER, FLA. - John Macke (standing, left), with Boeing St. Louis, Alden Pitard (seated, left) and Dan Clark (right), with KSC Boeing, look at a monitor after 3D digital scanning of actuators in the Orbiter Processing Facility. There are two actuators per engine on the Shuttle, one for pitch motion and one for yaw motion. The Space Shuttle Main Engine hydraulic servoactuators are used to gimbal the main engine.

  13. Method and apparatus for actuating vehicle transmission

    SciTech Connect

    Ishida, H.; Ishihara, M.; Uriuhara, M.

    1988-11-15

    This patent describes a method of actuating a vehicle parallel-gear transmission having gears and an internal lever for moving shift blocks connected with shift rods and shift forks for changing gear ratios of the transmission, a hydraulically controlled select actuator operatively connected to the internal lever for moving the internal lever in a select direction, a hydraulically controlled shift actuator operatively connected to the internal lever for moving the internal lever in a shift direction substantially normal to the select direction, a hydraulically controlled clutch actuator for connecting and disconnecting a clutch of the transmission, and a common fluid discharge passage connected to fluid discharge ports of the select and shift actuators and a fluid discharge port of the clutch actuator, the select and shift actuators being alternately actuatable to effect a gear changing operation.

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

    NASA Astrophysics Data System (ADS)

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

    2016-06-01

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

  15. Variable Valve Actuation

    SciTech Connect

    Jeffrey Gutterman; A. J. Lasley

    2008-08-31

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

  16. The dynamics and control of large flexible space structures, 3. Part A: Shape and orientation control of a platform in orbit using point actuators

    NASA Technical Reports Server (NTRS)

    Bainum, P. M.; Reddy, A. S. S. R.; Krishna, R.; James, P. K.

    1980-01-01

    The dynamics, attitude, and shape control of a large thin flexible square platform in orbit are studied. Attitude and shape control are assumed to result from actuators placed perpendicular to the main surface and one edge and their effect on the rigid body and elastic modes is modelled to first order. The equations of motion are linearized about three different nominal orientations: (1) the platform following the local vertical with its major surface perpendicular to the orbital plane; (2) the platform following the local horizontal with its major surface normal to the local vertical; and (3) the platform following the local vertical with its major surface perpendicular to the orbit normal. The stability of the uncontrolled system is investigated analytically. Once controllability is established for a set of actuator locations, control law development is based on decoupling, pole placement, and linear optimal control theory. Frequencies and elastic modal shape functions are obtained using a finite element computer algorithm, two different approximate analytical methods, and the results of the three methods compared.

  17. 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.

  18. Hydraulic pump

    SciTech Connect

    Polak, P.R.; Jantzen, D.E.

    1984-05-15

    This invention relates to an improved pump jack characterized by a hollow piston rod which telescopes down over the sucker rod to which it is clamped for reciprocating motion. The cylinder, in turn, is fastened in fixed position directly to the upper exposed end of the well casing. As fluid is introduced into the lower end of the cylinder it raises the piston into engagement with a pushrod housed in the upper cylinder head that lifts switch-actuating means associated therewith into a position operative to actuate a switch located adjacent thereto thereby causing the latter to change state and actuate a multi-function solenoid valve so as to cut off fluid flow to the cylinder. As gravity lowers the sucker rod and piston exhausting the hydraulic fluid therebeneath, an adjustable stop engages the pushrod from above so as to return it together with the switch-actuating means associated therewith to their original positions thereby resetting the switch to complete the operating cycle.

  19. Electrodynamic actuators for rocket engine valves

    NASA Technical Reports Server (NTRS)

    Fiet, O.; Doshi, D.

    1972-01-01

    Actuators, employed in acoustic loudspeakers, operate liquid rocket engine valves by replacing light paper cones with flexible metal diaphragms. Comparative analysis indicates better response time than solenoid actuators, and improved service life and reliability.

  20. [The Waste Package Project. Final report, July 1, 1995--February 27, 1996]: Volume 2, Experimental verification of structural response of a flexible three-link hydraulic steel robot

    SciTech Connect

    Channarayapatna, Shashidhar S.

    1996-01-01

    This report presents experimental techniques for determining the static and dynamic response, in three dimensional space, of a flexible three-link hydraulic steel robot. The flexible robot was originally built under a grant from the Army Research Office (ARO) and has been the subject of a six year research project involving 12 graduate students and four faculty members. The research was continued under grant from the U.S. Department of Energy which is considering the use of robot in remote handling, placement and retrievability of H.L.N.W. canisters in geological formations. A series of static and dynamic experiments was conducted under two different loads at various angular positions of the robot links.

  1. 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.

  2. Using Bond Graphs for Articulated, Flexible Multi-bodies, Sensors, Actuators, and Controllers with Application to the International Space Station

    NASA Technical Reports Server (NTRS)

    Montgomery, Raymond C.; Granda, Jose J.

    2003-01-01

    Conceptually, modeling of flexible, multi-body systems involves a formulation as a set of time-dependent partial differential equations. However, for practical, engineering purposes, this modeling is usually done using the method of Finite Elements, which approximates the set of partial differential equations, thus generalizing the approach to all continuous media. This research investigates the links between the Bond Graph method and the classical methods used to develop system models and advocates the Bond Graph Methodology and current bond graph tools as alternate approaches that will lead to a quick and precise understanding of a flexible multi-body system under automatic control. For long endurance, complex spacecraft, because of articulation and mission evolution the model of the physical system may change frequently. So a method of automatic generation and regeneration of system models that does not lead to implicit equations, as does the Lagrange equation approach, is desirable. The bond graph method has been shown to be amenable to automatic generation of equations with appropriate consideration of causality. Indeed human-interactive software now exists that automatically generates both symbolic and numeric system models and evaluates causality as the user develops the model, e.g. the CAMP-G software package. In this paper the CAMP-G package is used to generate a bond graph model of the International Space Station (ISS) at an early stage in its assembly, Zvezda. The ISS is an ideal example because it is a collection of bodies that are articulated, many of which are highly flexible. Also many reaction jets are used to control translation and attitude, and many electric motors are used to articulate appendages, which consist of photovoltaic arrays and composite assemblies. The Zvezda bond graph model is compared to an existing model, which was generated by the NASA Johnson Space Center during the Verification and Analysis Cycle of Zvezda.

  3. High-order tracking differentiator based adaptive neural control of a flexible air-breathing hypersonic vehicle subject to actuators constraints.

    PubMed

    Bu, Xiangwei; Wu, Xiaoyan; Tian, Mingyan; Huang, Jiaqi; Zhang, Rui; Ma, Zhen

    2015-09-01

    In this paper, an adaptive neural controller is exploited for a constrained flexible air-breathing hypersonic vehicle (FAHV) based on high-order tracking differentiator (HTD). By utilizing functional decomposition methodology, the dynamic model is reasonably decomposed into the respective velocity subsystem and altitude subsystem. For the velocity subsystem, a dynamic inversion based neural controller is constructed. By introducing the HTD to adaptively estimate the newly defined states generated in the process of model transformation, a novel neural based altitude controller that is quite simpler than the ones derived from back-stepping is addressed based on the normal output-feedback form instead of the strict-feedback formulation. Based on minimal-learning parameter scheme, only two neural networks with two adaptive parameters are needed for neural approximation. Especially, a novel auxiliary system is explored to deal with the problem of control inputs constraints. Finally, simulation results are presented to test the effectiveness of the proposed control strategy in the presence of system uncertainties and actuators constraints. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

  4. 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.

  5. 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.

  6. Linear Proof-Mass Actuator

    NASA Technical Reports Server (NTRS)

    Holloway, Sidney E., III; Crossley, Edward A.; Miller, James B.; Jones, Irby W.; Davis, C. Calvin; Behun, Vaughn D.; Goodrich, Lewis R., Sr.

    1995-01-01

    Linear proof-mass actuator (LPMA) is friction-driven linear mass actuator capable of applying controlled force to structure in outer space to damp out oscillations. Capable of high accelerations and provides smooth, bidirectional travel of mass. Design eliminates gears and belts. LPMA strong enough to be used terrestrially where linear actuators needed to excite or damp out oscillations. High flexibility designed into LPMA by varying size of motors, mass, and length of stroke, and by modifying control software.

  7. A new type of a direct-drive valve system driven by a piezostack actuator and sliding spool

    NASA Astrophysics Data System (ADS)

    Jeon, Juncheol; Han, Chulhee; Han, Young-Min; Choi, Seung-Bok

    2014-07-01

    A direct-drive valve (DDV) system is a kind of electrohydraulic servo valve system, in which the actuator directly drives the spool of the valve. In conventional DDV systems, the spool is generally driven by an electromagnetic actuator. Performance characteristics such as frequency bandwidth of DDV systems driven by the electromagnetic actuator are limited due to the actuator response property. In order to improve the performance characteristics of conventional DDV systems, in this work a new configuration for a direct-drive valve system actuated by a piezostack actuator with a flexible beam mechanism is proposed (in short, a piezo-driven DDV system). Its benefits are demonstrated through both simulation and experiment. After describing the geometric configuration and operational principle of the proposed valve system, a governing equation of the whole system is obtained by combining the dynamic equations of the fluid part and the structural parts: the piezostack, the flexible beam, and the spool. In the structural parts of the piezostack and flexible beam, a lumped parameter modeling method is used, while the conventional rule of the fluid momentum is used for the fluid part. In order to evaluate valve performances of the proposed system, an experimental apparatus consisting of a hydraulic circuit and the piezo-driven DDV system is established. The performance characteristics are evaluated in terms of maximum spool displacement, flow rate, frequency characteristics, and step response. In addition, in order to advocate the feasibility of the proposed dynamic model, a comparison between simulation and experiment is undertaken.

  8. 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.

  9. Soft electrothermal actuators using silver nanowire heaters.

    PubMed

    Yao, Shanshan; Cui, Jianxun; Cui, Zheng; Zhu, Yong

    2017-03-17

    Low-voltage and extremely flexible electrothermal bimorph actuators were fabricated in a simple, efficient and scalable process. The bimorph actuators were made of flexible silver nanowire (AgNW) based heaters, which exhibited a fast heating rate of 18 °C s(-1) and stable heating performance with large bending. The actuators offered the largest bending angle (720°) or curvature (2.6 cm(-1)) at a very low actuation voltage (0.2 V sq(-1) or 4.5 V) among all types of bimorph actuators that have been reported to date. The actuators can be designed and fabricated in different configurations that can achieve complex patterns and shapes upon actuation. Two applications of this type of soft actuators were demonstrated towards biomimetic robotics - a crawling robot that can walk spontaneously on ratchet surfaces and a soft gripper that is capable of manipulating lightweight and delicate objects.

  10. Miniature linear-to-rotary motion actuator

    NASA Technical Reports Server (NTRS)

    Sorokach, Michael R., Jr.

    1993-01-01

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

  11. 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.

  12. Downhole hydraulic seismic generator

    DOEpatents

    Gregory, Danny L.; Hardee, Harry C.; Smallwood, David O.

    1992-01-01

    A downhole hydraulic seismic generator system for transmitting energy wave vibrations into earth strata surrounding a borehole. The system contains an elongated, unitary housing operably connected to a well head aboveground by support and electrical cabling, and contains clamping apparatus for selectively clamping the housing to the walls of the borehole. The system further comprises a hydraulic oscillator containing a double-actuating piston whose movement is controlled by an electro-servovalve regulating a high pressure hydraulic fluid flow into and out of upper and lower chambers surrounding the piston. The spent hydraulic fluid from the hydraulic oscillator is stored and pumped back into the system to provide high pressure fluid for conducting another run at the same, or a different location within the borehole.

  13. Experimental verification of a large flexible manipulator

    NASA Technical Reports Server (NTRS)

    Lee, Jac Won; Huggins, James D.; Book, Wayne J.

    1988-01-01

    A large experimental lightweight manipulator would be useful for material handling, for welding, or for ultrasonic inspection of a large structure, such as an airframe. The flexible parallel link mechanism is designed for high rigidity without increasing weight. This constrained system is analyzed by singular value decomposition of the constraint Jacobian matrix. A verification of the modeling using the assumed mode method is presented. Eigenvalues and eigenvectors of the linearized model are compared to the measured system natural frequencies and their associated mode shapes. The modeling results for large motions are compared to the time response data from the experiments. The hydraulic actuator is verified.

  14. Experimental verification of a large flexible manipulator

    NASA Technical Reports Server (NTRS)

    Lee, Jac Won; Huggins, James D.; Book, Wayne J.

    1988-01-01

    A large experimental lightweight manipulator would be useful for material handling, for welding, or for ultrasonic inspection of a large structure, such as an airframe. The flexible parallel link mechanism is designed for high rigidity without increasing weight. This constrained system is analyzed by singular value decomposition of the constraint Jacobian matrix. A verification of the modeling using the assumed mode method is presented. Eigenvalues and eigenvectors of the linearized model are compared to the measured system natural frequencies and their associated mode shapes. The modeling results for large motions are compared to the time response data from the experiments. The hydraulic actuator is verified.

  15. Design and experimental evaluation of flexible manipulator control algorithms

    SciTech Connect

    Kwon, D.S.; Hwang, D.H.; Babcock, S.M.; Kress, R.L.; Lew, J.Y.; Evans, M.S.

    1995-04-01

    Within the Environmental Restoration and Waste Management Program of the US Department of Energy, the remediation of single-shell radioactive waste storage tanks is one of the areas that challenge state-of-the-art equipment and methods. The use of long-reach manipulators is being seriously considered for this task. Because of high payload capacity and high length-to-cross-section ratio requirements, these long-reach manipulator systems are expected to use hydraulic actuators and to exhibit significant structural flexibility. The controller has been designed to compensate for the hydraulic actuator dynamics by using a load-compensated velocity feedforward loop and to increase the bandwidth by using an inner pressure feedback loop. Shaping filter techniques have been applied as feedforward controllers to avoid structural vibrations during operation. Various types of shaping filter methods have been investigated. Among them, a new approach, referred to as a ``feedforward simulation filter`` that uses embedded simulation, has been presented.

  16. 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.

  17. Design and test of a micro-displacement actuator based on giant magnetostrictive material

    NASA Astrophysics Data System (ADS)

    Shao, Liang; Yang, Dehua; Yang, Bintang; Chen, Kunxin

    2009-07-01

    To meet the performance requirements of co-focusing and co-phasing of segmented mirror active optics (SMAO) in modern astronomical telescope, micro-displacement actuators with nanometer resolution and millimeter stroke are necessary. The design and test of a micro-displacement actuator based on giant magnetostrictive material is present in this paper. The actuator's main components, such as giant magnetostrictive drive core, displacement pantograph mechanism and output guide mechanism, are discussed in detailed. The giant magnetostrictive drive mechanism generally may offer nanometer resolution and micron stroke. A displacement/stroke pantograph mechanism is designed with absolutely sealed flexible hydraulic structure (ASFHS) to enlarge the stroke. In addition, a secondary giant magnetostrictive drive mechanism is integrated to serve final resolution of final displacement output. In view of flexure exhibiting excellent mechanical properties free of friction, clearance and lubrication, a flexure guide mechanism with the capacity of excellent lateral load is designed to fulfill linear displacement output steadily. The sub-systems like the giant magnetostrictive drive core and displacement pantograph mechanism have been tested before integration of the whole actuator. The final test of the actuator is carried out with dual frequency laser interferometer at lab. Besides, to meet technical requirements of future extremely large telescope, further development issues mainly related to application practice of the actuator is discussed at the end.

  18. Manual or hydraulic gearshifting apparatus

    SciTech Connect

    Ishida, H.; Kojima, Y.

    1986-04-08

    A vehicle transmission control apparatus is described which consists of: a plurality of shift members for operating a vehicle transmission; a lever adapted for linear movement into a plurality of positions, one each of the lever being operatively coupled to a different one of the shift members in each of the positions; the lever being further adapted for pivotal movement in response to which the one end of the lever actuates the operatively coupled shift member; a select actuator means comprising a select hydraulic cylinder and a select piston retained thereby, the select piston being coupled to the lever and hydraulically controlled to produce the linear movement thereof; a shift actuator means comprising a shift hydraulic cylinder and a shift piston retained thereby, the shift piston being coupled to the lever and hydraulically controlled to produce the pivotal movement thereof; a casing means retaining the lever, the select actuator means, and the shift actuator means; and a control member comprising a portion within the casing means and coupled to the lever and a manually accessible portion always disposed outside the casing means and having means adapted for manual actuation to produce either the linear or the pivotal movement of the lever.

  19. TOPICAL REVIEW: Pneumatic and hydraulic microactuators: a review

    NASA Astrophysics Data System (ADS)

    De Volder, Michaël; Reynaerts, Dominiek

    2010-04-01

    The development of MEMS actuators is rapidly evolving and continuously new progress in terms of efficiency, power and force output is reported. Pneumatic and hydraulic are an interesting class of microactuators that are easily overlooked. Despite the 20 years of research, and hundreds of publications on this topic, these actuators are only popular in microfluidic systems. In other MEMS applications, pneumatic and hydraulic actuators are rare in comparison with electrostatic, thermal or piezo-electric actuators. However, several studies have shown that hydraulic and pneumatic actuators deliver among the highest force and power densities at microscale. It is believed that this asset is particularly important in modern industrial and medical microsystems, and therefore, pneumatic and hydraulic actuators could start playing an increasingly important role. This paper shows an in-depth overview of the developments in this field ranging from the classic inflatable membrane actuators to more complex piston-cylinder and drag-based microdevices.

  20. 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.

  1. 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.

  2. Testing of improved polyimide actuator rod seals at high temperature and under vacuum conditions for use in advanced aircraft hydraulic systems

    NASA Technical Reports Server (NTRS)

    Sellereite, B. K.; Waterman, A. W.; Nelson, W. G.

    1974-01-01

    Polyimide second-stage rod seals were evaluated to determine their suitability for applications in space station environments. The 6.35-cm (2.5-in.)K-section seal was verified for thermal cycling operation between room temperature and 478 K (400 F) and for operation in a 133 micron PA(0.000001 mm Hg) vacuum environment. The test seal completed the scheduled 96 thermal cycles and 1438 hr in vacuum with external rod seal leakage well within the maximum allowable of two drops per 25 actuation cycles. At program completion, the seals showed no signs of structural degradation. Posttest inspection showed the seals retained a snug fit against the shaft and housing walls, indicating additional wear life capability. Evaluation of a molecular flow section during vacuum testing, to inhibit fluid loss through vaporization, showed it to be beneficial with MIL-H-5606, a petroleum-base fluid, in comparison with MIL-H-83282, a synthetic hydrocarbon-base fluid.

  3. Study on hydraulic exciting vibration due to flexible valve in pump system with method of characteristics in the time domain

    NASA Astrophysics Data System (ADS)

    Yu, Y. H.; Liu, D.; Yang, X. F.; Si, J.

