H∞ control for uncertain linear system over networks with Bernoulli data dropout and actuator saturation.

PubMed

Yu, Jimin; Yang, Chenchen; Tang, Xiaoming; Wang, Ping

2018-03-01

This paper investigates the H ∞ control problems for uncertain linear system over networks with random communication data dropout and actuator saturation. The random data dropout process is modeled by a Bernoulli distributed white sequence with a known conditional probability distribution and the actuator saturation is confined in a convex hull by introducing a group of auxiliary matrices. By constructing a quadratic Lyapunov function, effective conditions for the state feedback-based H ∞ controller and the observer-based H ∞ controller are proposed in the form of non-convex matrix inequalities to take the random data dropout and actuator saturation into consideration simultaneously, and the problem of non-convex feasibility is solved by applying cone complementarity linearization (CCL) procedure. Finally, two simulation examples are given to demonstrate the effectiveness of the proposed new design techniques. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

A Novel Fractional Order Model for the Dynamic Hysteresis of Piezoelectrically Actuated Fast Tool Servo

PubMed Central

Zhu, Zhiwei; Zhou, Xiaoqin

2012-01-01

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

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

NASA Technical Reports Server (NTRS)

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

1994-01-01

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

Analysis and simulation of a magnetic bearing suspension system for a laboratory model annular momentum control device

NASA Technical Reports Server (NTRS)

Groom, N. J.; Woolley, C. T.; Joshi, S. M.

1981-01-01

A linear analysis and the results of a nonlinear simulation of a magnetic bearing suspension system which uses permanent magnet flux biasing are presented. The magnetic bearing suspension is part of a 4068 N-m-s (3000 lb-ft-sec) laboratory model annular momentum control device (AMCD). The simulation includes rigid body rim dynamics, linear and nonlinear axial actuators, linear radial actuators, axial and radial rim warp, and power supply and power driver current limits.

Space Mirror Alignment System

NASA Technical Reports Server (NTRS)

Jau, Bruno M.; McKinney, Colin; Smythe, Robert F.; Palmer, Dean L.

2011-01-01

An optical alignment mirror mechanism (AMM) has been developed with angular positioning accuracy of +/-0.2 arcsec. This requires the mirror s linear positioning actuators to have positioning resolutions of +/-112 nm to enable the mirror to meet the angular tip/tilt accuracy requirement. Demonstrated capabilities are 0.1 arc-sec angular mirror positioning accuracy, which translates into linear positioning resolutions at the actuator of 50 nm. The mechanism consists of a structure with sets of cross-directional flexures that enable the mirror s tip and tilt motion, a mirror with its kinematic mount, and two linear actuators. An actuator comprises a brushless DC motor, a linear ball screw, and a piezoelectric brake that holds the mirror s position while the unit is unpowered. An interferometric linear position sensor senses the actuator s position. The AMMs were developed for an Astrometric Beam Combiner (ABC) optical bench, which is part of an interferometer development. Custom electronics were also developed to accommodate the presence of multiple AMMs within the ABC and provide a compact, all-in-one solution to power and control the AMMs.

Resonance test system

DOEpatents

Musial, Walter [Boulder, CO; White, Darris [Superior, CO

2011-05-31

An apparatus (10) for applying at least one load to a specimen (12) according to one embodiment of the invention may comprise a mass (18). An actuator (20) mounted to the specimen (12) and operatively associated with the mass (18) moves the mass (18) along a linear displacement path (22) that is perpendicular to a longitudinal axis of the specimen (12). A control system (26) operatively associated with the actuator (20) operates the actuator (20) to reciprocate the mass (18) along the linear displacement path (22) at a reciprocating frequency, the reciprocating frequency being about equal to a resonance frequency of the specimen (12) in a test configuration.

Linear or Rotary Actuator Using Electromagnetic Driven Hammer as Prime Mover

NASA Technical Reports Server (NTRS)

McMahan, Bert K. (Inventor); Sesler, Joshua J. (Inventor); Paine, Matthew T. (Inventor); McMahan, Mark C. (Inventor); Paine, Jeffrey S. N. (Inventor); Smith, Byron F. (Inventor)

2018-01-01

We claim a hammer driven actuator that uses the fast-motion, low-force characteristics of an electro-magnetic or similar prime mover to develop kinetic energy that can be transformed via a friction interface to produce a higher-force, lower-speed linear or rotary actuator by using a hammering process to produce a series of individual steps. Such a system can be implemented using a voice-coil, electro-mechanical solenoid or similar prime mover. Where a typical actuator provides limited range of motion or low force, the range of motion of a linear or rotary impact driven motor can be configured to provide large displacements which are not limited by the characteristic dimensions of the prime mover.

T-Slide Linear Actuators

NASA Technical Reports Server (NTRS)

Vranish, John

2009-01-01

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

Electrostatic polymer-based microdeformable mirror for adaptive optics

NASA Astrophysics Data System (ADS)

Zamkotsian, Frederic; Conedera, Veronique; Granier, Hugues; Liotard, Arnaud; Lanzoni, Patrick; Salvagnac, Ludovic; Fabre, Norbert; Camon, Henri

2007-02-01

Future adaptive optics (AO) systems require deformable mirrors with very challenging parameters, up to 250 000 actuators and inter-actuator spacing around 500 μm. MOEMS-based devices are promising for the development of a complete generation of new deformable mirrors. Our micro-deformable mirror (MDM) is based on an array of electrostatic actuators with attachments to a continuous mirror on top. The originality of our approach lies in the elaboration of layers made of polymer materials. Mirror layers and active actuators have been demonstrated. Based on the design of this actuator and our polymer process, realization of a complete polymer-MDM has been done using two process flows: the first involves exclusively polymer materials while the second uses SU8 polymer for structural layers and SiO II and sol-gel for sacrificial layers. The latest shows a better capability in order to produce completely released structures. The electrostatic force provides a non-linear actuation, while AO systems are based on linear matrices operations. Then, we have developed a dedicated 14-bit electronics in order to "linearize" the actuation, using a calibration and a sixth-order polynomial fitting strategy. The response is nearly perfect over our 3×3 MDM prototype with a standard deviation of 3.5 nm; the influence function of the central actuator has been measured. First evaluation on the cross non-linarities has also been studied on OKO mirror and a simple look-up table is sufficient for determining the location of each actuator whatever the locations of the neighbor actuators. Electrostatic MDM are particularly well suited for open-loop AO applications.

Linear Actuator System for the NASA Docking System

NASA Technical Reports Server (NTRS)

Dick, Brandon; Oesch, Chris

2017-01-01

The Linear Actuator System (LAS) is a major sub-system within the NASA Docking System (NDS). The NDS Block 1 will be used on the Boeing Crew Space Transportation (CST-100) system to achieve docking with the International Space Station. Critical functions in the Soft Capture aspect of docking are performed by the LAS, which implements the Soft Impact Mating and Attenuation Concept (SIMAC). This paper describes the general function of the LAS, the system's key requirements and technical challenges, and the development and qualification approach for the system.

Silicone based dielectric elastomer strip actuators coupled with nonlinear biasing elements for large actuation strains

NASA Astrophysics Data System (ADS)

Hau, S.; Bruch, D.; Rizzello, G.; Motzki, P.; Seelecke, S.

2018-07-01

There are two major categories of dielectric elastomer actuators (DEAs), which differ from the way in which the actuation is exploited: stack DEAs, using the thickness compression, and membrane DEAs, which exploit the expansion in area. In this work we focus on a specific type of membrane DEAs, i.e., silicone-based strip-in-plane (SIP) DEAs with screen printed electrodes. The performance of such actuators strongly depends on their geometry and on the adopted mechanical biasing system. Typically, the biasing is based on elastomer pre-stretch or on dead loads, which results in relatively low actuation strain. Biasing systems characterized by a negative rate spring have proven to significantly increase the performance of circular out-of-plane DEAs. However, this kind of biasing has never been systematically applied to silicone SIP DEAs. In this work, the biasing design based on negative rate springs is extended to strip DEAs as well, allowing to improve speed, strain, and force of the resulting actuator. At first, the DEAs are characterized under electrical and mechanical loading. Afterwards, two actuator systems are studied and compared in terms of actuation strain, force output, and actuation speed. In a first design stage, the DEA is coupled with a linear spring. Subsequently, the membrane is loaded with a combination of linear and nonlinear spring (working in a negative stiffness region). The resulting stroke output of the second systems is more than 9 times higher in comparison to the first one. An actuation strain of up to 45% (11.2 millimeter) and a force output of 0.38 Newton are measured. A maximum speed of 0.29 m s‑1 is achieved, which is about 60 times faster than the one typically measured for similar systems based on VHB.

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 conditions. Using the HIL framework, the fault tolerant hydraulic actuator is operated as a flight control actuator against the real-time numerical simulation of a high-performance jet aircraft. A robust electrohydraulic loading system is also designed using QFT so that the in-flight aerodynamic load can be experimentally replicated. The results of the HIL experiments show that using the fault tolerant controller to compensate the internal leakage fault at the actuator level can benefit the flight performance of the airplane.