    2017-08-01

    To analyse the flow characteristics of leakage as well as the mechanism of selfexcited vibration in valves, the method of characteristics was used to assess the effect of flexible valve leakage on the self-excited vibration in water-supply pump system. Piezometric head in upstream of the valve as a function of time was obtained. Two comparative schemes were proposed to simulate the process of self-excited vibration by changing the length, the material of the pipeline and the leakage of valves in the above pump system. It is shown that the length and material of the pipe significantly affect the amplitude and cycle of self-excited vibration as well as the increasing rate of the vibration amplitude. In addition, the leakage of the valve has little influence on the amplitude and cycle of self-excited vibration, but has a significant effect on the increasing rate of vibration amplitude. A pipe explosion accident may occur without the inhibiting of self-excited vibration.

  4. Light-driven polymer actuator

    NASA Astrophysics Data System (ADS)

    Sarkisov, Sergey S.; Curley, Michael J.; Fields, Aisha; Adamovsky, Grigory

    2004-09-01

    We describe new light-driven actuator based on films of the polymer polyvinylidene fluoride known as PVDF. The actuator employs the photomechanic effect of bending of the polymer film caused by low power (10 mW and less) laser radiation. The photomechanic effect combines various physical mechanisms, such as thermal expansion, converse piezoelectric along with photogalvanic and pyrolelectric, while the thermal mechanism is prevailing. The force applied by the actuator to external objects was measured with a torsion balance. It is proportional to the power of laser beam and could be as high as 10-4 N for a 50-micron film illuminated with a 10-mW beam. We demonstrated mechanical oscillations of a 1-mm by 10-mm actuator at a frequency of 0.3 kHz. The frequency could reach 1 MHz and higher for actuators of micron size. The actuators could be easily made of various shapes. Illumination could be in multiple regions of the actuator body with various time delays between laser pulses in different regions. All this can provide a lot of flexibility in terms of the trajectory of mechanical motion. As an example, we demonstrated an actuator with elliptical motion that could drive inner workings of a conventional mechanical alarm clock. The proposed actuator has a potential of being used as a core element of future optical micro- and nanomotors.

  5. Identification and real-time position control of a servo-hydraulic rotary actuator by means of a neurobiologically motivated algorithm.

    PubMed

    Sadeghieh, Ali; Sazgar, Hadi; Goodarzi, Kamyar; Lucas, Caro

    2012-01-01

    This paper presents a new intelligent approach for adaptive control of a nonlinear dynamic system. A modified version of the brain emotional learning based intelligent controller (BELBIC), a bio-inspired algorithm based upon a computational model of emotional learning which occurs in the amygdala, is utilized for position controlling a real laboratorial rotary electro-hydraulic servo (EHS) system. EHS systems are known to be nonlinear and non-smooth due to many factors such as leakage, friction, hysteresis, null shift, saturation, dead zone, and especially fluid flow expression through the servo valve. The large value of these factors can easily influence the control performance in the presence of a poor design. In this paper, a mathematical model of the EHS system is derived, and then the parameters of the model are identified using the recursive least squares method. In the next step, a BELBIC is designed based on this dynamic model and utilized to control the real laboratorial EHS system. To prove the effectiveness of the modified BELBIC's online learning ability in reducing the overall tracking error, results have been compared to those obtained from an optimal PID controller, an auto-tuned fuzzy PI controller (ATFPIC), and a neural network predictive controller (NNPC) under similar circumstances. The results demonstrate not only excellent improvement in control action, but also less energy consumption. Copyright © 2011 ISA. Published by Elsevier Ltd. All rights reserved.

  6. Shape-Memory-Alloy Actuator For Flight Controls

    NASA Technical Reports Server (NTRS)

    Barret, Chris

    1995-01-01

    Report proposes use of shape-memory-alloy actuators, instead of hydraulic actuators, for aerodynamic flight-control surfaces. Actuator made of shape-memory alloy converts thermal energy into mechanical work by changing shape as it makes transitions between martensitic and austenitic crystalline phase states of alloy. Because both hot exhaust gases and cryogenic propellant liquids available aboard launch rockets, shape-memory-alloy actuators exceptionally suited for use aboard such rockets.

  7. Shape-Memory-Alloy Actuator For Flight Controls

    NASA Technical Reports Server (NTRS)

    Barret, Chris

    1995-01-01

    Report proposes use of shape-memory-alloy actuators, instead of hydraulic actuators, for aerodynamic flight-control surfaces. Actuator made of shape-memory alloy converts thermal energy into mechanical work by changing shape as it makes transitions between martensitic and austenitic crystalline phase states of alloy. Because both hot exhaust gases and cryogenic propellant liquids available aboard launch rockets, shape-memory-alloy actuators exceptionally suited for use aboard such rockets.

  8. Hydraulic Cylinder With an Integral Position Indicator

    NASA Technical Reports Server (NTRS)

    Goodwin, G. O.

    1986-01-01

    Linear variable differential transformer (LVDT) incorporated within cylinder of hydraulic actuator gives precise readout of position of piston relative to cylinder. LVDT contained completely within actuator. System requires precise positioning and position readout for computer control of model motions. Minimal space available for motion cylinders, and precise, continuous position readout (with no steps or pulses) required. Device provides continuous and accurate position indication of a hydraulic cylinder by means of integral, coaxially mounted LVDT.

  9. Using Voice Coils to Actuate Modular Soft Robots: Wormbot, an Example.

    PubMed

    Nemitz, Markus P; Mihaylov, Pavel; Barraclough, Thomas W; Ross, Dylan; Stokes, Adam A

    2016-12-01

    In this study, we present a modular worm-like robot, which utilizes voice coils as a new paradigm in soft robot actuation. Drive electronics are incorporated into the actuators, providing a significant improvement in self-sufficiency when compared with existing soft robot actuation modes such as pneumatics or hydraulics. The body plan of this robot is inspired by the phylum Annelida and consists of three-dimensional printed voice coil actuators, which are connected by flexible silicone membranes. Each electromagnetic actuator engages with its neighbor to compress or extend the membrane of each segment, and the sequence in which they are actuated results in an earthworm-inspired peristaltic motion. We find that a minimum of three segments is required for locomotion, but due to our modular design, robots of any length can be quickly and easily assembled. In addition to actuation, voice coils provide audio input and output capabilities. We demonstrate transmission of data between segments by high-frequency carrier waves and, using a similar mechanism, we note that the passing of power between coupled coils in neighboring modules-or from an external power source-is also possible. Voice coils are a convenient multifunctional alternative to existing soft robot actuators. Their self-contained nature and ability to communicate with each other are ideal for modular robotics, and the additional functionality of sound input/output and power transfer will become increasingly useful as soft robots begin the transition from early proof-of-concept systems toward fully functional and highly integrated robotic systems.

  10. Using Voice Coils to Actuate Modular Soft Robots: Wormbot, an Example

    PubMed Central

    Nemitz, Markus P.; Mihaylov, Pavel; Barraclough, Thomas W.; Ross, Dylan

    2016-01-01

    Abstract In this study, we present a modular worm-like robot, which utilizes voice coils as a new paradigm in soft robot actuation. Drive electronics are incorporated into the actuators, providing a significant improvement in self-sufficiency when compared with existing soft robot actuation modes such as pneumatics or hydraulics. The body plan of this robot is inspired by the phylum Annelida and consists of three-dimensional printed voice coil actuators, which are connected by flexible silicone membranes. Each electromagnetic actuator engages with its neighbor to compress or extend the membrane of each segment, and the sequence in which they are actuated results in an earthworm-inspired peristaltic motion. We find that a minimum of three segments is required for locomotion, but due to our modular design, robots of any length can be quickly and easily assembled. In addition to actuation, voice coils provide audio input and output capabilities. We demonstrate transmission of data between segments by high-frequency carrier waves and, using a similar mechanism, we note that the passing of power between coupled coils in neighboring modules—or from an external power source—is also possible. Voice coils are a convenient multifunctional alternative to existing soft robot actuators. Their self-contained nature and ability to communicate with each other are ideal for modular robotics, and the additional functionality of sound input/output and power transfer will become increasingly useful as soft robots begin the transition from early proof-of-concept systems toward fully functional and highly integrated robotic systems. PMID:28078195

  11. Actuator design using electroactive polymers

    NASA Astrophysics Data System (ADS)

    Fernandez, Diego; Moreno, Luis; Baselga, Juan

    2005-07-01

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

  12. Remotely Adjustable Hydraulic Pump

    NASA Technical Reports Server (NTRS)

    Kouns, H. H.; Gardner, L. D.

    1987-01-01

    Outlet pressure adjusted to match varying loads. Electrohydraulic servo has positioned sleeve in leftmost position, adjusting outlet pressure to maximum value. Sleeve in equilibrium position, with control land covering control port. For lowest pressure setting, sleeve shifted toward right by increased pressure on sleeve shoulder from servovalve. Pump used in aircraft and robots, where hydraulic actuators repeatedly turned on and off, changing pump load frequently and over wide range.

  13. Integrated hydraulic cooler and return rail in camless cylinder head

    DOEpatents

    Marriott, Craig D [Clawson, MI; Neal, Timothy L [Ortonville, MI; Swain, Jeff L [Flushing, MI; Raimao, Miguel A [Colorado Springs, CO

    2011-12-13

    An engine assembly may include a cylinder head defining an engine coolant reservoir, a pressurized fluid supply, a valve actuation assembly, and a hydraulic fluid reservoir. The valve actuation assembly may be in fluid communication with the pressurized fluid supply and may include a valve member displaceable by a force applied by the pressurized fluid supply. The hydraulic fluid reservoir may be in fluid communication with the valve actuation assembly and in a heat exchange relation to the engine coolant reservoir.

  14. Engine with hydraulic fuel injection and ABS circuit using a single high pressure pump

    DOEpatents

    Bartley, Bradley E.; Blass, James R.; Gibson, Dennis H.

    2001-01-01

    An engine system comprises a hydraulically actuated fuel injection system and an ABS circuit connected via a fluid flow passage that provides hydraulic fluid to both the fuel injection system and to the ABS circuit. The hydraulically actuated system includes a high pressure pump. The fluid control passage is in fluid communication with an outlet from the high pressure pump.

  15. Series Elastic Actuators for legged robots

    NASA Astrophysics Data System (ADS)

    Pratt, Jerry E.; Krupp, Benjamin T.

    2004-09-01

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

  16. Hydraulic catworks system

    SciTech Connect

    Walker, J.L.

    1981-03-03

    A hydraulic catworks system is described for use on a well drilling rig for making up and breaking out a drill string which includes a hydraulic makeup piston and cylinder assembly for actuating a makeup line connected to the makeup tongs, and a breakout piston and cylinder assembly connected to a breakout line for actuating the breakout tongs. A makeup hydraulic control valve controls hydraulic fluid to first and second lines connected to the makeup assembly with the first line connected for extending the makeup line and the second line connected for retracting the makeup line. A breakout hydraulic control valve controls fluid to third and fourth lines with the third line connected for extending the breakout line and the fourth line connected for retracting the breakout line. Manual air control means are provided for selectively actuating the makeup and breakout control valves. A variable pressure control is connected to the second line for controlling the makeup torque. Preferably, the makeup and breakout assemblies are vertically connected to the legs of the drilling rig and rollers are positioned horizontally with the makeup and breakout tongs and connected to the breakout and makeup lines. Preferably, a sheave is connected to the makeup assembly and the makeup line passes over the sheave with its free end fixedly secured. A re-generative system is provided on the makeup assembly for increasing the speed of the makeup line extension. Preferably the makeup and breakout cylinders are of the same cross-sectional area with the stroke of the breakout cylinder being less than the stroke of the makeup cylinder.

  17. Optimal placement of sensors and actuators for active vibration reduction of a flexible structure using a genetic algorithm based on modified Hinfinity

    NASA Astrophysics Data System (ADS)

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

    2012-08-01

    This paper is concerned with active vibration reduction of a square isotropic plate, mounted rigidly along one edge to form a cantilever. Optimal placement of ten piezoelectric sensor/actuator pairs is investigated using a genetic algorithm to suppress the first six modes of vibration. A new objective function is developed based on modified Hinfinity to locate the sensor/actuator pairs. The plate, with piezoelectric sensor/actuator pairs bonded to its surfaces, is modelled using the finite element method and Hamilton's principle based on first order shear deformation theory including bending, membrane, and shear deformation effects. The effects of piezoelectric mass, stiffness and electromechanical coupling are taken into account. The first six natural frequencies are validated by comparison with the finite element ANSYS package using two dimensional SHELL63 and three dimensional SOLID45 elements and also experimentally. Vibration reduction for the cantilever plate with piezoelectric patches bonded in the optimal location was investigated to attenuate the first six modes of vibration using a linear optimal control scheme. The new fitness function has reduced the computational cost and given greater vibration reduction than other previously published results.

  18. Electromechanical actuators

    NASA Technical Reports Server (NTRS)

    Bigham, J.

    1982-01-01

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

  19. Design of The Test Stand for Hydraulic Active Heave Compensation System

    NASA Astrophysics Data System (ADS)

    Jakubowski, Arkadiusz; Kubacki, Arkadiusz; Rybarczyk, Dominik

    2017-01-01

    The article presented here described the design of a test stand for hydraulic active heave compensation system. The simulation of sea waves is realized by the use of hydraulic cylinder. A hydraulic motor is used for sea waves compensation. The hydraulic cylinder and the hydraulic motor are controlled by electrohydraulic servo valves. For the measurements Authors used displacement sensor and incremental encoder. Control algorithm is implemented on the PLC. The performed tests included hydraulic actuator and hydraulic motor step responses.

  20. Serpentine Robot Arm Contains Electromagnetic Actuators

    NASA Technical Reports Server (NTRS)

    Moya, Israel A.; Studer, Philip A.

    1994-01-01

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

  1. Subsea valve actuator for ultra deepwater

    SciTech Connect

    Ali, S.Z.; Skeels, H.B.; Montemayor, B.K.; Williams, M.R.

    1996-12-31

    This paper reviews the continuing development of gate valve and actuator technology for subsea completions extending into ultra deep water. The basic technical challenges inherent to subsea valve actuators are reviewed, along with the various factors which affect the design and performance of these devices in deepwater applications. The high external ambient pressures which occur in deep water, coupled with high specific gravity hydraulic control fluids, are shown to have a significant impact on the performance of the actuators. This paper presents design and analysis methods and the verification test procedures which are required to develop and qualify new deep water actuator designs. Gate valve actuators of the type described in this paper are currently in use on subsea christmas trees on the world`s deepest subsea wells offshore Brazil (water depths >3,000 feet). New applications of the deepwater actuators are in process for upcoming Gulf of Mexico subsea production systems in water depths approaching 6,000 feet. The actuator/valve development method described in this paper has been confirmed by performance verification testing of full scale valves and actuators using a hyperbaric chamber to simulate ultra deepwater operating conditions. Performance of the test valves and actuators correlated very well with analytical predictions. Test results have confirmed that the new valve actuator designs will satisfy API 17D performance requirements for water depths up to 7,500 feet, well in excess of the upcoming GOM application.

  2. Thermocouple for heating and cooling of memory metal actuators

    NASA Technical Reports Server (NTRS)

    Wood, Charles (Inventor)

    1988-01-01

    A semiconductor thermocouple unit is provided for heating and cooling memory metal actuators. The semiconductor thermocouple unit is mounted adjacent to a memory metal actuator and has a heat sink attached to it. A flexible thermally conductive element extends between the semiconductor thermocouple and the actuator and serves as a heat transfer medium during heating and cooling operations.

  3. 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.

  4. Redundant control system for X-wing valve actuators

    NASA Technical Reports Server (NTRS)

    Arifian, Kenneth C. (Inventor); Skonieczny, Joseph P. (Inventor)

    1986-01-01

    The capability of compensating automatically for a failure in an actuator and the associated drive circuit is enhanced by providing a dual channel actuator, each channel having a drive coil and a position sensor tracking the position of the actuator output shaft. A separate circuit is provided for each actuator channel to detect drive loop failures and hydraulic failures. When the drive loop of one channel fails, it is disengaged, and the gain in the remaining drive loop is doubled to maintain authority. In an embodiment, the remaining drive loop cannot disengage when certain criteria, relating to the failure of associated actuators, are met. The invention is particularly useful for aerospace applications.

  5. Low-power microfluidic electro-hydraulic pump (EHP).

    PubMed

    Lui, Clarissa; Stelick, Scott; Cady, Nathaniel; Batt, Carl

    2010-01-07

    Low-power electrolysis-based microfluidic pumps utilizing the principle of hydraulics, integrated with microfluidic channels in polydimethylsiloxane (PDMS) substrates, are presented. The electro-hydraulic pumps (EHPs), consisting of electrolytic, hydraulic and fluidic chambers, were investigated using two types of electrodes: stainless steel for larger volumes and annealed gold electrodes for smaller-scale devices. Using a hydraulic fluid chamber and a thin flexible PDMS membrane, this novel prototype successfully separates the reagent fluid from the electrolytic fluid, which is particularly important for biological and chemical applications. The hydraulic advantage of the EHP device arises from the precise control of flow rate by changing the electrolytic pressure generated, independent of the volume of the reagent chamber, mimicking the function of a hydraulic press. Since the reservoirs are pre-filled with reagents and sealed prior to testing, external fluid coupling is minimized. The stainless steel electrode EHPs were manufactured with varying chamber volume ratios (1 : 1 to 1 : 3) as a proof-of-concept, and exhibited flow rates of 1.25 to 30 microl/min with electrolysis-based actuation at 2.5 to 10 V(DC). The miniaturized gold electrode EHPs were manufactured with 3 mm diameters and 1 : 1 chamber volume ratios, and produced flow rates of 1.24 to 7.00 microl/min at 2.5 to 10 V(AC), with a higher maximum sustained pressure of 343 KPa, suggesting greater device robustness using methods compatible with microfabrication. The proposed technology is low-cost, low-power and disposable, with a high level of reproducibility, allowing for ease of fabrication and integration into existing microfluidic lab-on-a-chip and analysis systems.

  6. Dynamics and control of a planar truss actuator

    NASA Technical Reports Server (NTRS)

    Lovejoy, V. D.; Robertshaw, H. H.; Patten, W. N.; Horner, G. C.

    1987-01-01

    The concept of using an active truss actuator to control the vibration of a flexible (space) structure has been investigated. The actuator with a generic beam continuum cantilevered from it has been modeled using energy methods. A time-invariant optimal state feedback scheme was utilized for the control method. A digital simulation of the system dynamic response demonstrated the good vibration control possibilities for the (planar) truss actuator on a large flexible space structure.

  7. Electric versus hydraulics versus pneumatics

    SciTech Connect

    Not Available

    1985-01-01

    This book presents a collection of papers from a conference which considered the advantages and disadvantages of electric, hydraulic and pneumatic drives and actuators. The volume follows on the success of the 1983 conference on electric and hydraulic drives. Topics considered include fork lift trucks - an ideal application for regenerative transmissions; a hybrid-electric power system with hydrostatic transmission; electrics and hydraulics on roadheader machinery; hydraulic, electrical, pneumatic control - which way to go. an electrically-powered servo to drive the two axes of a missile launching platform - pros and cons when compared with the traditional hydraulic solution; the encapsulation of a novel intrinsically safe displacement transducer; mobile cryogenic pumping systems; automation of a wood-turning machine, hydraulic or electric. The choice of a servo motor for a specific application; developments in the design and control of pneumatic linear actuators; compressed air purification for instrumentation in the high technology industries; trends in prime mover choice for powered hand tools; and choosing the drive system for the right application.

  8. Fast-acting valve actuator

    DOEpatents

    Cho, Nakwon

    1980-01-01

    A fast-acting valve actuator utilizes a spring driven pneumatically loaded piston to drive a valve gate. Rapid exhaust of pressurized gas from the pneumatically loaded side of the piston facilitates an extremely rapid piston stroke. A flexible selector diaphragm opens and closes an exhaust port in response to pressure differentials created by energizing and de-energizing a solenoid which controls the pneumatic input to the actuator as well as selectively providing a venting action to one side of the selector diaphragm.

  9. ENVIRONMENTAL HYDRAULICS

    EPA Science Inventory

    The thermal, chemical, and biological quality of water in rivers, lakes, reservoirs, and near coastal areas is inseparable from a consideration of hydraulic engineering principles: therefore, the term environmental hydraulics. In this chapter we discuss the basic principles of w...

  10. ENVIRONMENTAL HYDRAULICS

    EPA Science Inventory

    The thermal, chemical, and biological quality of water in rivers, lakes, reservoirs, and near coastal areas is inseparable from a consideration of hydraulic engineering principles: therefore, the term environmental hydraulics. In this chapter we discuss the basic principles of w...

  11. Digital linear actuator

    SciTech Connect

    Birchard, W.G.

    1988-06-21

    A digital actuator is described comprising: (a) digital actuator cells, each digital actuator cell having an axis of expansion and first and second end surfaces; (b) third connecting means, each for connecting the first end surface of one digital actuator cell to the second end surface of an adjacent actuator cell, the plurality of digital actuator cells being connected in series by respective ones of the third connecting means to form the digital linear actuator.

  12. Tuneable Auxiliary Control Mechanisms For RUM Actuators

    NASA Technical Reports Server (NTRS)

    Polites, Michael E.; Alhorn, Dean C.

    1995-01-01

    Tuneable auxiliary control mechanisms for rotating unbalanced-mass (RUM) actuators used to maximize scan amplitudes and/or minimize power consumption during changing conditions. This type of mechanism more sophisticated version of type of mechanism described in "Auxiliary Control Mechanisms for RUM Actuators" (MFS-28817). Torsional stiffness of torsionally flexible coupling made adjustable on command. Torsionally flexible coupling in tuneable version of auxiliary control mechanism adjustable by use of stepping-motor-driven worm-gear mechanism that varies bending length of flexible blade.

  13. Tuneable Auxiliary Control Mechanisms For RUM Actuators

    NASA Technical Reports Server (NTRS)

    Polites, Michael E.; Alhorn, Dean C.

    1995-01-01

    Tuneable auxiliary control mechanisms for rotating unbalanced-mass (RUM) actuators used to maximize scan amplitudes and/or minimize power consumption during changing conditions. This type of mechanism more sophisticated version of type of mechanism described in "Auxiliary Control Mechanisms for RUM Actuators" (MFS-28817). Torsional stiffness of torsionally flexible coupling made adjustable on command. Torsionally flexible coupling in tuneable version of auxiliary control mechanism adjustable by use of stepping-motor-driven worm-gear mechanism that varies bending length of flexible blade.

  14. Active-standby servovalue/actuator development

    NASA Technical Reports Server (NTRS)

    Masm, R. K.

    1973-01-01

    A redundant, fail/operate fail/fixed servoactuator was constructed and tested along with electronic models of a servovalve. It was found that a torque motor switch is satisfactory for the space shuttle main engine hydraulic actuation system, and that this system provides an effective failure monitoring technique.

  15. 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.

  16. Numerical and experimental investigations of actuating characteristics of laminated polyvinylidene fluoride actuator used on paraboloidal shells

    NASA Astrophysics Data System (ADS)

    Zhang, Yahong; Zhang, Xinong; Elliott, S. J.

    2012-01-01

    The effect of a laminated polyvinylidene fluoride (PVDF) actuator is analyzed when partially covering a paraboloidal shell. Models of control forces are established using the thin flexible shell theory and the membrane approximation. Analytical expressions of actuating forces and moments are derived and a parametric study is conducted to evaluate the effects of the physical properties of the actuator on the control forces. To verify the model, experiments were carried out on actuation and open-loop vibration control of a paraboloidal antenna with a much smaller actuator. The experimental results agree well with those obtained analytically. The results indicate the following: The laminated PVDF actuator (LPA) can provide effective control forces with low voltages. The control forces consist of actuating forces and moments, but the effect of the normal actuation force distribution is much greater than that of the actuation moments in controlling the normal vibration. The larger the curvature radius of the paraboliodal shell, the smaller the magnitudes of the required actuating forces. The magnitudes of actuating forces are approximately linear with the number of PVDF layers.

  17. 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.

  18. Improved Electrohydraulic Linear Actuators

    NASA Technical Reports Server (NTRS)

    Hamtil, James

    2002-01-01

    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 similar industrial uses. Advantageous features of the electrohydraulic linear actuators with respect to shortcomings of prior electrohydraulic linear actuators are described.

  19. 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.

  20. 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.

  1. 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).

  2. Flexible fitting for fluid lines

    NASA Technical Reports Server (NTRS)

    Barajas, S. L.

    1976-01-01

    Tube fitting, consisting of movable tubular section containing two spring pressure Teflon actuated low friction seals, two standard connectors, and two hexagonal retaining nuts, provides flexible joint that allows axial and rotational motion.

  3. Status of Electrical Actuator Applications

    NASA Technical Reports Server (NTRS)

    Roth, Mary Ellen; Taylor, Linda M.; Hansen, Irving G.

    1996-01-01

    An ever increasing number of actuation functions historically performed by hydraulics or pneumatics are being accomplished by electric actuation. If 'end to end' systems are considered, electric actuators (EA's) are potentially lighter and more efficient. In general, system redundancies may be more easily implemented and operationally monitored. Typically, electrical components exhibit longer mean times to failure and projected lifetime costs of EA's are potentially much lower than those of other options. EA's have certain characteristics which must be considered in their application. The actual mechanical loadings must be established, for the more easily controlled EA may be operated much closer to its full capabilities. At higher rates of motion, EA's are operating as constant power devices. Therefore, it may be possible to start a movement that can not be stopped. The incorporation of high power electronics into remote locations introduces new concerns of EMI and thermal control. It is the management of these and other characteristics that forms the engineering design challenges. Work is currently in progress on EA's for aircraft and expendable launch vehicles. These applications span from ten to 40+ horsepower. The systematics and status of these actuators will be reported along with current technical trends in this area.

  4. Microfabrication of stacked dielectric elastomer actuator fibers

    NASA Astrophysics Data System (ADS)

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

    2016-04-01

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

  5. 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.

  6. Towards compliant and wearable robotic orthoses: A review of current and emerging actuator technologies.

    PubMed

    Veale, Allan Joshua; Xie, Shane Quan

    2016-04-01

    Robotic orthoses, or exoskeletons, have the potential to provide effective rehabilitation while overcoming the availability and cost constraints of therapists. However, current orthosis actuation systems use components designed for industrial applications, not specifically for interacting with humans. This can limit orthoses' capabilities and, if their users' needs are not adequately considered, contribute to their abandonment. Here, a user centered review is presented on: requirements for orthosis actuators; the electric, hydraulic, and pneumatic actuators currently used in orthoses and their advantages and limitations; the potential of new actuator technologies, including smart materials, to actuate orthoses; and the future of orthosis actuator research. Copyright © 2016 IPEM. Published by Elsevier Ltd. All rights reserved.

  7. Torque characteristics of a 122-centimeter butterfly valve with a hydro/pneumatic actuator

    NASA Technical Reports Server (NTRS)

    Lin, F. N.; Moore, W. I.; Lundy, F. E.

    1981-01-01

    Actuating torque data from field testing of a 122-centimeter (48 in.) butterfly valve with a hydro/pneumatic actuator is presented. The hydraulic cylinder functions as either a forward or a reverse brake. Its resistance torque increases when the valve speeds up and decreases when the valve slows down. A reduction of flow resistance in the hydraulic flow path from one end of the hydraulic cylinder to the other will effectively reduce the hydraulic resistance torque and hence increase the actuating torque. The sum of hydrodynamic and friction torques (combined resistance torque) of a butterfly valve is a function of valve opening time. An increase in the pneumatic actuating pressure will result in a decrease in both the combined resistance torque and the actuator opening torque; however, it does shorten the valve opening time. As the pneumatic pressure increases, the valve opening time for a given configuration approaches an asymptotical value.

  8. HYDRAULIC SERVO

    DOEpatents

    Wiegand, D.E.

    1962-05-01

    A hydraulic servo is designed in which a small pressure difference produced at two orifices by an electrically operated flapper arm in a constantly flowing hydraulic loop is hydraulically amplified by two constant flow pumps, two additional orifices, and three unconnected ball pistons. Two of the pistons are of one size and operate against the additional orifices, and the third piston is of a different size and operates between and against the first two pistons. (AEC)

  9. 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.

  10. Pre-actuation and post-actuation in control applications

    NASA Astrophysics Data System (ADS)

    Iamratanakul, Dhanakorn

    This research proposes a direct approach to solve the output-transition problem in linear systems. The objective is to find an input that changes the system output from an initial value to a final value during a specified output-transition time-interval. It is noted that the output-transition problem (i.e., changing the output of a system from one value to another) is a fundamental control problem, which appears in a wide range of flexible structure applications. When performing fast maneuvers with such flexible structures, it is critical to suppress residual vibrations (at the end of the maneuver) that cause a loss of positioning precision. For example, in disk-drive applications, read and write operations cannot be performed (before and after the output transition) if the output position is not precisely maintained at the desired track. This research studies such residual-vibration-free (rest-to-rest) output transitions, where the output is maintained at a constant value outside the output-transition time-interval. The novelty of the proposed approach is that inputs are not applied just during the output-transition time-interval; rather, inputs are also applied outside the output-transition time-interval, i.e., before the beginning of and after the end of the output-transition time-interval (these inputs are called pre-actuation and post-actuation, respectively). The advantage of using pre-actuation and post-actuation when compared to standard methods that do not use such pre- and post-actuation is studied in this research.

  11. Electrokinetic high pressure hydraulic system

    DOEpatents

    Paul, Phillip H.; Rakestraw, David J.

    2000-01-01

    A compact high pressure hydraulic pump having no moving mechanical parts for converting electric potential to hydraulic force. The electrokinetic pump, which can generate hydraulic pressures greater than 2500 psi, can be employed to compress a fluid, either liquid or gas, and manipulate fluid flow. The pump is particularly useful for capillary-base systems. By combining the electrokinetic pump with a housing having chambers separated by a flexible member, fluid flow, including high pressure fluids, is controlled by the application of an electric potential, that can vary with time.

  12. Modified hydraulic braking system limits angular deceleration to safe values

    NASA Technical Reports Server (NTRS)

    Briggs, R. S.; Council, M.; Green, P. M.

    1966-01-01

    Conventional spring actuated, hydraulically released, fail-safe disk braking system is modified to control the angular deceleration of a massive antenna. The hydraulic system provides an immediate preset pressure to the spring-loaded brake shoes and holds it at this value to decelerate the antenna at the desired rate.

  13. Requirement analysis of an intelligent, redundant, actuation system

    NASA Technical Reports Server (NTRS)

    De Feo, P.; Shih, K. C.

    1986-01-01

    The reliability and fault tolerance requirements of integrated, critical, digital fly-by-wire control systems for advanced military and civil aircraft requires redundant, reconfigurable implementations of the actuation system. An effective way for controlling the actuators and implementing the required fault detection and reconfiguration strategies is by means of dedicated microprocessors. This paper describes a laboratory implementation of a flexible intelligent redundant actuation system capable of demonstrating the concept and analyzing a variety of configurations and technical issues.

  14. Development of novel textile and yarn actuators using plasticized PVC gel

    NASA Astrophysics Data System (ADS)

    Furuse, A.; Hashimoto, M.

    2017-04-01

    Soft actuators based on polymers are expected to be used for power sources to drive wearable robots which required in a wide range of fields such as medical, care and welfare, because they are light weight, flexible and quiet. Plasticized PVC gel which has a large deformation by applying a voltage and high driving stability in the atmosphere is considered as a suitable candidate material for development of soft actuator. Then, we proposed two kinds of novel flexible actuators constructed like yarn and textile by using plasticized PVC gel to develop soft actuator to realize a higher flexibility and low-voltage driving. In this study, we prepared prototypes of these actuators and clarify their characteristic. In addition, we considered the deformation model from its characteristics and geometric calculation. When a voltage was applied to their actuators, textile type actuator was contracted, while the twisted yarn type actuator was expanded. The deformation behavior of the proposed actuators could be found at a low voltage of 200V, the contraction strain of the textile actuator was about 27 %, and the expanding ratio of the yarn actuator was 0.4 %. Maximum contraction strain of textile actuator and expansion ratio of yarn actuator was 53% and 1.4% at 600 V, respectively. The calculation results from the proposed model were in roughly agreement with the experimental values. It indicated that deformation behavior of these actuators could estimate from models.

  15. 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.

  16. 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.

  17. SMA actuators for morphing wings

    NASA Astrophysics Data System (ADS)

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

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

  18. 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.

  19. Tubular dielectric elastomer actuator for active fluidic control

    NASA Astrophysics Data System (ADS)

    McCoul, David; Pei, Qibing

    2015-10-01

    We report a novel low-profile, biomimetic dielectric elastomer tubular actuator capable of actively controlling hydraulic flow. The tubular actuator has been established as a reliable tunable valve, pinching a secondary silicone tube completely shut in the absence of a fluidic pressure bias or voltage, offering a high degree of resistance against fluidic flow, and able to open and completely remove this resistance to flow with an applied low power actuation voltage. The system demonstrates a rise in pressure of ∼3.0 kPa when the dielectric elastomer valve is in the passive, unactuated state, and there is a quadratic fall in this pressure with increasing actuation voltage, until ∼0 kPa is reached at 2.4 kV. The device is reliable for at least 2000 actuation cycles for voltages at or below 2.2 kV. Furthermore, modeling of the actuator and fluidic system yields results consistent with the observed experimental dependence of intrasystem pressure on input flow rate, actuator prestretch, and actuation voltage. To our knowledge, this is the first actuator of its type that can control fluid flow by directly actuating the walls of a tube. Potential applications may include an implantable artificial sphincter, part of a peristaltic pump, or a computerized valve for fluidic or pneumatic control.

  20. Biomorphic systems based on smart actuators

    NASA Astrophysics Data System (ADS)

    Thakoor, Sarita; Kennedy, Brett A.

    1998-06-01

    A comparative review of actuation technologies is presented. Innovative mechanisms ideas that combine high force and deflection are described. Flexible smart actuators are obtained utilizing real time adaptive biomorphic controls. Such flexible smart actuators constitute an enabling technology for a variety of biomorphic systems ranging from small, agile biomorphic explorers that emulate biological mobility to much larger humanoid or anthropomorphic system. Due to their potential ability to explore difficult, hard- to-find terrain, biomorphic explorers are promising for a variety for application in law enforcement, hazardous environment inspection, toxic waster avoidance/elimination, law enforcement, hazardous environment inspection, toxic waste avoidance/elimination, law enforcement, and search/rescue in disaster areas such as earthquake sites. The control mechanisms used for the actuators are based on biological principles. For example, a neurally inspired controller provides a mapping between the current state of the robot and a target internal configuration. Innovative fordable advanced mobility mechanisms in combination with multipod techniques inspired by peristalsis in an earthworm robot are described. Flexible actuators offer the versatility of both shape control as well as mobility attribute control.

  1. Mechatronic Hydraulic Drive with Regulator, Based on Artificial Neural Network

    NASA Astrophysics Data System (ADS)

    Burennikov, Y.; Kozlov, L.; Pyliavets, V.; Piontkevych, O.

    2017-06-01

    Mechatronic hydraulic drives, based on variable pump, proportional hydraulics and controllers find wide application in technological machines and testing equipment. Mechatronic hydraulic drives provide necessary parameters of actuating elements motion with the possibility of their correction in case of external loads change. This enables to improve the quality of working operations, increase the capacity of machines. The scheme of mechatronic hydraulic drive, based on the pump, hydraulic cylinder, proportional valve with electrohydraulic control and programmable controller is suggested. Algorithm for the control of mechatronic hydraulic drive to provide necessary pressure change law in hydraulic cylinder is developed. For the realization of control algorithm in the controller artificial neural networks are used. Mathematical model of mechatronic hydraulic drive, enabling to create the training base for adjustment of artificial neural networks of the regulator is developed.

  2. Magnetically actuated microvalve for active flow control

    NASA Astrophysics Data System (ADS)

    Olivier, Ducloux; Abdelkrim, Talbi; Yves, Deblock; Leticia, Gimeno; Nicolas, Tiercelin; Philippe, Pernod; Vladimir, Preobrazhensky; Alain, Merlen

    2006-04-01

    The reattachment of separated air flows can be actively controlled by blowing oscillatory air jets in the boundary layer, through submillimetric holes situated near the separation edge. To achieve such pulsed jets, a high flow rate, high actuation frequency microvalve was designed, fabricated and characterized. The microvalve is fed by a pressurized source of air, and its inner channel is alternatively pinched by a PDMS polymer membrane, modulating the air flow which is addressed towards the separated surface. Magnetostatic actuation was chosen for its high stress, high displacement, and remote actuation capabilities. The actuation consists in coupling an inductive driving coil and a NdFeB permanent magnet situated on the PDMS flexible membrane. Characterization of the resonance frequency, and vibration amplitude are achieved by interferometric means. The output flow is characterized using strioscopy visualization and hot wire anemometry methods. The design and fabrication process of the microsystem, and the results of these characterizations are presented in this paper.

  3. Sensors and actuators inherent in biological species

    NASA Astrophysics Data System (ADS)

    Taya, Minoru; Stahlberg, Rainer; Li, Fanghong; Zhao, Ying Joyce

    2007-04-01

    This paper addresses examples of sensing and active mechanisms inherent in some biological species where both plants and animals cases are discussed: mechanosensors and actuators in Venus Fly Trap and cucumber tendrils, chemosensors in insects, two cases of interactions between different kingdoms, (i) cotton plant smart defense system and (ii) bird-of-paradise flower and hamming bird interaction. All these cases lead us to recognize how energy-efficient and flexible the biological sensors and actuators are. This review reveals the importance of integration of sensing and actuation functions into an autonomous system if we make biomimetic design of a set of new autonomous systems which can sense and actuate under a number of different stimuli and threats.