Photocathode device that replenishes photoemissive coating

DOE Office of Scientific and Technical Information (OSTI.GOV)

Moody, Nathan A.; Lizon, David C.

2016-06-14

A photocathode device may replenish its photoemissive coating to replace coating material that desorbs/evaporates during photoemission. A linear actuator system may regulate the release of a replenishment material vapor, such as an alkali metal, from a chamber inside the photocathode device to a porous cathode substrate. The replenishment material deposits on the inner surface of a porous membrane and effuses through the membrane to the outer surface, where it replenishes the photoemissive coating. The rate of replenishment of the photoemissive coating may be adjusted using the linear actuator system to regulate performance of the photocathode device during photoemission. Alternatively, themore » linear actuator system may adjust a plasma discharge gap between a cartridge containing replenishment material and a metal grid. A potential is applied between the cartridge and the grid, resulting in ejection of metal ions from the cartridge that similarly replenish the photoemissive coating.« less

Adaptive robust fault-tolerant control for linear MIMO systems with unmatched uncertainties

NASA Astrophysics Data System (ADS)

Zhang, Kangkang; Jiang, Bin; Yan, Xing-Gang; Mao, Zehui

2017-10-01

In this paper, two novel fault-tolerant control design approaches are proposed for linear MIMO systems with actuator additive faults, multiplicative faults and unmatched uncertainties. For time-varying multiplicative and additive faults, new adaptive laws and additive compensation functions are proposed. A set of conditions is developed such that the unmatched uncertainties are compensated by actuators in control. On the other hand, for unmatched uncertainties with their projection in unmatched space being not zero, based on a (vector) relative degree condition, additive functions are designed to compensate for the uncertainties from output channels in the presence of actuator faults. The developed fault-tolerant control schemes are applied to two aircraft systems to demonstrate the efficiency of the proposed approaches.

MEMS earthworm: a thermally actuated peristaltic linear micromotor

NASA Astrophysics Data System (ADS)

Arthur, Craig; Ellerington, Neil; Hubbard, Ted; Kujath, Marek

2011-03-01

This paper examines the design, fabrication and testing of a bio-mimetic MEMS (micro-electro mechanical systems) earthworm motor with external actuators. The motor consists of a passive mobile shuttle with two flexible diamond-shaped segments; each segment is independently squeezed by a pair of stationary chevron-shaped thermal actuators. Applying a specific sequence of squeezes to the earthworm segments, the shuttle can be driven backward or forward. Unlike existing inchworm drives that use clamping and thrusting actuators, the earthworm actuators apply only clamping forces to the shuttle, and lateral thrust is produced by the shuttle's compliant geometry. The earthworm assembly is fabricated using the PolyMUMPs process with planar dimensions of 400 µm width by 800 µm length. The stationary actuators operate within the range of 4-9 V and provide a maximum shuttle range of motion of 350 µm (approximately half its size), a maximum shuttle speed of 17 mm s-1 at 10 kHz, and a maximum dc shuttle force of 80 µN. The shuttle speed was found to vary linearly with both input voltage and input frequency. The shuttle force was found to vary linearly with the actuator voltage.

Microelectromechanical Systems Actuator Based Reconfigurable Printed Antenna

NASA Technical Reports Server (NTRS)

Simons, Rainee N. (Inventor)

2005-01-01

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

The development of a microprocessor-controlled linearly-actuated valve assembly

NASA Technical Reports Server (NTRS)

Wall, R. H.

1984-01-01

The development of a proportional fluid control valve assembly is presented. This electromechanical system is needed for space applications to replace the current proportional flow controllers. The flow is controlled by a microprocessor system that monitors the control parameters of upstream pressure and requested volumetric flow rate. The microprocessor achieves the proper valve stem displacement by means of a digital linear actuator. A linear displacement sensor is used to measure the valve stem position. This displacement is monitored by the microprocessor system as a feedback signal to close the control loop. With an upstream pressure between 15 and 47 psig, the developed system operates between 779 standard CU cm/sec (SCCS) and 1543 SCCS.

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.

78 FR 26393 - Certain Linear Actuators; Institution of Investigation Pursuant to 19 U.S.C. 1337

Federal Register 2010, 2011, 2012, 2013, 2014

2013-05-06

... INTERNATIONAL TRADE COMMISSION [Investigation No. 337-TA-880] Certain Linear Actuators... importation, and the sale within the United States after importation of certain linear actuators by reason of... linear actuators by reason of infringement of one or more of claims 1-29 of the '144 patent, and whether...