  4. Active Damping Using Distributed Anisotropic Actuators

    NASA Technical Reports Server (NTRS)

    Schiller, Noah H.; Cabell, Randolph H.; Quinones, Juan D.; Wier, Nathan C.

    2010-01-01

    A helicopter structure experiences substantial high-frequency mechanical excitation from powertrain components such as gearboxes and drive shafts. The resulting structure-borne vibration excites the windows which then radiate sound into the passenger cabin. In many cases the radiated sound power can be reduced by adding damping. This can be accomplished using passive or active approaches. Passive treatments such as constrained layer damping tend to reduce window transparency. Therefore this paper focuses on an active approach utilizing compact decentralized control units distributed around the perimeter of the window. Each control unit consists of a triangularly shaped piezoelectric actuator, a miniature accelerometer, and analog electronics. Earlier work has shown that this type of system can increase damping up to approximately 1 kHz. However at higher frequencies the mismatch between the distributed actuator and the point sensor caused control spillover. This paper describes new anisotropic actuators that can be used to improve the bandwidth of the control system. The anisotropic actuators are composed of piezoelectric material sandwiched between interdigitated electrodes, which enables the application of the electric field in a preferred in-plane direction. When shaped correctly the anisotropic actuators outperform traditional isotropic actuators by reducing the mismatch between the distributed actuator and point sensor at high frequencies. Testing performed on a Plexiglas panel, representative of a helicopter window, shows that the control units can increase damping at low frequencies. However high frequency performance was still limited due to the flexible boundary conditions present on the test structure.

  5. 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.

  6. Development of small diameter hydraulic coiled tubing technology

    NASA Astrophysics Data System (ADS)

    Whitfill, K. E.; Olsen, R. R.

    1981-06-01

    The objective of this program was to develop design equations for coiled tubing as a helical extension or compression spring which has the capability of acting as a flexible fluid connector in aircraft hydraulic systems. The purpose of the coiled tube is to replace hose, swivels, or extension units on moving hydraulic actuator barrels which have linear or limited angle rotary motion. The use of 3A1-2.5V titanium cold worked stress relieved tubing is recommended for coiled tubing applications. Also recommendations are made for wall thickness for three titanium tube alloys for operating pressures of 1500, 3000, and 8000 psig. Design nomographs are provided to allow use in establishing coil tube design parameters such as number of coils and force at maximum deflection. Four coiled tube assemblies in tow configurations were subjected to a 100,000 cycle endurance test at 100% deflection of the coils. There were no failures. A vibration survey was made to determine natural frequencies and transmissibility with a random input vibration spectrum.

  7. 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.

  8. Worthy test programmes and developments of smart electromechanical actuators

    NASA Astrophysics Data System (ADS)

    Annaz, Fawaz Yahya

    2007-02-01

    Early aircraft flight control systems were totally manually operated, that is, the force required to move flight control surfaces was generated by the pilot and transmitted by cables and rods. As aerodynamics and airframe technology developed and speeds increased, the forces required to move control surfaces increased, as did the number of surfaces. In order to provide the extra power required, hydraulic technology was introduced. To date, the common element in the development of flight control systems has been, mainly, restricted to this type of technology. This is because of its proven reliability and the lack of alternative technologies. However, the technology to build electromechanically actuated primary flight control systems is now available. Motors developing the required power at the required frequencies are now possible (with the use of high energy permanent magnetic materials and compact high speed electronic circuits). It is this particular development which may make the concept of an 'all electric aircraft' realizable in the near future. The purpose of the all electric aircraft concept is the consolidation of all secondary power systems into electric power. The elimination of hydraulic and pneumatic secondary power systems will improve maintainability, flight readiness and use of energy. This paper will present the development of multi-lane smart electric actuators and offer an insight into other subsequent fields of study. The key areas of study may be categorized as follows. State of the art hydraulic actuators. Electromechanical actuator system test programmes. Development of electromechanical actuators. Modelling of electromechanical actuators.

  9. Thermally actuated micropump for biological and medical application

    NASA Astrophysics Data System (ADS)

    Rabaud, D.; Lefevre, R.; Salette, A.; Dargent, L.; Marko, H.; Le Masne, Q.; Dehan, C.; Morfouli, P.; Montès, L.

    2013-06-01

    While most actual micropumps use piezoelectric based actuators, we present an original approach based on bimetallic effect for deflecting a flexible silicon membranes. We have simulated, fabricated and characterized fully integrated thermally actuated membranes. Analytical and numerical models have been used to simulate and optimize the performance of the actuated diaphragm. It predicts the deflection behavior under definite power actuation and pressure. In particular, heat transfer analysis is conducted to evaluate temperature field distribution within the device. High displacements (~80μm) where obtained under low driving power. Our results show a very good fit between experiments under pressure and theoretical predictions.

  10. Micromachined electrostatic vertical actuator

    SciTech Connect

    Lee, A.P.; Sommargren, G.E.; McConaghy, C.F.; Krulevitch, P.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.

  11. Linear Boom Actuator

    NASA Technical Reports Server (NTRS)

    Koch, E. F.

    1985-01-01

    Actuator stabilizes spacecraft spin by varying length of support struts that hold spacecraft booms. Variation changes spin axis and controls wobble. Linear actuator controls spacecraft wobble applicable in rotating systems on Earth.

  12. Electromechanical rotary actuator

    NASA Astrophysics Data System (ADS)

    Smith, S. P.; McMahon, W. J.

    1995-05-01

    An electromechanical rotary actuator has been developed as the prime mover for a liquid oxygen modulation valve on the Centaur Vehicle Rocket Engine. The rotary actuator requirements, design, test, and associated problems and their solutions are discussed in this paper.

  13. Optically driven nanotube actuators

    NASA Astrophysics Data System (ADS)

    Lu, Shaoxin; Panchapakesan, Balaji

    2005-11-01

    Optically driven actuators have been fabricated from single-wall carbon nanotube-polymer composite sheets. Like natural muscles, the millimetre-scale actuators are assemblies of millions of individual nanotube actuators processed into macroscopic length scales and bonded to an acrylic elastomer sheet to form an actuator that have been shown to generate higher stress than natural muscles and higher strains than high-modulus piezoelectric materials. Strain measurements revealed 0.01%-0.3% elastic strain generated due to electrostatic and thermal effects under visible light intensities of 5-120 mW cm-2. An optically actuated nanotube gripper is demonstrated to show manipulation of small objects. This actuation technology overcomes some of the fundamental limitations such as the use of high voltages or electrochemical solutions for actuation, opening up possibilities for remote light-induced actuation technologies.

  14. 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.

  15. 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.

  16. 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.

  17. Integrated, proportionally controlled, and naturally compliant universal joint actuator with controllable stiffness

    DOEpatents

    Borenstein, Johann; Granosik, Grzegorz

    2005-03-22

    An apparatus for traversing obstacles having an elongated, round, flexible body that includes a plurality of segments interconnected by an integrated joint actuator assembly. The integrated joint actuator assembly includes a plurality of bellows-type actuators individually coupling adjacent segments to permit pivotal actuation of the apparatus therebetween. A controller is employed to maintain proper positional control and stiffness control while minimize air flow.

  18. Design and testing of a double X-frame piezoelectric actuator

    NASA Astrophysics Data System (ADS)

    Hall, Steven R.; Tzianetopoulou, Theodora; Straub, Friedrich K.; Ngo, Hieu T.

    2000-06-01

    The development and testing of a new actuator for helicopter rotor control, the Double X-Frame, is described. The actuator is being developed for wind tunnel and flight testing on an MD-900 helicopter. The double X-frame actuator has a number of design innovations to improve its performance over the original X-frame design of Prechtl and Hall. First, the double X-frame design uses two X-frames operating in opposition, which allows the actuator stack preloads to be applied internally to the actuator, rather than through the actuation path. Second, the frames of the actuator have been modified to improve the actuator form factor, and increase the volume of active material in the actuator. Testing of the double X-frame piezoelectric actuator was conducted in order to determine its performance (stroke and stiffness) and robustness. In general, stiffness test data compared well with the analytical predictions. The actuator stroke was about 15% less than expected, probably due to the stack output being less in the actuator than as measured in single stack segment testing in the lab. The actuator was also tested dynamically, to determine its frequency response. Actuator robustness was evaluated by measuring its performance when subjected to the effects of blade bending, vibration, and centrifugal loading. Blade elastic bending and torsion deformations were simulated by shimming of the actuator mounts. To assess the impact of the blade vibrations, the actuator and bench test rig were mounted on a hydraulic shaker and subjected to flapwise or chordwise accelerations up to 30 g. To assess the impact of centrifugal force loading, the actuator and bench test rig were spun in the University of Maryland vacuum chamber, so that the actuator was subjected to realistic accelerations, up to 115% of nominal. Results showed that actuator output (force times stroke) was largely unaffected by dynamic and steady accelerations or elastic blade deformations.

  19. Hydraulic tool

    SciTech Connect

    Gregory, J.T.

    1988-04-05

    A hydraulic force-delivering tool including a cylinder, a piston slidable in the cylinder and a hydraulic pump to deliver fluid under pressure to the cylinder the hydraulic pump is described, comprising: a pump body; means forming a cylindrical chamber in the pump body; at least one inlet port opening into one end of the chamber from outside the body; means forming an outlet port at the other end of the chamber; a check valve in the outlet port enabling outward flow only; a pump rod plunger reciprocable through a given stroke in the chamber; inner and outer concentric cylindrical surfaces in the chamber and on the plunger, respectively; an annular shoulder on the chamber inner cylindrical surface facing toward the other end of the chamber; an annular seal member slidable along the pump rod and conditioned to seal against the shoulder; and spring means biasing the seal member toward the shoulder.

  20. Biomimetic jellyfish-inspired underwater vehicle actuated by ionic polymer metal composite actuators

    NASA Astrophysics Data System (ADS)

    Najem, Joseph; Sarles, Stephen A.; Akle, Barbar; Leo, Donald J.

    2012-09-01

    This paper presents the design, fabrication, and characterization of a biomimetic jellyfish robot that uses ionic polymer metal composites (IPMCs) as flexible actuators for propulsion. The shape and swimming style of this underwater vehicle are based on the Aequorea victoria jellyfish, which has an average swimming speed of 20 mm s-1 and which is known for its high swimming efficiency. The Aequorea victoria is chosen as a model system because both its bell morphology and kinematic properties match the mechanical properties of IPMC actuators. This medusa is characterized by its low swimming frequency, small bell deformation during the contraction phase, and high Froude efficiency. The critical components of the robot include the flexible bell that provides the overall shape and dimensions of the jellyfish, a central hub and a stage used to provide electrical connections and mechanical support to the actuators, eight distinct spars meant to keep the upper part of the bell stationary, and flexible IPMC actuators that extend radially from the central stage. The bell is fabricated from a commercially available heat-shrinkable polymer film to provide increased shape-holding ability and reduced weight. The IPMC actuators constructed for this study demonstrated peak-to-peak strains of ˜0.7% in water across a frequency range of 0.1-1.0 Hz. By tailoring the applied voltage waveform and the flexibility of the bell, the completed robotic jellyfish with four actuators swam at an average speed 0.77 mm s-1 and consumed 0.7 W. When eight actuators were used the average speed increased to 1.5 mm s-1 with a power consumption of 1.14 W.

  1. 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

  2. Hierarchically arranged helical fibre actuators driven by solvents and vapours.

    PubMed

    Chen, Peining; Xu, Yifan; He, Sisi; Sun, Xuemei; Pan, Shaowu; Deng, Jue; Chen, Daoyong; Peng, Huisheng

    2015-12-01

    Mechanical responsiveness in many plants is produced by helical organizations of cellulose microfibrils. However, simple mimicry of these naturally occurring helical structures does not produce artificial materials with the desired tunable actuations. Here, we show that actuating fibres that respond to solvent and vapour stimuli can be created through the hierarchical and helical assembly of aligned carbon nanotubes. Primary fibres consisting of helical assemblies of multiwalled carbon nanotubes are twisted together to form the helical actuating fibres. The nanoscale gaps between the nanotubes and micrometre-scale gaps among the primary fibres contribute to the rapid response and large actuation stroke of the actuating fibres. The compact coils allow the actuating fibre to rotate reversibly. We show that these fibres, which are lightweight, flexible and strong, are suitable for a variety of applications such as energy-harvesting generators, deformable sensing springs and smart textiles.

  3. Hierarchically arranged helical fibre actuators driven by solvents and vapours

    NASA Astrophysics Data System (ADS)

    Chen, Peining; Xu, Yifan; He, Sisi; Sun, Xuemei; Pan, Shaowu; Deng, Jue; Chen, Daoyong; Peng, Huisheng

    2015-12-01

    Mechanical responsiveness in many plants is produced by helical organizations of cellulose microfibrils. However, simple mimicry of these naturally occurring helical structures does not produce artificial materials with the desired tunable actuations. Here, we show that actuating fibres that respond to solvent and vapour stimuli can be created through the hierarchical and helical assembly of aligned carbon nanotubes. Primary fibres consisting of helical assemblies of multiwalled carbon nanotubes are twisted together to form the helical actuating fibres. The nanoscale gaps between the nanotubes and micrometre-scale gaps among the primary fibres contribute to the rapid response and large actuation stroke of the actuating fibres. The compact coils allow the actuating fibre to rotate reversibly. We show that these fibres, which are lightweight, flexible and strong, are suitable for a variety of applications such as energy-harvesting generators, deformable sensing springs and smart textiles.

  4. 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.

  5. Compact Active Vibration Control System for a Flexible Panel

    NASA Technical Reports Server (NTRS)

    Schiller, Noah H. (Inventor); Cabell, Randolph H. (Inventor); Perey, Daniel F. (Inventor)

    2014-01-01

    A diamond-shaped actuator for a flexible panel has an inter-digitated electrode (IDE) and a piezoelectric wafer portion positioned therebetween. The IDE and/or the wafer portion are diamond-shaped. Point sensors are positioned with respect to the actuator and measure vibration. The actuator generates and transmits a cancelling force to the panel in response to an output signal from a controller, which is calculated using a signal describing the vibration. A method for controlling vibration in a flexible panel includes connecting a diamond-shaped actuator to the flexible panel, and then connecting a point sensor to each actuator. Vibration is measured via the point sensor. The controller calculates a proportional output voltage signal from the measured vibration, and transmits the output signal to the actuator to substantially cancel the vibration in proximity to each actuator.

  6. A magnetorheological actuation system: test and model

    NASA Astrophysics Data System (ADS)

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

    2008-04-01

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

  7. 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.

  8. Disposable Fluidic Actuators for Miniature In-Vivo Surgical Robotics.

    PubMed

    Pourghodrat, Abolfazl; Nelson, Carl A

    2017-03-01

    Fusion of robotics and minimally invasive surgery (MIS) has created new opportunities to develop diagnostic and therapeutic tools. Surgical robotics is advancing from externally actuated systems to miniature in-vivo robotics. However, with miniaturization of electric-motor-driven surgical robots, there comes a trade-off between the size of the robot and its capability. Slow actuation, low load capacity, sterilization difficulties, leaking electricity and transferring produced heat to tissues, and high cost are among the key limitations of the use of electric motors in in-vivo applications. Fluid power in the form of hydraulics or pneumatics has a long history in driving many industrial devices and could be exploited to circumvent these limitations. High power density and good compatibility with the in-vivo environment are the key advantages of fluid power over electric motors when it comes to in-vivo applications. However, fabrication of hydraulic/pneumatic actuators within the desired size and pressure range required for in-vivo surgical robotic applications poses new challenges. Sealing these types of miniature actuators at operating pressures requires obtaining very fine surface finishes which is difficult and costly. The research described here presents design, fabrication, and testing of a hydraulic/pneumatic double-acting cylinder, a limited-motion vane motor, and a balloon-actuated laparoscopic grasper. These actuators are small, seal-less, easy to fabricate, disposable, and inexpensive, thus ideal for single-use in-vivo applications. To demonstrate the ability of these actuators to drive robotic joints, they were modified and integrated in a robotic arm. The design and testing of this surgical robotic arm are presented to validate the concept of fluid-power actuators for in-vivo applications.

  9. Improved Electrohydraulic Linear Actuators

    NASA Technical Reports Server (NTRS)

    Hamtil, James; Selinsky, T.

    2002-01-01

    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 similar industrial uses. 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 shortcomings are the following: They perform unreliably and inconsistently as positioning devices. Their capabilities for end-of-stroke buffering (that is, deceleration to gentle stops at designated stopping positions) range from unsatisfactory to nonexistent, with consequent potential for inducing catastrophic failures. It takes long times to modify standard actuators to meet specifications, and the costs of such modifications are high. In the cases of actuators equipped with fail-safe shutdown systems, the stroking times of these systems cannot be adjusted in the field.

  10. Applying Switched Reluctance Motor to Oil Hydraulic Pump Use

    NASA Astrophysics Data System (ADS)

    Yamai, Hiroyuki; Sawada, Yuzo; Ohyama, Kazunobu

    Hydraulic pump units are widely used to operate hydraulic actuators. In a typical machine shop, conventional constant speed hydraulic pump units consume more than 20% of the total electric power necessary to operate CNC machine tools. Most of that energy are wasted to run the axial piston pump at idle. This paper describes a variable speed hydraulic pump unit using a switched reluctance motor (SRM), which saves energy drastically. SRM was selected as the most suitable motor for this application. Design and control strategy of this motor are described. Application examples to machine tools shows the effectiveness of the new hybrid pump system in saving energy and in reducing acoustic noise.

  11. Networked Rectenna Array for Smart Material Actuators

    NASA Technical Reports Server (NTRS)

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

    2000-01-01

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

  12. Point-actuated aperture antenna development

    NASA Astrophysics Data System (ADS)

    Angelino, Marc; Washington, Gregory N.

    2001-08-01

    Consistent changes in both commercial and military satellite needs have created the need for antennas with additional flexibility. Military surveillance may require the ability to focus the radiation pattern to increase the bandwidth or resolution in a certain area. Commercial satellites may need to change coverage area to meet evolving consumer needs or to compensate for adverse weather or atmospheric conditions. Recent studies on active antennas have shown that the far field radiation pattern can be changed by altering the shape of the sub reflector. In this research, we control the antenna far field radiation pattern by controlling the shape of the sub reflector using numerous point actuators placed perpendicular to the reflector surface. The PZT stack coupled with a stick-slip mechanism give the point actuators used in this design an advantage over similar studies using PZT bimorph or PVDF actuators to generate the actuation force in that the displacement can be maintained without the continuous application of voltage. An electromechanical model is used to describe the motion of the stack, and the stick slip mechanism is modeled similar to power screw-type actuators. A combined finite element/electromagnetic analysis code is used to determine the desired shape of the reflector, and the corresponding actuator displacements. The final shape of the reflector is verified using stereo photogrammetry.

  13. Pressure-actuated joint system

    NASA Technical Reports Server (NTRS)

    McGuire, John R. (Inventor)

    2004-01-01

    A pressure vessel is provided that includes first and second case segments mated with one another. First and second annular rubber layers are disposed inboard of the first and second case segments, respectively. The second annular rubber layer has a slot extending from the radial inner surface across a portion of its thickness to define a main body portion and a flexible portion. The flexible portion has an interfacing surface portion abutting against an interfacing surface portion of the first annular rubber layer to follow movement of the first annular rubber layer during operation of the pressure vessel. The slot receives pressurized gas and establishes a pressure-actuated joint between the interfacing surface portions. At least one of the interfacing surface portions has a plurality of enclosed and sealed recesses formed therein.

  14. Artificial muscle actuators in biorobotic fish fins.

    PubMed

    Phelan, Christopher T; Macdonald, Robert J; Tangorra, James L

    2009-01-01

    Artificial muscle technologies offer the possibility of designing robotic systems that take full advantage of biological architectures. Of current artificial muscle technologies, nickel titanium (Ni-Ti) shape memory alloys are among a few that are readily usable by engineering labs without specialized skills in material science and/or chemistry. Ni-Ti actuators are now being used to replace servomotors in biorobotic fins. This has significantly reduced the volume that is required for actuators, and will enable several fins to be integrated into a multi finned, flexible bodied, biorobotic fish.

  15. Soft Sensors and Actuators based on Nanomaterials

    NASA Astrophysics Data System (ADS)

    Yao, Shanshan

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

  16. 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

  17. An electromechanical attenuator/actuator for Space Station docking

    NASA Technical Reports Server (NTRS)

    Stokes, Lebarian; Glenn, Dean; Carroll, Monty B.

    1987-01-01

    The development of a docking system for aerospace vehicles has identified the need for reusable and variably controlled attenuators/actuators for energy absorption and compliance. One approach to providing both the attenuator and the actuator functions is by way of an electromechanical attenuator/actuator (EMAA) as opposed to a hydraulic system. The use of the electromechanical devices is considered to be more suitable for a space environment because of the absence of contamination from hydraulic fluid leaks and because of the cost effectiveness of maintenance. A smart EMAA that uses range/rate/attitude sensor information to preadjust a docking interface to eliminate misalignments and to minimize contact and stroking forces is described. A prototype EMAA was fabricated and is being tested and evaluated. Results of preliminary testing and analysis already performed have established confidence that this concept is feasible and will provide the desired reliability and low maintenance for repetitive long term operation typical of Space Station requirements.

  18. Series elastic actuators

    NASA Astrophysics Data System (ADS)

    Williamson, Matthew M.

    1995-01-01

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

  19. 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.

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

    DTIC Science & Technology

    2007-11-02

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

  1. Remote switch actuator

    DOEpatents

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

    2013-01-29

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

  2. Spherically Actuated Motor

    NASA Technical Reports Server (NTRS)

    Peeples, Steven

    2015-01-01

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

  3. Electrostatically Driven Nanoballoon Actuator.

    PubMed

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

    2016-11-09

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

  4. Improving energy efficiency in robot limbs through hydraulic dangle

    NASA Astrophysics Data System (ADS)

    Whitman, Julian S.; Meller, Mike; Garcia, Ephrahim

    2015-03-01

    Animals often allow their limbs to swing passively under their own inertia. For example, about 40% of a human walking gait consists of the primarily passive swing phase. Current hydraulic robots employ traditional actuation methods in which fluid power is expended for all limb movements, even when passive dynamics could be utilized. "Dangle" is the ability to allow a hydraulic actuator to freely sway in response to external loads, in which both sides of the actuator are disconnected from pressure and connected to the tank. Dangle offers the opportunity for efficiency gains by enabling the use of momentum, gravity, and external loads to move a limb without expending fluid power. To demonstrate these efficiency gains, this paper presents an experiment that compares the fluid power consumed to actuate a two degree of freedom hydraulic leg following a human walking gait cycle trajectory in both a traditional manner and utilizing dangle. It was shown that the use of dangle can decrease fluid power consumption by 20% by utilizing pendular dynamics during the swing phase. At speeds higher than the free dangling rate, more power must be used to maintain the desired trajectory due to damping inherent in the configuration. The use of dangle as a power saving method when driving hydraulic limbs could increase operation time for untethered hydraulic walking robots.

  5. Hydraulic Calibrator for Strain-Gauge Balances

    NASA Technical Reports Server (NTRS)

    Skelly, Kenneth; Ballard, John

    1987-01-01

    Instrument for calibrating strain-gauge balances uses hydraulic actuators and load cells. Eliminates effects of nonparallelism, nonperpendicularity, and changes of cable directions upon vector sums of applied forces. Errors due to cable stretching, pulley friction, and weight inaccuracy also eliminated. New instrument rugged and transportable. Set up quickly. Developed to apply known loads to wind-tunnel models with encapsulated strain-gauge balances, also adapted for use in calibrating dynamometers, load sensors on machinery and laboratory instruments.

  6. 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.

  7. 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.

  8. 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.

  9. 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.

  10. Hysteresis modeling in piezoceramic actuator systems

    NASA Astrophysics Data System (ADS)

    Raghavan, A.; Seshu, P.; Gandhi, Prasanna S.

    2003-10-01

    Piezoceramics are potential sensors and actuators for a wide range of applications in smart structures and systems, including shape control of radar and satellite antennas, mirrors and MEMS actuators. Piezoceramic materials are ferroelectric, and they fundamentally exhibit hysteresis characteristics when displacement is plotted against an applied electric field. The maximum error due to hysteresis is found to be as much as 10 - 15% of the path covered if the actuators are run in an open-loop fashion. These errors affect the performance of the systems in which they are used as actuators. For example, when piezoceramic actuators are bonded with flexible structures for structural shape control purposes, errors of such magnitudes are not desirable. Thus, the nonlinear hysteretic input-output behavior leads to performance degradation of the system in the applications mentioned above. Hence, this work considers modeling of the hysteresis of a piezoceramic-actuated system with a view to develop model-based control algorithms to improve the performance of systems using these elements. Piezoceramic hysteresis has only recently been modeled effectively using the Preisach mathematical model. The system for which hystersis is modelled is a cantilever beam on which two piezoceramic actuators are bonded and the beam's tip displacement is used as the output parameter. The end purpose is shape control where input variations are quasi-static, hence only the static case of input variation is considered. The predicted results using the model obtained for this system, in general, are in agreement with the experimentally measured values. This work would pave the way for use of the model for active vibration control purposes, where the input variation is dynamic, using a variant of the Preisach model for the case of dynamic input variation.

  11. 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.

  12. 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.

  13. 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.

  14. An algorithm for LQ optimal actuator location

    NASA Astrophysics Data System (ADS)

    Darivandi, Neda; Morris, Kirsten; Khajepour, Amir

    2013-03-01

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

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

    NASA Astrophysics Data System (ADS)

    Buchholz, James; Smits, Alexander

    2004-11-01

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

  16. Massively Redundant Electromechanical Actuators

    DTIC Science & Technology

    2014-08-30

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

  17. Self-actuated device

    DOEpatents

    Hecht, Samuel L.

    1984-01-01

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

  18. Remotely controllable actuating device

    NASA Technical Reports Server (NTRS)

    McKillip, Jr., Robert M. (Inventor)

    1998-01-01

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

  19. A bio-inspired EAP actuator design methodology

    NASA Astrophysics Data System (ADS)

    Fernandez, Diego; Moreno, Luis; Baselga, Juan

    2005-05-01

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

  20. Hydraulic fracturing-1

    SciTech Connect

    Not Available

    1990-01-01

    This book contains papers on hydraulic fracturing. Topics covered include: An overview of recent advances in hydraulic fracturing technology; Containment of massive hydraulic fracture; and Fracturing with a high-strength proppant.

  1. Design and test of electromechanical actuators for thrust vector control

    NASA Technical Reports Server (NTRS)

    Cowan, J. R.; Weir, Rae Ann

    1993-01-01

    New control mechanisms technologies are currently being explored to provide alternatives to hydraulic thrust vector control (TVC) actuation systems. For many years engineers have been encouraging the investigation of electromechanical actuators (EMA) to take the place of hydraulics for spacecraft control/gimballing systems. The rationale is to deliver a lighter, cleaner, safer, more easily maintained, as well as energy efficient space vehicle. In light of this continued concern to improve the TVC system, the Propulsion Laboratory at the NASA George C. Marshall Space Flight Center (MSFC) is involved in a program to develop electromechanical actuators for the purpose of testing and TVC system implementation. Through this effort, an electromechanical thrust vector control actuator has been designed and assembled. The design consists of the following major components: Two three-phase brushless dc motors, a two pass gear reduction system, and a roller screw, which converts rotational input into linear output. System control is provided by a solid-state electronic controller and power supply. A pair of resolvers and associated electronics deliver position feedback to the controller such that precise positioning is achieved. Testing and evaluation is currently in progress. Goals focus on performance comparisons between EMA's and similar hydraulic systems.

  2. Engine having a high pressure hydraulic system and low pressure lubricating system

    DOEpatents

    Bartley, Bradley E.; Blass, James R.; Gibson, Dennis H.

    2000-01-01

    An engine includes a high pressure hydraulic system having a high pressure pump and at least one hydraulically-actuated device attached to an engine housing. A low pressure engine lubricating system is attached to the engine housing and includes a circulation conduit fluidly connected to an outlet from the high pressure pump.

  3. Coarse coal hydraulic transport

    SciTech Connect

    Petry, E.F.

    1982-10-01

    Discusses the development of coarse coal pipeline technology requiring a minimum of product size reduction. Initial concentration on continuous face haulage and later on mainline haulage areas led eventually to the system in operation at Loveridge mine in West Virginia. Key features of the hydraulic transport system (as shown in diagram) include the pump house, vertical hoisting, overland slurry lines, a preparation/ dewatering plant, a continuous miner, a coal crusher/injection vehicle, a flexible hose hauler, a rigid slurry line, a longwall injection station, and a slurry storage/reclaim system. Explains that the system was built primarily to serve a longwall face, but it also handles coal from 2 continuous miners on longwall development work.

  4. Space Shuttle Upgrades Advanced Hydraulic Power System

    NASA Technical Reports Server (NTRS)

    2004-01-01

    Three Auxiliary Power Units (APU) on the Space Shuttle Orbiter each provide 145 hp shaft power to a hydraulic pump which outputs 3000 psi hydraulic fluid to 41 hydraulic actuators. A hydrazine fuel powered APU utilized throughout the Shuttle program has undergone many improvements, but concerns remain with flight safety, operational cost, critical failure modes, and hydrazine related hazards. The advanced hydraulic power system (AHPS), also known as the electric APU, is being evaluated as an upgrade to replace the hydrazine APU. The AHPS replaces the high-speed turbine and hydrazine fuel supply system with a battery power supply and electric motor/pump that converts 300 volt electrical power to 3000 psi hydraulic power. AHPS upgrade benefits include elimination of toxic hydrazine propellant to improve flight safety, reduction in hazardous ground processing operations, and improved reliability. Development of this upgrade provides many interesting challenges and includes development of four hardware elements that comprise the AHPS system: Battery - The battery provides a high voltage supply of power using lithium ion cells. This is a large battery that must provide 28 kilowatt hours of energy over 99 minutes of operation at 300 volts with a peak power of 130 kilowatts for three seconds. High Voltage Power Distribution and Control (PD&C) - The PD&C distributes electric power from the battery to the EHDU. This 300 volt system includes wiring and components necessary to distribute power and provide fault current protection. Electro-Hydraulic Drive Unit (EHDU) - The EHDU converts electric input power to hydraulic output power. The EHDU must provide over 90 kilowatts of stable, output hydraulic power at 3000 psi with high efficiency and rapid response time. Cooling System - The cooling system provides thermal control of the Orbiter hydraulic fluid and EHDU electronic components. Symposium presentation will provide an overview of the AHPS upgrade, descriptions of the four

  5. 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

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

    PubMed

    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.

  7. Quadrature mechatronic actuator (QMA) drives for heavy ship doors and machinery

    NASA Astrophysics Data System (ADS)

    Knowles, Gareth J.; Bird, Ross W.; Goehrig, Michael J.; Knoll, William C.; Hoffman, Heath; Park, Jaedo

    2004-07-01

    An important part of the Navy objectives is to be both more efficient and enable manpower reduction is to reduce maintenance, reduce manpower, and eliminate pollutants through creating a more all-electric ship environment. However, placement of both non-centralized and centralized hydraulic systems for control of heavy machinery, large bay doors, articulated systems such as rudders for controlling air flow to the skirt system (such as in Landing Craft Air Cushion (LCAC) is extremely challenging. At the base of the design approach to a Mechatronic Motion System is the fact that such applications do not require high precision. What is required is that the actuator delivers sufficient thrust power without increasing the existing actuator weight and be a self-contained unit. To address this need, QorTek and PSU have been developing a new concept of an entirely new kind of motion system actuator that has few parts, enormous thrust capability for its compact size, and is amenable to affordable manufacture. The new Quadrature Mechatronic Actuator (QMA) is a hydraulic replacement that will match hydraulic force-displacement capabilities in a fully solid-state design. Quadrature Mechatronic Actuators will look very similar to the existing hydraulic actuators currently used on LCAC. These compact self-contained units represent a one-for-one substitute for existing equipment. The Mechatronic Actuator itself will be lighter and slightly smaller than its hydraulic actuator equivalent and use one or more internal hybrid solid-state drivers that are internally coupled to a linear translator.

  8. Exhaust gas control actuator

    SciTech Connect

    Motosugi, K.; Sumiyoshi, M.

    1980-11-11

    An exhaust gas control actuator is described wherein the feed of secondary air fed to an exhaust piping is controlled by an oxygen concentration detector disposed in the stream of exhaust gas of an internal combustion engine and an air-fuel ratio of the exhaust gas entering a catalyst disposed downstream of the exhaust piping is maintained within a given range. The actuator comprises a flow control valve and a flow control device for controlling the flow control valve. The flow control valve is provided with a flow-in port communicated with an air pump and the valve body, a flow-out port communicated with an exhaust manifold and a bypass port communicated with an air cleaner. Furthermore, the flow control device is actuated by an electronic control circuit and comprises an actuating chamber partitioned by a diaphragm for actuating the valve body and including a negative pressure introducing port communicated with an intake manifold and an atmosphere introducing port constantly communicated with atmosphere, and a nozzle flapper mechanism provided in the actuating chamber and varying resistances to flow through the negative pressure introducing port and the atmosphere introducing port in accordance with the actuating position of the valve body in such a manner that an output signal of the oxygen concentration detector is negatively fed back to the feed of secondary air.

  9. 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.

  10. Design of a smart bidirectional actuator for space operation

    NASA Astrophysics Data System (ADS)

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

    2017-03-01

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

  11. Development of robot hand with pneumatic actuator and construct of master-slave system.

    PubMed

    Nishino, Shinya; Tsujiuchi, Nobutaka; Koizumi, Takayuki; Komatsubara, Hiroyuki; Kudawara, Tatuwo; Shimizu, Mikio

    2007-01-01

    Recently, research has concentrated on robots that can coexist with people and be of use to them. Such a robot needs to be both safe and flexible. Here, we use a pneumatic actuator as the driving source of a robot hand. We develop a pneumatic actuator driven by low pressure because we consider that the conventional pneumatic actuator is inadequate for the driving source of a robot hand. First, we examine the characteristics of our new pneumatic actuator. Next, we develop a five-fingered robot hand using this pneumatic actuator. The robot hand produced is both safe and flexible. We construct a master-slave system to enable the robot hand to perform the same operations as a human hand. Next, we make a joint model that has one degree of freedom using a pneumatic actuator. We construct a control system for the joint model and verify its control performance.

  12. Propulsive performance of an under-actuated robotic ribbon fin.

    PubMed

    Liu, Hanlin; Curet, Oscar M

    2017-06-02

    Many aquatic animals propelled by elongated undulatory fins can perform complex maneuvers and swim with high efficiency at low speeds. In this propulsion, one or multiple waves travel along an elastic fin composed of flexible rays. In this study, we explore the potential benefits or disadvantages of passive fin motion based on the coupling of fluid-structure interactions and elasto-mechanical responses of the undulatory fin. The motivation is to understand how an under-actuated undulating fin can modify its active and passive fin motion to effectively control the hydrodynamic force and propulsive efficiency. We study the kinematics and propulsive performance of an under-actuated ribbon fin using a robotic device. During two experimental sets for fully-actuated fin and under-actuated fin respectively, we measured fin kinematics, surge forces and power consumption. Our results show that under-actuated fin can generate smaller thrust but consume less power comparing to a fully-actuated counterpart. The thrust generated by an under-actuated fin scales similarly to a fully-actuated fin-linear with the enclosed area and quadratic with the relative velocity. Power consumption scales with cube of lateral tangential velocity. Furthermore, we find that the under-actuated fin can keep the same propulsive efficiency as the fully-actuated fin at low relative velocities. This finding has profound implications to both natural swimmers and underwater vehicles using undulating fin-based propulsion, as it suggests that they can potentially exploit passive fin motion without decrementing propulsive efficiency. For underwater vehicles with undulatory fins, an under-actuated design can greatly simplify the mechanical design and control complexity of a versatile propulsion system.

  13. Power Efficient Hydraulic Systems. Volume 1. Study Phase

    DTIC Science & Technology

    1988-07-01

    AIRCRAFT SUBSYSTEMS TABLE 14. Baseline aircraft systems o HYDRAULIC SYSTEM o ELECTRICAL SYSTEM o 8000 PSI, 3 INDEPENDENT SYSTEMS o HVDC POWER o APU...valve (pump) HM hinge moment hp horsepower hr hour HVDC high voltage direct current Hz Hertz (cycles per second) IAP integrated actuator package I.D

  14. Flight Worthiness of Fire Resistant Hydraulic Systems. Volume 1.

    DTIC Science & Technology

    1984-12-01

    no mechanical backups to the hydraulic flight control actuators. The CSBPC, PRCA and ARI are eliminated. Alternate 1(a) (800) psi): Same as Alternate... PRCA and rudder reduces weight electrical wires. b) Use of force motors x x x eliminates mechanical linkage to aileron, stabilator, rudder and CSBPC

  15. Method of Fabricating NASA-Standard Macro-Fiber Composite Piezoelectric Actuators

    NASA Technical Reports Server (NTRS)

    High, James W.; Wilkie, W. Keats

    2003-01-01

    The NASA Macro-Fiber Composite actuator is a flexible piezoelectric composite device designed for controlling vibrations and shape deformations in high performance aerospace structures. A complete method for fabricating the standard NASA Macro-Fiber Composite actuator is presented in this document. When followed precisely, these procedures will yield devices with electromechanical properties identical to the standard actuator manufactured by NASA Langley Research Center.

  16. Low duty-cycle pulsed power actuation applications

    NASA Astrophysics Data System (ADS)

    Merryman, Stephen A.; Owens, W. Todd

    1995-01-01

    Electrical actuator systems are being pursued as alternatives to hydraulic systems to reduce maintenance time, weight, and costs while increasing reliability. Additionally, safety and environmental hazards associated with the hydraulic fluids can be eliminated. For most actuation systems, the actuation process is typically pulsed with high peak power requirements but with relatively modest average power levels. For example, the peak power requirements for the shuttle solid rocket booster actuators are approximately 40 kW for one or two seconds, but the average power over the 130 second burn time is on the order of 7 kW. The power-time requirements for electrical actuators are characteristic of pulsed power technologies where the source can be sized for the average power levels while providing the capability to achieve the peak requirements. Among the options for the power source are battery systems, capacitor systems or battery-capacitor hybrid systems. Battery technologies are energy dense but deficient in power density; capacitor technologies are power dense but limited by energy density. The battery-capacitor hybrid system uses the battery to supply the average power and the capacitor to meet the peak demands. In this research effort, Chemical Double Layer (CDL) capacitor technology is being applied in the design and development of power sources for electrical actuators. CDL capacitors have many properties that make them well-suited for actuator applications. They have the highest demonstrated energy density for capacitive storage (about a factor of 5-10 less than NiCd batteries), have power densities 50 times greater than NiCd batteries, are capable of 500,000 charge-discharge cycles, can be charged at extremely high rates, and have non-explosive failure modes. Thus, CDL capacitors exhibit a combination of desirable battery and capacitor characteristics. Specifically, electrode technology patented by Auburn University is being used in the development of CDL

  17. 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.

  18. 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.

  19. 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.

  20. 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.

  1. 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.

  2. 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.

  3. 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.

  4. Linear Proof Mass Actuator

    NASA Astrophysics Data System (ADS)

    Holloway, S. E., III

    1995-05-01

    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.

  5. Linear Proof Mass Actuator

    NASA Astrophysics Data System (ADS)

    Holloway, Sidney E., III

    1994-09-01

    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.

  6. 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.

  7. Design Construction of Beam Structured Vertical Drive SMA Thin Film Actuator for Small Tactile Display

    NASA Astrophysics Data System (ADS)

    Yoshikawa, Wataru; Sasabe, Akio; Sugano, Kouji; Tsuchiya, Toshiyuki; Ishida, Akira; Tabata, Osamu

    This paper presents a novel shape memory alloy (SMA) thin film actuator that has capability of vertical driving, miniaturization, and generating both large force and large displacement. We targeted a small tactile display which can reproduce a texture of an object to a fingertip, termed Smart Button, as a device for utilizing the proposed actuator performance effectively. An actuator for Smart Button has to achive displacement of dozens micron, output force of mN, output frequency of dozens Hz and an actuator pitch of less than 1 mm. The actuator structure of TiNi/SiO2 bi-material beam structure with flexible fixed ends is proposed for performing the requirements. The structural dependences of the displacement and generating force of the actuator were analyzed by FEM. As a result, the validity of the proposed design concept and the configuration of the actuator for Smart Button was successfully confirmed.

  8. 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.

  9. Combustion powered linear actuator

    DOEpatents

    Fischer, Gary J.

    2007-09-04

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

  10. 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.

  11. 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.

  12. Laser Initiated Actuator study

    SciTech Connect

    Watson, B.

    1991-06-27

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

  13. 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.

  14. 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.

  15. Compact electrostatic comb actuator

    DOEpatents

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

    2000-01-01

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

  16. Free-piston regenerative hot gas hydraulic engine

    NASA Technical Reports Server (NTRS)

    Beremand, D. G. (Inventor)

    1980-01-01

    A displacer piston which is driven pneumatically by a high-pressure or low-pressure gas is included in a free-piston regenerative hydraulic engine. Actuation of the displacer piston circulates the working fluid through a heater, a regenerator and a cooler. The present invention includes an inertial mass such as a piston or a hydraulic fluid column to effectively store and supply energy during portions of the cycle. Power is transmitted from the working fluid to a hydraulic fluid across a diaphragm or lightweight piston to achieve a hydraulic power out-put. The displacer piston of the present invention may be driven pneumatically, hydraulically or electromagnetically. In addition, the displacer piston and the inertial mass of the present invention may be positioned on the same side of the diaphragm member or may be separated by the diaphragm member.

  17. 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.

  18. Adaptive Strategies for Controls of Flexible Arms. Ph.D. Thesis

    NASA Technical Reports Server (NTRS)

    Yuan, Bau-San

    1989-01-01

    An adaptive controller for a modern manipulator has been designed based on asymptotical stability via the Lyapunov criterion with the output error between the system and a reference model used as the actuating control signal. Computer simulations were carried out to test the design. The combination of the adaptive controller and a system vibration and mode shape estimator show that the flexible arm should move along a pre-defined trajectory with high-speed motion and fast vibration setting time. An existing computer-controlled prototype two link manipulator, RALF (Robotic Arm, Large Flexible), with a parallel mechanism driven by hydraulic actuators was used to verify the mathematical analysis. The experimental results illustrate that assumed modes found from finite element techniques can be used to derive the equations of motion with acceptable accuracy. The robust adaptive (modal) control is implemented to compensate for unmodelled modes and nonlinearities and is compared with the joint feedback control in additional experiments. Preliminary results show promise for the experimental control algorithm.

  19. Backed Bending Actuator

    NASA Technical Reports Server (NTRS)

    Costen, Robert C.; Su, Ji

    2004-01-01

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

  20. Hydraulic valve control system for internal combustion engines

    SciTech Connect

    Bowman, T.J.; LoRusso, J.A.; Kaufman, W.F.

    1992-07-07

    This patent describes a hydraulic engine valve actuating assembly for use in an internal combustion engine cylinder head having a poppet valve which is axially shiftable therein by a rotary camshaft, the hydraulic engine valve actuating assembly. It comprises a housing having a mounted surface to attach to the cylinder head immediately above the poppet valve, a master piston cooperating with the camshaft and sealingly engaging the first cavity; a slave piston cooperating with the poppet valve and sealingly engaging the housing second cavity; a hydraulic energy and fluid storage accumulator assembly affixed and sealingly engaged relative to the housing and being provided with a fluid port coupled with the housing fluid passageway; valve means; the housing including a third cavity coaxially aligned with the poppet valve; and the valve means including a reciprocal valve piston sealingly engaged within the third cavity.

  1. Carbon nanotube and graphene-based bioinspired electrochemical actuators.

    PubMed

    Kong, Lirong; Chen, Wei

    2014-02-01

    Bio-inspired actuation materials, also called artificial muscles, have attracted great attention in recent decades for their potential application in intelligent robots, biomedical devices, and micro-electro-mechanical systems. Among them, ionic polymer metal composite (IPMC) actuator has been intensively studied for their impressive high-strain under low voltage stimulation and air-working capability. A typical IPMC actuator is composed of one ion-conductive electrolyte membrane laminated by two electron-conductive metal electrode membranes, which can bend back and forth due to the electrode expansion and contraction induced by ion motion under alternating applied voltage. As its actuation performance is mainly dominated by electrochemical and electromechanical process of the electrode layer, the electrode material and structure become to be more crucial to higher performance. The recent discovery of one dimensional carbon nanotube and two dimensional graphene has created a revolution in functional nanomaterials. Their unique structures render them intriguing electrical and mechanical properties, which makes them ideal flexible electrode materials for IPMC actuators in stead of conventional metal electrodes. Currently although the detailed effect caused by those carbon nanomaterial electrodes is not very clear, the presented outstanding actuation performance gives us tremendous motivation to meet the challenge in understanding the mechanism and thus developing more advanced actuator materials. Therefore, in this review IPMC actuators prepared with different kinds of carbon nanomaterials based electrodes or electrolytes are addressed. Key parameters which may generate important influence on actuation process are discussed in order to shed light on possible future research and application of the novel carbon nanomateials based bio-inspired electrochemical actuators.

  2. Electromechanical actuation for thrust vector control applications

    NASA Technical Reports Server (NTRS)

    Roth, Mary Ellen

    1990-01-01

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

  3. Precise control of flexible manipulators

    NASA Technical Reports Server (NTRS)

    Cannon, R. H., Jr.

    1984-01-01

    Experimental apparatus were developed for physically testing control systems for pointing flexible structures, such as limber spacecraft, for the case that control actuators cannot be collocated with sensors. Structural damping ratios are less than 0.003, each basic configuration of sensor/actuator noncollocation is available, and inertias can be halved or doubled abruptly during control maneuvers, thereby imposing, in particular, a sudden reversal in the plant's pole-zero sequence. First experimental results are presented, including stable control with both collocation and noncollocation.

  4. Non-collinear valve actuator

    NASA Technical Reports Server (NTRS)

    Richard, James A. (Inventor)

    2012-01-01

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

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

    NASA Astrophysics Data System (ADS)

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

    2004-06-01

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

  6. 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.

  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. Tethered actuator for vibration control of space structures

    NASA Astrophysics Data System (ADS)

    Fujii, H. A.; Sugimoto, Y.; Watanabe, T.; Kusagaya, T.

    2015-12-01

    Effectiveness of a micro-tension actuator for vibration control of such flexible space structures as the tethered space solar power satellites is experimentally studied on the ground. A flexible leverage is employed as the micro-tension actuator in order to control the microtension of tether. The flexible leverage is connected through a tether to the flexible beam as an experimental model of the flexible solar panel with the low first modal frequency of order 1 Hz. The nonlinearity of the flexible tether is taken into account for the vibration control since the tether becomes ineffective when it slacks, i.e., when it is tension-free. The feedback controller is designed by means of the Mission Function control algorithm. Flexural rigidity of the flexible leverage plays an important role in the vibration suppression and is studied experimentally to shed light on the effectiveness of the leverages with five different kinds of rigidity. The experimental results show not only the effect of the flexural rigidity of the flexible leverage on the control performance of the vibration suppression but also the importance of selection of the rigidity to control the vibration of tethered flexible space structures through the microtension of tethers in space.

  9. 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.

  10. 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.

  11. Grasp Assist Device with Shared Tendon Actuator Assembly

    NASA Technical Reports Server (NTRS)

    Ihrke, Chris A. (Inventor); Bergelin, Bryan J. (Inventor); Bridgwater, Lyndon (Inventor)

    2015-01-01

    A grasp assist device includes a glove with first and second tendon-driven fingers, a tendon, and a sleeve with a shared tendon actuator assembly. Tendon ends are connected to the respective first and second fingers. The actuator assembly includes a drive assembly having a drive axis and a tendon hook. The tendon hook, which defines an arcuate surface slot, is linearly translatable along the drive axis via the drive assembly, e.g., a servo motor thereof. The flexible tendon is routed through the surface slot such that the surface slot divides the flexible tendon into two portions each terminating in a respective one of the first and second ends. The drive assembly may include a ball screw and nut. An end cap of the actuator assembly may define two channels through which the respective tendon portions pass. The servo motor may be positioned off-axis with respect to the drive axis.

  12. Modeling and bonding-free fabrication of flexible fluidic microactuators with a bending motion

    NASA Astrophysics Data System (ADS)

    Gorissen, Benjamin; Vincentie, Wannes; Al-Bender, Farid; Reynaerts, Dominiek; De Volder, Michaël

    2013-04-01

    Flexible fluidic actuators recently attracted the interest of the microsystem community, especially for soft robotic applications including minimally invasive surgery. These actuators, based on a well-known actuator design where a void is surrounded by an asymmetric elastic structure, can achieve large bending strokes when pressurized. Miniaturized versions of these actuators typically fail due to poor bonding of constituting components, and further, there is little theoretical understanding of these devices. This paper presents a new actuator design which does not require any bonding and provides new insights into the modeling of these actuators. The newly developed production process of the actuators is based on out-of-plane high aspect ratio micromolding, which enables high-throughput bonding-free fabrication. Furthermore, a mathematical model based on Euler-Bernoulli's beam equation with a deformable cross section is developed that shows good agreement with validation experiments on prototypes. These theoretical insights greatly facilitate the design and optimization of flexible bending actuators.

  13. 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

  14. X-15 hydraulic-system development

    NASA Technical Reports Server (NTRS)

    Culleton, R J

    1958-01-01

    Despite the exacting requirements and conditions of the X-15 including much higher temperature, high horsepower, and extreme vibration and duty cycles, the hydraulic flight control systems compare favorably, weightwise, with preceding models. Although some items, such as the pumps, are heavier, the total system, excluding actuators, weighs approximately 195 pounds as compared with 196 pounds for the F-107A airplane. Use of the new piggy-back pump, with its low flow during most of the operating time, also permitted a reduction in fluid capacity of the hydraulic reservoirs and the total systems, even though the volume of some of the actuators is quite large. This effected a considerable saving in fluid weight. Complete ground-support equipment is available and this equipment, as well as the airplane systems, contains means for complete 5- to 15- micron filtration under controlled temperature conditions. By use of advanced engineering techniques and extensive laboratory testing, it has been possible to provide a sound, lightweight hydraulic system for this advanced, high-performance airplane. (author)

  15. A solid hydraulically amplified piezoelectric microvalve

    NASA Astrophysics Data System (ADS)

    Wu, Xiaosong; Kim, Seong-Hyok; Ji, Chang-Hyeon; Allen, Mark G.

    2011-09-01

    We report a piezoelectrically driven and hydraulically amplified axial polymer microvalve. The microvalve is normally open and is assembled primarily with stereolithographically fabricated polymer components. An incompressible elastomer is used as a solid hydraulic medium to convert the small axial displacement of a piezoelectric actuator into a large valve head stroke while maintaining a large blocking force. Also, the axial design of the microvalve enables densely packed valve arrays. One application of this microvalve is in pneumatic tactile displays, which operates against gas pressure up to approximately 90 kPa and switching speed between 1 and 200 Hz. The current valve design has a maximum static hydraulic amplification ratio of 5 at 30 V driving voltage and a maximum valve head stroke of 37 µm at 150 V. Under a 94.4 kPa differential pressure, the flow rate of the valve and the closing voltage measure are 785 mL min-1 and 150 V, respectively. The function of the microvalve as an on-off switch for a pneumatic microbubble tactile actuator is demonstrated.

  16. A bistable electromagnetically actuated rotary gate microvalve

    NASA Astrophysics Data System (ADS)

    Luharuka, Rajesh; Hesketh, Peter J.

    2008-03-01

    Two types of rotary gate microvalves are developed for flow modulation in microfluidic systems. These microvalves have been tested for an open flow rate of up to 100 sccm and operate under a differential pressure of 6 psig with flow modulation of up to 100. The microvalve consists of a suspended gate that rotates in the plane of the chip to regulate flow through the orifice. The gate is suspended by a novel fully compliant in-plane rotary bistable micromechanism (IPRBM) that advantageously constrains the gate in all degrees of freedom except for in-plane rotational motion. Multiple inlet/outlet orifices provide flexibility of operating the microvalve in three different flow configurations. The rotary gate microvalve is switched with an external electromagnetic actuator. The suspended gate is made of a soft magnetic material and its electromagnetic actuation is based on the operating principle of a variable-reluctance stepper motor.

  17. Tunable lenses using transparent dielectric elastomer actuators.

    PubMed

    Shian, Samuel; Diebold, Roger M; Clarke, David R

    2013-04-08

    Focus tunable, adaptive lenses provide several advantages over traditional lens assemblies in terms of compactness, cost, efficiency, and flexibility. To further improve the simplicity and compact nature of adaptive lenses, we present an elastomer-liquid lens system which makes use of an inline, transparent electroactive polymer actuator. The lens requires only a minimal number of components: a frame, a passive membrane, a dielectric elastomer actuator membrane, and a clear liquid. The focal length variation was recorded to be greater than 100% with this system, responding in less than one second. Through the analysis of membrane deformation within geometrical constraints, it is shown that by selecting appropriate lens dimensions, even larger focusing dynamic ranges can be achieved.

  18. Folded dielectric elastomer actuators

    NASA Astrophysics Data System (ADS)

    Carpi, Federico; Salaris, Claudio; DeRossi, Danilo

    2007-04-01

    Polymer-based linear actuators with contractile ability are currently demanded for several types of applications. Within the class of dielectric elastomer actuators, two basic configurations are available today for such a purpose: the multi-layer stack and the helical structure. The first consists of several layers of elementary planar actuators stacked in series mechanically and parallel electrically. The second configuration relies on a couple of helical compliant electrodes alternated with a couple of helical dielectrics. The fabrication of both these configurations presents some specific drawbacks today, arising from the peculiarity of each structure. Accordingly, the availability of simpler solutions may boost the short-term use of contractile actuators in practical applications. For this purpose, a new configuration is here described. It consists of a monolithic structure made of an electroded sheet, which is folded up and compacted. The resulting device is functionally equivalent to a multi-layer stack with interdigitated electrodes. However, with respect to a stack the new configuration is advantageously not discontinuous and can be manufactured in one single phase, avoiding layer-by-layer multi-step procedures. The development and preliminary testing of prototype samples of this new actuator made of a silicone elastomer are presented here.

  19. Thermally actuated mechanical systems

    NASA Astrophysics Data System (ADS)

    Sul, Onejae

    This thesis will discuss the generation of controlled sub-micron motions using novel micro actuators. Our research focuses on the development of an arm-type actuator and a free-motion locomotive walking device. Nano-science and nano-technology focuses on the creation of novel functional materials and also at the development of new fabrication techniques incorporating them. In the fields of novel fabrication techniques, manipulations of micron or sub-micron objects by micro actuators have been suggested in the science and engineering societies for mainly two reasons. From a scientific standpoint, new tools enable new prospective sciences, as is evident from the development of the atomic force microscope. From an engineering standpoint, the miniaturization of manipulation tools will require less material and less energy during a material's production. In spite of such importance, progress in the actuator miniaturization is in a primitive state, especially for the micro mobile devices. The thesis will be a key step in pursuit of this goal with an emphasis on generating motions. Our static actuator uses the excellent elastic properties of multiwall carbon nanotubes as a template for a bimorph system. Deflections in response to temperature variations are demonstrated. The mobile device itself is a bimorph system consisting of thin metal films. Control mechanisms for its velocity and steering are discussed. Finally, fundamental limits on the capabilities of the two devices in a more general sense are discussed under via laws of physics.

  20. A study of low-cost reliable actuators for light aircraft. Part A: Chapters 1-8

    NASA Technical Reports Server (NTRS)

    Eijsink, H.; Rice, M.

    1978-01-01

    An analysis involving electro-mechanical, electro-pneumatic, and electro-hydraulic actuators was performed to study which are compatible for use in the primary and secondary flight controls of a single engine light aircraft. Actuator characteristics under investigation include cost, reliability, weight, force, volumetric requirements, power requirements, response characteristics and heat accumulation characteristics. The basic types of actuators were compared for performance characteristics in positioning a control surface model and then were mathematically evaluated in an aircraft to get the closed loop dynamic response characteristics. Conclusions were made as to the suitability of each actuator type for use in an aircraft.

  1. Study of flow induced by sine wave and saw tooth plasma actuators

    NASA Astrophysics Data System (ADS)

    Liu, Zhifeng; Wang, Lianze; Fu, Song

    2011-11-01

    The effect of plasma actuator that uses saw-tooth or sine-wave shape electrodes on boundary layer flows is experimentally investigated. The measurement results are compared with a corresponding standard configuration (conventional design using two rectangular strip electrodes)—the actuator that produces a nearly two-dimensional horizontal wall jet upon actuation. PIV measurements are used to characterize the actuators in a quiescent chamber. Operating in a steady manner, the new actuators result in the formation of streamwise and spanwise vortices. That is to say, the new actuators render the plasma actuators inducing three-dimensional variations in the shear layer, offering significant flexibility in flow control. The affected flowfield with the new actuators is significantly larger than that with the conventional linear actuators. While the conventional linear actuators affect primarily the boundary layer flow on a scale of about 1 cm above the wall, the new actuators affect the near wall region at a significantly larger scale. This new design broadens the applicability and enhances the flow control effects and it is potentially a more efficient flow control device.

  2. Parameters design of the dielectric elastomer spring-roll bending actuator (Conference Presentation)

    NASA Astrophysics Data System (ADS)

    Li, Jinrong; Liu, Liwu; Liu, Yanju; Leng, Jinsong

    2017-04-01

    Dielectric elastomers are novel soft smart material that could deform sustainably when subjected to external electric field. That makes dielectric elastomers promising materials for actuators. In this paper, a spring-roll actuator that would bend when a high voltage is applied was fabricated based on dielectric elastomer. Using such actuators as active parts, the flexible grippers and inchworm-inspired crawling robots were manufactured, which demonstrated some examples of applications in soft robotics. To guide the parameters design of dielectric elastomer based spring-roll bending actuators, the theoretical model of such actuators was established based on thermodynamic theories. The initial deformation and electrical induced bending angle of actuators were formulated. The failure of actuators was also analyzed considering some typical failure modes like electromechanical instability, electrical breakdown, loss of tension and maximum tolerant stretch. Thus the allowable region of actuators was determined. Then the bending angle-voltage relations and failure voltages of actuators with different parameters, including stretches of the dielectric elastomer film, number of active layers, and dimensions of spring, were investigated. The influences of each parameter on the actuator performances were discussed, providing meaningful guidance to the optical design of the spring-roll bending actuators.

  3. Flexible Structural-Health-Monitoring Sheets

    NASA Technical Reports Server (NTRS)

    Qing, Xinlin; Kuo, Fuo

    2008-01-01

    A generic design for a type of flexible structural-health-monitoring sheet with multiple sensor/actuator types and a method of manufacturing such sheets has been developed. A sheet of this type contains an array of sensing and/or actuation elements, associated wires, and any other associated circuit elements incorporated into various flexible layers on a thin, flexible substrate. The sheet can be affixed to a structure so that the array of sensing and/or actuation elements can be used to analyze the structure in accordance with structural-health-monitoring techniques. Alternatively, the sheet can be designed to be incorporated into the body of the structure, especially if the structure is made of a composite material. Customarily, structural-health monitoring is accomplished by use of sensors and actuators arrayed at various locations on a structure. In contrast, a sheet of the present type can contain an entire sensor/actuator array, making it unnecessary to install each sensor and actuator individually on or in a structure. Sensors of different types such as piezoelectric and fiber-optic can be embedded in the sheet to form a hybrid sensor network. Similarly, the traces for electric communication can be deposited on one or two layers as required, and an entirely separate layer can be employed to shield the sensor elements and traces.

  4. High-authority smart material integrated electric actuator

    NASA Astrophysics Data System (ADS)

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

    1997-05-01

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

  5. 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.

  6. Multilayer ceramic actuator commercialization

    NASA Astrophysics Data System (ADS)

    Ritter, Andrew P.

    1995-05-01

    AVX is the largest US manufacturer of multilayer ceramic capacitors, producing 10's of millions per day. Multilayer ceramic actuators are manufactured using virtually identical fabrication methods. Fabrication from this ceramic tape allows tremendous latitude in device shape, size and material choice. This paper will discuss several different actuator configurations-including stacks, plates and chips- with respect to performance and cost tradeoffs. Virtually all developing smart material applications are 'technology driven,' however the widespread availability of devices at commercial scale relies on 'market pull' to achieve a balance of high annualized volumes and low cost. Given sufficient demand, devices can be produced such that the raw materials themselves dominate the unit cost. Generalized price-volume-performance relationships for the different actuator configurations can both guide system designers and focus long-term component development efforts.

  7. Active robust vibration control of flexible structures

    NASA Astrophysics Data System (ADS)

    Hu, Yan-Ru; Ng, Alfred

    2005-11-01

    Flexible structures are extensively used in many space applications, for example, space-based radar antennae, space robotic systems, and space station, etc. The flexibility of these space structures results in problems of structural vibration and shape deformation, etc. In recent years, active control methods have been developed to suppress structural vibration and improve the performance of these flexible space structures. In this paper, we developed an approach for active vibration control of flexible structures with integrated piezoelectric actuators using control theory. First, dynamic models for a flexible circular plate with integrated piezoelectric actuators and sensors are derived using the Rayleigh-Ritz method. An active robust controller is designed to suppress vibration of the circular plate. Robustness of the control system of the circular plate is discussed for the model parameter uncertainty. This active robust vibration control method is tested via experimental implementation. The experimental results show that the proposed robust active control method is efficient for active vibration suppression.

  8. Actuators for Active Flow Control

    NASA Astrophysics Data System (ADS)

    Cattafesta, Louis N., III; Sheplak, Mark

    2011-01-01

    Actuators are transducers that convert an electrical signal to a desired physical quantity. Active flow control actuators modify a flow by providing an electronically controllable disturbance. The field of active flow control has witnessed explosive growth in the variety of actuators, which is a testament to both the importance and challenges associated with actuator design. This review provides a framework for the discussion of actuator specifications, characteristics, selection, design, and classification for aeronautical applications. Actuator fundamentals are discussed, and various popular actuator types used in low-to-moderate speed flows are then described, including fluidic, moving object/surface, and plasma actuators. We attempt to highlight the strengths and inevitable drawbacks of each and highlight potential future research directions.

  9. 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.

  10. 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.

  11. Tetherless thermobiochemically actuated microgrippers

    PubMed Central

    Leong, Timothy G.; Randall, Christina L.; Benson, Bryan R.; Bassik, Noy; Stern, George M.; Gracias, David H.

    2009-01-01

    We demonstrate mass-producible, tetherless microgrippers that can be remotely triggered by temperature and chemicals under biologically relevant conditions. The microgrippers use a self-contained actuation response, obviating the need for external tethers in operation. The grippers can be actuated en masse, even while spatially separated. We used the microgrippers to perform diverse functions, such as picking up a bead on a substrate and the removal of cells from tissue embedded at the end of a capillary (an in vitro biopsy). PMID:19139411

  12. Cryogenic submicron linear actuator

    NASA Astrophysics Data System (ADS)

    Serrano, Javier; Moreno Raso, Javier; González de María, David; Argelaguet Vilaseca, Heribert; Lamensans, Mikel; López Justo, David; Sanz Puig, Violeta

    2010-07-01

    The Cryogenic Submicron Linear Actuator (CSA) is a medium range (+/-5 mm) submicron resolution linear actuator suitable to be used at cryogenic temperature (12K). The unit has been developed for fine positioning use. The unit is based on classic motor-gear concept with nut and screw; different materials and lubrications have been tested for the same design configuration to compare performances. Load capability is above 20N. This paper describes main design features, results of different lubrications tested, tested performances, and main lessons learned.

  13. Design and test of a high power electromechanical actuator for thrust vector control

    NASA Technical Reports Server (NTRS)

    Cowan, J. R.; Myers, W. N.

    1992-01-01

    NASA-Marshall is involved in the development of electromechanical actuators (EMA) for thrust-vector control (TVC) system testing and implementation in spacecraft control/gimballing systems, with a view to the replacement of hydraulic hardware. TVC system control is furnished by solid state controllers and power supplies; a pair of resolvers supply position feedback to the controller for precise positioning. Performance comparisons between EMA and hydraulic TVC systems are performed.

  14. Hydraulic Hybrid Vehicles

    EPA Pesticide Factsheets

    EPA and the United Parcel Service (UPS) have developed a hydraulic hybrid delivery vehicle to explore and demonstrate the environmental benefits of the hydraulic hybrid for urban pick-up and delivery fleets.

  15. 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.

  16. Fabrication of Polyurethane Dielectric Actuators

    DTIC Science & Technology

    2005-01-01

    a summary of a 3 year Technology Investment Fund Project entitled “Dielectric Polymer Actuators for Active/ Passive Vibration Isolation”, which was...completed in March 2005. The purpose of this project was to investigate dielectric polymer materials for potential use in active/ passive vibration...devices and systems based on dielectric polymer actuators. Keywords: dielectric actuators, electroactive polymers , Technology Investment Fund 1

  17. Turbulent Motion of Liquids in Hydraulic Resistances with a Linear Cylindrical Slide-Valve.

    PubMed

    Velescu, C; Popa, N C

    2015-01-01

    We analyze the motion of viscous and incompressible liquids in the annular space of controllable hydraulic resistances with a cylindrical linear slide-valve. This theoretical study focuses on the turbulent and steady-state motion regimes. The hydraulic resistances mentioned above are the most frequent type of hydraulic resistances used in hydraulic actuators and automation systems. To study the liquids' motion in the controllable hydraulic resistances with a linear cylindrical slide-valve, the report proposes an original analytic method. This study can similarly be applied to any other type of hydraulic resistance. Another purpose of this study is to determine certain mathematical relationships useful to approach the theoretical functionality of hydraulic resistances with magnetic controllable fluids as incompressible fluids in the presence of a controllable magnetic field. In this report, we established general analytic equations to calculate (i) velocity and pressure distributions, (ii) average velocity, (iii) volume flow rate of the liquid, (iv) pressures difference, and (v) radial clearance.

  18. Turbulent Motion of Liquids in Hydraulic Resistances with a Linear Cylindrical Slide-Valve

    PubMed Central

    Velescu, C.; Popa, N. C.

    2015-01-01

    We analyze the motion of viscous and incompressible liquids in the annular space of controllable hydraulic resistances with a cylindrical linear slide-valve. This theoretical study focuses on the turbulent and steady-state motion regimes. The hydraulic resistances mentioned above are the most frequent type of hydraulic resistances used in hydraulic actuators and automation systems. To study the liquids' motion in the controllable hydraulic resistances with a linear cylindrical slide-valve, the report proposes an original analytic method. This study can similarly be applied to any other type of hydraulic resistance. Another purpose of this study is to determine certain mathematical relationships useful to approach the theoretical functionality of hydraulic resistances with magnetic controllable fluids as incompressible fluids in the presence of a controllable magnetic field. In this report, we established general analytic equations to calculate (i) velocity and pressure distributions, (ii) average velocity, (iii) volume flow rate of the liquid, (iv) pressures difference, and (v) radial clearance. PMID:26167532

  19. Pneumatic Artificial Muscle Actuation and Modeling

    NASA Astrophysics Data System (ADS)

    Leephakpreeda, Thananchai; Wickramatunge, Kanchana C.

    2009-10-01

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

  20. Double-section curvature tunable functional actuator with micromachined buckle and grid wire for electricity delivery

    NASA Astrophysics Data System (ADS)

    Feng, Guo-Hua; Hou, Sheng-You

    2015-09-01

    This paper presents an ionic polymer metal composite (IPMC)-driven tentacle-like biocompatible flexible actuator with double-section curvature tunability. This actuator, possessing an embedded electrical transmission ability that mimics skeletal muscle nerves in the human body, affords versatile device functions. Novel micromachined copper buckles and grid wires are fabricated and their superiority in electricity delivery and driving the IPMC component with less flexural rigidity is demonstrated. In addition, soft conductive wires realized on a polydimethylsiloxane structure function as electrical signal transmitters. A light-emitting diode integrated with the developed actuator offers directional guiding light ability while the actuator performs a snake-like motion. The electrical conductivity and Young’s modulus of the key actuator components are investigated, and flexural rigidity and dynamic behavior analyses of the actuator under electrical manipulation are elaborated.

  1. Design and dynamic evaluation for a linear ultrasonic stage using the thin-disc structure actuator.

    PubMed

    Wen, Fuhliang; Yen, C-Y

    2007-12-01

    The design of a novel, single-axis ultrasonic actuating stage has been proposed. It consists of a movable plate, an edge-driving ultrasonic actuator as an actuating device, and a magnetic Magi encoder as a position sensor. The stage is impelled using a friction-contact mechanism by the ultrasonic actuator with long distance movement. Very high actuating and braking abilities are obtained. The stable and precise positioning control of the stage was achieved by using a neural-fuzzy controller. This simple and inexpensive structure of the single-axis stage demonstrates that the mechanical design of ultrasonic actuating concept could be done flexibly according to the requirements for various applications.

  2. 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.

  3. "Mighty Worm" Piezoelectric Actuator

    NASA Technical Reports Server (NTRS)

    Bamford, Robert M.; Wada, Ben K.; Moore, Donald M.

    1994-01-01

    "Mighty Worm" piezoelectric actuator used as adjustable-length structural member, active vibrator or vibration suppressor, and acts as simple (fixed-length) structural member when inactive. Load force not applied to piezoelectric element in simple-structural-member mode. Piezoelectric element removed from load path when not in use.

  4. 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.

  5. 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.

  6. 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.

  7. Shape Memory Alloy Actuator

    NASA Technical Reports Server (NTRS)

    Baumbick, Robert J. (Inventor)

    2002-01-01

    The present invention discloses and teaches a unique, remote optically controlled micro actuator particularly suitable for aerospace vehicle applications wherein hot gas, or in the alternative optical energy, is employed as the medium by which shape memory alloy elements are activated. In gas turbine powered aircraft the source of the hot gas may be the turbine engine compressor or turbine sections.

  8. Piezoelectric linear actuator

    NASA Technical Reports Server (NTRS)

    Lehrer, S.

    1969-01-01

    Actuator exerts linear force that is controllable and reproducible to microinch tolerance. It is constructed for extremely accurate control of a valve but can also be used as a variable venturi meter, micropositioner, microthruster, and in fluidics and reaction-control systems.

  9. "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.

  10. 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.

  11. Protein-based microhydraulic transport for controllable actuation

    NASA Astrophysics Data System (ADS)

    Sundaresan, Vishnu Baba; Leo, Donald J.

    2006-03-01

    Plants have the ability to develop large mechanical force from chemical energy available with bio-fuels. The energy released by the cleavage of a terminal phosphate ion during the hydrolysis of a bio- fuel assists the transport of ions and fluids in cellular homeostasis. Materials that develop pressure and hence strain similar to the response of plants to an external stimuli are classified as nastic materials. Calculations for controlled actuation of an active material inspired by biological transport mechanism demonstrated the feasibility of developing such a material with actuation energy densities on the order of 100 kJ/m 3. The mathematical model for a simplified proof of concept actuator referred to as micro hydraulic actuator uses ion transporters extracted from plants reconstituted on a synthetic bilayer lipid membrane (BLM). Thermodynamic model of the concept actuator predicted the ability to develop 5 percent normalized deformation in thickness of the micro- hydraulic actuator. Controlled fluid transport through AtSUT4 (Proton-sucrose co-transporter from Arabidopsis thaliana) reconstituted on a 1-Palmitoyl-2-Oleoyl-sn-Glycero-3-[Phospho-L- Serine] (Sodium Salt) (POPS), 1-Palmitoyl-2-Oleoyl-sn-Glycero-3- Phosphoethanolamine (POPE) BLM on a porous lead silicate glass plate (50μm with 61μm pitch) was driven by proton gradient. Bulk fluid flux of 1.2 μl/min was observed for each microliter of AtSUT4 transporter suspension (16.6 mg/ml in pH7.0 medium) reconstituted on the BLM. The flux rate is observed to be dependent on the concentration of sucrose present in pH4 buffer. Flux rate of 10 μl/min is observed for 5 mM sucrose in the first 10 minutes. The observed flux scales linearly with BLM area and the amount of proteins reconstituted on the lipid membrane. This article details the next step in the development of the micro hydraulic actuator - fluid transport driven by exergonic Adenosine triphosphate (ATP) hydrolysis reaction in the presence of ATP

  12. Dynamic modeling of brushless dc motors for aerospace actuation

    NASA Astrophysics Data System (ADS)

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

    1980-11-01

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

  13. Dynamic modeling of brushless dc motors for aerospace actuation

    NASA Technical Reports Server (NTRS)

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

    1980-01-01

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

  14. Dynamic modeling of brushless dc motors for aerospace actuation

    NASA Technical Reports Server (NTRS)

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

    1980-01-01

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

  15. Micro-Hydraulics Employing Non-Wetting Fluids

    NASA Astrophysics Data System (ADS)

    Wapner, P.; Hoffman, W.

    2000-06-01

    Hydraulic actuation is a mature technology that is widely used in a variety of applications in the macroscopic world. Its use in miniaturized devices such as microelectromechanical systems (MEMS), however, is just beginning to be exploited. This lag in development of micro-hydraulics results from the fact that it is not easy to construct miniaturized analogs of macroscopic hydraulic system using traditional MEMS fabrication techniques, such as photolithography. Tight-clearance pistons that do not allow bypass flow are difficult to fabricate in micro-devices. Fortunately, the very fact that MEMS devices are so tiny enables a very different kind of hydraulic technology to be utilized. It is based on surface-related phenomena associated with flows of non-wetting fluids in micro-channels.

  16. A new technology for high density actuator arrays

    NASA Astrophysics Data System (ADS)

    Bowles, Adrian; Rahman, Ahmed; Jarman, Tim; Morris, Paul; Gore, Jon

    2005-05-01

    A new, low cost technique for excitation and control of high density, actuator arrays has been developed. Primarily aimed at the tactile display of universal text, Braille and graphics for the Blind community, magnetic forces are utilised to actuate and hold individually addressable pins. Current tactile displays that allow Blind people to interact with the world via electronic media are expensive and due to their inherent complexity can only display the Braille language, which on average only 10% of visually impaired people in Western society are able to read. There is a need for a more flexible communication device. Using multilayer printed circuit board techniques to minimize production and assembly costs, large arrays of magnetic solenoid actuators were fabricated on a single substrate. They were electrically interconnected to allow matrix addressing of any single element in the array to reduce electronic component count. A bistable mechanism was produced using a permanent magnet layer allowing the solenoid actuator to be toggled between an 'up' state and a 'down' state. Besides being necessary for matrix addressing, this bistability gives good energy efficiency as power is only required when the system is updated and not when holding the static display. An error correction technique was developed that automatically corrected a bistable actuator if it had mistakenly moved into an incorrect position through mechanical shock. A 360 actuator demonstration unit was produced that displayed alphanumeric text, Braille or graphics in a tactile form.

  17. Energy harvesting from hydraulic pressure fluctuations

    NASA Astrophysics Data System (ADS)

    Cunefare, K. A.; Skow, E. A.; Erturk, A.; Savor, J.; Verma, N.; Cacan, M. R.

    2013-02-01

    State-of-the-art hydraulic hose and piping systems employ integral sensor nodes for structural health monitoring to avoid catastrophic failures. Energy harvesting in hydraulic systems could enable self-powered wireless sensor nodes for applications such as energy-autonomous structural health monitoring and prognosis. Hydraulic systems inherently have a high energy intensity associated with the mean pressure and flow. Accompanying the mean pressure is the dynamic pressure ripple, which is caused by the action of pumps and actuators. Pressure ripple is a deterministic source with a periodic time-domain behavior conducive to energy harvesting. An energy harvester prototype was designed for generating low-power electricity from pressure ripples. The prototype employed an axially-poled off-the-shelf piezoelectric stack. A housing isolated the stack from the hydraulic fluid while maintaining a mechanical coupling allowing for dynamic-pressure-induced deflection of the stack. The prototype exhibited an off-resonance energy harvesting problem since the fundamental resonance of the piezoelectric stack was much higher than the frequency content of the pressure ripple. The prototype was designed to provide a suitable power output for powering sensors with a maximum output of 1.2 mW. This work also presents electromechanical model simulations and experimental characterization of the piezoelectric power output from the pressure ripple in terms of the force transmitted into the harvester.

  18. 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

  19. Shape-memory-actuated compliant control surface

    NASA Astrophysics Data System (ADS)

    Maclean, Brian J.; Carpenter, Bernie F.; Draper, Jerry L.; Misra, Mohan S.

    1993-09-01

    Advanced submarine stern configurations require a variety of control surfaces to actively manage aftbody boundary layer flow, vorticity, propulsor inflow and intrapropulsor flow, as well as vehicle attitude. Two necessary attributes of advanced control surface designs include (1) integrated actuation to provide placement flexibility at remote locations with minimal structural interfacing and control interconnects, and (2) improved lift efficiency and flow using variable or adaptive camber control. To demonstrate these attributes, a shape memory alloy (SMA) actuated compliant control fin (CCF) with a planform area of 620 sq. cm was developed for evaluation as rudder and sternplane appendages on a radio control submarine model at velocities up to 5.1 m/s (Reynolds No. approximately equals 1,000,000) and up to 0.2 Hz full cycle actuation. A completely fixed root design was developed to reduce turbulence at the hull/fine interface, with compliant deformation of the foil to improve flow characteristics over the baseline full-flying and trailing-edge-flap designs.

  20. 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.

  1. Power Analysis in Flexible Automation

    DTIC Science & Technology

    1992-12-15

    3-7 3.2.1 DC Motors ........ ................... 3-8 3.2.2 Hydraulic Actuators ....... .............. 3-10 3.3 Manipulator Jacobian...11 5.1. Lift Task .......... ................................. 5-2 5.2. Lift Task Efficiency for Two-Link Serial Arm ;v/ DC , Motors ("El- bow Down...21 I.1. Lift Task Efficienicy for Iwo-Lijik Armi ’v/ DC Motors and(1’ Z-- The lightest, region rejprescil"ItI.s zý5 95%X aind the b

  2. A study on the effect of surface topography on the actuation performance of stacked-rolled dielectric electro active polymer actuator

    NASA Astrophysics Data System (ADS)

    Sait, Usha; Muthuswamy, Sreekumar

    2016-05-01

    Dielectric electro active polymer (DEAP) is a suitable actuator material that finds wide applications in the field of robotics and medical areas. This material is highly controllable, flexible, and capable of developing large strain. The influence of geometrical behavior becomes critical when the material is used as miniaturized actuation devices in robotic applications. The present work focuses on the effect of surface topography on the performance of flat (single sheet) and stacked-rolled DEAP actuators. The non-active areas in the form of elliptical spots that affect the performance of the actuator are identified using scanning electron microscope (SEM) and energy dissipated X-ray (EDX) experiments. Performance of DEAP actuation is critically evaluated, compared, and presented with analytical and experimental results.

  3. Aircraft Hydraulic System Leakage Detection and Servicing Recommendations Method

    DTIC Science & Technology

    2014-10-02

    accumulators, filters, and consumers, that include all the actuators connected to the hydraulic power such as flight controls , brake and landing...Conference, October 4-8 Calgary, Alberta, Canada. Merrit, H. E., (1967), Hydraulic Control Systems. New York: John Willey & Sons. Vianna, W. O. L...2008), Modelagem e Análise do Sistema Hidráulico de uma Aeronave Comercial Regional. M.Sc. Thesis. Instituto Tecnológico de Aeronáutica, São José

  4. 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

  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. 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.

  7. 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.

  8. 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.

  9. 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.

  10. 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.

  11. Passively actuated valve

    SciTech Connect

    Modro, S. Michael; Ougouag, Abderrafi M.

    2005-09-20

    A passively actuated valve for isolating a high pressure zone from a low pressure zone and discontinuing the isolation when the pressure in the high pressure zone drops below a preset threshold. If the pressure in the high pressure zone drops below the preset threshold, the valve opens and allows flow from the high pressure zone to the low pressure zone. The valve remains open allowing pressure equalization and back-flow should a pressure inversion between the two pressure zone occur.

  12. Shape Memory Actuator System

    DTIC Science & Technology

    1998-07-31

    The advantage in utilizing 15 shape-memory cables made of Nitinol for size reduction of the remote control actuator system is 1 Fi well suited for...a submarine environment because of its non-magnetic and corrosion resistance 17 properties. Use of thermoelastic Nitinol introduces other...problems because of the cooling and 18 resetting properties of Nitinol cables. It is therefore an important object of the present invention 19 on to

  13. 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.

  14. 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.

  15. 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.

  16. 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.

  17. Dissolution actuated sample container

    SciTech Connect

    Nance, Thomas A.; McCoy, Frank T.

    2013-03-26

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

  18. Constrained model based control for minimum-time start of hydraulic turbines

    NASA Astrophysics Data System (ADS)

    Mesnage, Hugo; Alamir, Mazen; Perrissin-Fabert, Nicolas; Alloin, Quentin

    2016-11-01

    This paper introduces a simplified model of hydraulic turbines including the hydraulic nonlinear hill-chart and a first order model of the penstock. Based on the resulting reduced model, a graphical representation of the vector fields of the resulting controlled system is obtained under band unlimited actuator. This ideal 2D-graphical representation enables an exact evaluation of the lower bound on the minimum achievable start-time as well as the time structure of the control profile. The consequences of the use of a band-limited actuator is also analyzed enabling a close estimation of the lower bound on the start time in practical situations.

  19. Note: Development of a compact electromagnetic hydraulic pump for a microrobot joint driving system.

    PubMed

    Chen, Naijian; Wang, Sun'an; Zhang, Jinhua

    2010-04-01

    This note describes a compact electromagnetic hydraulic pump (EMHP) designed primarily to build a microdriving system for a robot joint actuator. A characteristic mathematical model integrating electricity, magnetism, and hydraulics is constructed to represent the working process of the EMHP. Tests show that a volumetric flow rate of up to 430 cm(3)/min and load pressure of up to 2.5 MPa can be achieved. The prototype pump can supply stable pressure of 0-2.4 MPa and acceleration of 1.2 MPa/s for the robot joint actuator.

  20. Microelectromechanical (MEM) thermal actuator

    SciTech Connect

    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.

  1. Application of polyimide actuator rod seals

    NASA Technical Reports Server (NTRS)

    Watermann, A. W.; Gay, B. F.; Robinson, E. D.; Srinath, S. K.; Nelson, W. G.

    1972-01-01

    Development of polyimide two-stage hydraulic actuator rod seals for application in high-performance aircraft was accomplished. The significant portion of the effort was concentrated on optimization of the chevron and K-section second-stage seal geometries to satisfy the requirements for operation at 450 K (350 F) with dynamic pressure loads varying between 200 psig steady-state and 1500 psig impulse cycling. Particular significance was placed on reducing seal gland dimension by efficiently utilizing the fatigue allowables of polyimide materials. Other objectives included investigation of pressure balancing techniques for first-stage polyimide rod seals for 4000 psig 450 K(350 F) environment and fabrication of a modular retainer for the two-stage combination. Seals were fabricated in 0.0254 m (1.0in.) and 0.0635 m (2.5in.) sizes and tested for structural integrity, frictional resistance, and endurance life. Test results showed that carefully designed second stages using polyimides could be made to satisfy the dynamic return pressure requirements of applications in high-performance aircraft. High wear under full system pressure indicated that further research is necessary to obtain an acceptable first-stage design. The modular retainer was successfully tested and showed potential for new actuator applications.

  2. Electromechanical actuation for thrust vector control applications

    NASA Technical Reports Server (NTRS)

    Roth, Mary Ellen

    1990-01-01

    The advanced launch system (ALS), is a launch vehicle that is designed to be cost-effective, highly reliable, and operationally efficient with a goal of reducing the cost per pound to orbit. An electromechanical actuation (EMA) system is being developed as an attractive alternative to the hydraulic systems. The controller will integrate 20 kHz resonant link power management and distribution (PMAD) technology and pulse population modulation (PPM) techniques to implement field-oriented vector control (FOVC) of a new advanced induction motor. The driver and the FOVC will be microprocessor controlled. For increased system reliability, a built-in test (BITE) capability will be included. This involves introducing testability into the design of a system such that testing is calibrated and exercised during the design, manufacturing, maintenance, and prelaunch activities. An actuator will be integrated with the motor controller for performance testing of the EMA thrust vector control (TVC) system. The EMA system and work proposed for the future are discussed.

  3. Integrated sensing and actuation of dielectric elastomer actuator

    NASA Astrophysics Data System (ADS)

    Ye, Zhihang; Chen, Zheng

    2017-04-01

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

  4. The application of hydraulics in the 2,000 kW wind turbine generator

    NASA Technical Reports Server (NTRS)

    Onufreiczuk, S.

    1978-01-01

    A 2000 kW turbine generator using hydraulic power in two of its control systems is being built under the management of NASA Lewis Research Center. The hydraulic systems providing the control torques and forces for the yaw and blade pitch control systems are discussed. The yaw-drive-system hydraulic supply provides the power for positioning the nacelle so that the rotary axis is kept in line with the direction of the prevailing wind, as well as pressure to the yaw and high speed shaft brakes. The pitch-change-mechanism hydraulic system provides the actuation to the pitch change mechanism and permits feathering of the blades during an emergency situation. It operates in conjunction with the overall windmill computer system, with the feather control permitting slewing control flow to pass from the servo valve to the actuators without restriction.

  5. Control method and system for hydraulic machines employing a dynamic joint motion model

    DOEpatents

    Danko, George [Reno, NV

    2011-11-22

    A control method and system for controlling a hydraulically actuated mechanical arm to perform a task, the mechanical arm optionally being a hydraulically actuated excavator arm. The method can include determining a dynamic model of the motion of the hydraulic arm for each hydraulic arm link by relating the input signal vector for each respective link to the output signal vector for the same link. Also the method can include determining an error signal for each link as the weighted sum of the differences between a measured position and a reference position and between the time derivatives of the measured position and the time derivatives of the reference position for each respective link. The weights used in the determination of the error signal can be determined from the constant coefficients of the dynamic model. The error signal can be applied in a closed negative feedback control loop to diminish or eliminate the error signal for each respective link.

  6. 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

  7. 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

  8. 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.

  9. Placement of piezoelectric actuators for active control of vibration using modal parameters

    NASA Astrophysics Data System (ADS)

    Zhu, Xuegeng

    1998-12-01

    An equation is derived to model the piezoelectric actuators incorporation with flexible structures. This equation permits the comparison of the performance indices over the entire structure for a piezoelectric actuator with constant area, which is unachievable if the Finite Element Method is used for complicated structures. An index has been developed for placement of piezoelectric actuator for control of vibration of a flexible structure. This index is derived from the definition of H2 norm. Computation of the proposed index requires only the natural frequencies and corresponding mode shapes of the structures of interest. The method is well suited to large structure application because of the simplicity of the calculation. The proposed index is valid either for point sensor and actuator or for distributed types such as piezoelectric. Application of the method for different combinations of sensors and actuators has been discussed. Both piezoelectric patch and piezoelectric fiber actuators are used to verify the effectiveness of the proposed index. The comparison of H2 and H infinity norms shows good agreement for beam and plate models with single, three, and six modes. The comparison of H2 and Hinfinity norms is also made for a cantilevered beam with fixed sensor location, and a simply supported plate with a piezoelectric fiber actuator. Agreement between those two norms as well as the proposed index is demonstrated through all the cases. Imbedded piezoelectric fiber actuators, which, are able to supply anisotropic control actuation, have an optimal fiber orientation, which is related to different structures, but independent of the volume fraction of the PZT fibers. Piezoelectric fiber actuator with volume fraction nuf < 1 creates twisting moment, which has better performance than that of a monolithic piezoelectric patch actuator in control of twisting mode.

  10. System and method for controlling hydraulic pressure in electro-hydraulic valve actuation systems

    DOEpatents

    Brennan, Daniel G; Marriott, Craig D; Cowgill, Joel; Wiles, Matthew A; Patton, Kenneth James

    2014-09-23

    A control system for an engine includes a first lift control module and a second lift control module. The first lift control module increases lift of M valves of the engine to a predetermined valve lift during a period before disabling or re-enabling N valves of the engine. The second lift control module decreases the lift of the M valves to a desired valve lift during a period after enabling or re-enabling the N valves of the engine, wherein N and M are integers greater than or equal to one.

  11. Self-Latching Piezocomposite Actuator

    NASA Technical Reports Server (NTRS)

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

    2017-01-01

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

  12. SPS flexible system control assessment analysis

    NASA Technical Reports Server (NTRS)

    Balas, M. J.

    1981-01-01

    Active control of the Satellite Power System (SPS0, a large mechanically flexible aerospace structure is addressed. The control algorithm is the principle component in the feedback link from sensors to actuators. An analysis of the interaction of the SPS structure and its active control system is presented.

  13. Flexible Ablators

    NASA Technical Reports Server (NTRS)

    Stackpoole, Margaret M. (Inventor); Ghandehari, Ehson M. (Inventor); Thornton, Jeremy J. (Inventor); Covington, Melmoth Alan (Inventor)

    2017-01-01

    A low-density article comprising a flexible substrate and a pyrolizable material impregnated therein, methods of preparing, and devices using the article are disclosed. The pyrolizable material pyrolizes above 350 C and does not flow at temperatures below the pyrolysis temperature. The low-density article remains flexible after impregnation and continues to remain flexible when the pyrolizable material is fully pyrolized.

  14. Intelligent redundant actuation system requirements and preliminary system design

    NASA Technical Reports Server (NTRS)

    Defeo, P.; Geiger, L. J.; Harris, J.

    1985-01-01

    Several redundant actuation system configurations were designed and demonstrated to satisfy the stringent operational requirements of advanced flight control systems. However, this has been accomplished largely through brute force hardware redundancy, resulting in significantly increased computational requirements on the flight control computers which perform the failure analysis and reconfiguration management. Modern technology now provides powerful, low-cost microprocessors which are effective in performing failure isolation and configuration management at the local actuator level. One such concept, called an Intelligent Redundant Actuation System (IRAS), significantly reduces the flight control computer requirements and performs the local tasks more comprehensively than previously feasible. The requirements and preliminary design of an experimental laboratory system capable of demonstrating the concept and sufficiently flexible to explore a variety of configurations are discussed.

  15. Development of soft robots using dielectric elastomer actuators

    NASA Astrophysics Data System (ADS)

    Godaba, Hareesh; Wang, Yuzhe; Cao, Jiawei; Zhu, Jian

    2016-04-01

    Soft robots are gaining in popularity due to their unique attributes such as low weight, compliance, flexibility and diverse range in motion types. This paper illustrates soft robots and actuators which are developed using dielectric elastomer. These developments include a jellyfish robot, a worm like robot and artificial muscle actuators for jaw movement in a robotic skull. The jellyfish robot which employs a bulged dielectric elastomer membrane has been demonstrated too generate thrust and buoyant forces and can move effectively in water. The artificial muscle for jaw movement employs a pure shear configuration and has been shown to closely mimic the jaw motion while chewing or singing a song. Thee inchworm robot, powered by dielectric elastomer actuator can demonstrate stable movement in one-direction.

  16. Electrostatic actuation of nanomechanical optical fibers with integrated electrodes

    NASA Astrophysics Data System (ADS)

    Podoliak, Nina; Lian, Zhenggang; Segura, Martha; Loh, Wei H.; Horak, Peter

    2014-05-01

    We investigate theoretically and experimentally the possibility of electrostatic actuation of nanomechanical optical fibers with integrated electrodes. The fiber has two optically guiding cores suspended in air by thin flexible membranes. This fiber structure allows for control of the optical properties via nanometer-range mechanical core movements. The electrostatic actuation of the fiber is generated by electrically charged electrodes embedded in the fiber cladding. Fiber designs with one to four electrodes are analyzed and, in particular, a quadrupole geometry is shown to allow for all-fiber optical switching in a 10cm fiber with an operating voltage of 25 - 30V. A multi-material fiber draw technique is demonstrated to fabricate a fiber with well-defined dual core structure in the middle and four continuous metal electrodes in the cladding. The fabricated fiber is analyzed and compared with the modeled requirements for electrostatic actuation.

  17. Muscular MEMS—the engineering of liquid crystal elastomer actuators

    NASA Astrophysics Data System (ADS)

    Petsch, S.; Khatri, B.; Schuhladen, S.; Köbele, L.; Rix, R.; Zentel, R.; Zappe, H.

    2016-08-01

    A new class of soft-matter actuator, the liquid crystal elastomer (LCE), shows promise for application in a wide variety of mechanical microsystems. Frequently referred to as an ‘artificial muscle’, this family of materials exhibits large actuation stroke and generates considerable force, in a compact form which may easily be combined with the structures and devices commonly used in microsystems and MEMS. We show here how standard microfabrication techniques may be used to integrate LCEs into mechanical microsystems and present an in-depth analysis of their mechanical and actuation properties. Using an example from micro-optics and optical MEMS, we demonstrate that their performance and flexibility allows realization of entirely new types of tunable optical functionality.

  18. 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.

  19. 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.

  20. Cellular Pressure-Actuated Joint

    NASA Technical Reports Server (NTRS)

    McGuire, John R.

    2003-01-01

    A modification of a pressure-actuated joint has been proposed to improve its pressure actuation in such a manner as to reduce the potential for leakage of the pressurizing fluid. The specific joint for which the modification is proposed is a field joint in a reusable solid-fuel rocket motor (RSRM), in which the pressurizing fluid is a mixture of hot combustion gases. The proposed modification could also be applicable to other pressure-actuated joints of similar configuration.