Identifiability of conservative linear mechanical systems. [applied to large flexible spacecraft structures

NASA Technical Reports Server (NTRS)

Sirlin, S. W.; Longman, R. W.; Juang, J. N.

1985-01-01

With a sufficiently great number of sensors and actuators, any finite dimensional dynamic system is identifiable on the basis of input-output data. It is presently indicated that, for conservative nongyroscopic linear mechanical systems, the number of sensors and actuators required for identifiability is very large, where 'identifiability' is understood as a unique determination of the mass and stiffness matrices. The required number of sensors and actuators drops by a factor of two, given a relaxation of the identifiability criterion so that identification can fail only if the system parameters being identified lie in a set of measure zero. When the mass matrix is known a priori, this additional information does not significantly affect the requirements for guaranteed identifiability, though the number of parameters to be determined is reduced by a factor of two.

Multi-objective control of nonlinear boiler-turbine dynamics with actuator magnitude and rate constraints.

PubMed

Chen, Pang-Chia

2013-01-01

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

Elastomeric actuator devices for magnetic resonance imaging

NASA Technical Reports Server (NTRS)

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

Piezohydraulic Pump Development

NASA Technical Reports Server (NTRS)

Lynch, Christopher S.

2005-01-01

Reciprocating piston piezohydraulic pumps were developed originally under the Smart Wing Phase II program (Lynch) and later under the CHAP program (CSA, Kinetic Ceramics). These pumps focused on 10 cm scale stack actuators operating below resonance and, more recently, at resonance. A survey of commercially available linear actuators indicates that obtaining power density and specific power greater than electromagnetic linear actuators requires driving the stacks at frequencies greater than 1 KHz at high fields. In the case of 10 cm scale actuators the power supply signal conditioning becomes large and heavy and the soft PZT stack actuators generate a lot of heat due to internal losses. Reciprocation frequencies can be increased and material losses significantly decreased through use of millimeter scale single crystal stack actuators. We are presently targeting the design of pumps that utilize stacks at the 1-10 mm length scale and run at reciprocating frequencies of 20kHz or greater. This offers significant advantages over current approaches including eliminating audible noise and significantly increasing the power density and specific power of the system (including electronics). The pump currently under development will comprise an LC resonant drive of a resonant crystal and head mass operating against a resonant fluid column. Each of these resonant systems are high Q and together should produce a single high Q second order system.

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

NASA Technical Reports Server (NTRS)

Birdwell, J. D.

1978-01-01

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

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.

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.

Soft Ionic Electroactive Polymer Actuators with Tunable Non-Linear Angular Deformation

PubMed Central

Hong, Wangyujue; Almomani, Abdallah; Chen, Yuanfen; Jamshidi, Reihaneh; Montazami, Reza

2017-01-01

The most rational approach to fabricate soft robotics is the implementation of soft actuators. Conventional soft electromechanical actuators exhibit linear or circular deformation, based on their design. This study presents the use of conjugated polymers, Poly(3,4-ethylenedioxythiophene)-poly(styrenesulfonate) (PEDOT:PSS) to locally vary ion permeability of the ionic electroactive polymer actuators and manipulate ion motion through means of structural design to realize intrinsic angular deformation. Such angular deformations are closer to biomimetic systems and have potential applications in bio-robotics. Electrochemical studies reveal that the mechanism of actuation is mainly associated with the charging of electric double layer (EDL) capacitors by ion accumulation and the PEDOT:PSS layer’s expansion by ion interchange and penetration. Dependence of actuator deformation on structural design is studied experimentally and conclusions are verified by analytical and finite element method modeling. The results suggest that the ion-material interactions are considerably dominated by the design of the drop-cast PEDOT:PSS on Nafion. PMID:28773036

Soft Ionic Electroactive Polymer Actuators with Tunable Non-Linear Angular Deformation.

PubMed

Hong, Wangyujue; Almomani, Abdallah; Chen, Yuanfen; Jamshidi, Reihaneh; Montazami, Reza

2017-06-21

The most rational approach to fabricate soft robotics is the implementation of soft actuators. Conventional soft electromechanical actuators exhibit linear or circular deformation, based on their design. This study presents the use of conjugated polymers, Poly(3,4-ethylenedioxythiophene)-poly(styrenesulfonate) (PEDOT:PSS) to locally vary ion permeability of the ionic electroactive polymer actuators and manipulate ion motion through means of structural design to realize intrinsic angular deformation. Such angular deformations are closer to biomimetic systems and have potential applications in bio-robotics. Electrochemical studies reveal that the mechanism of actuation is mainly associated with the charging of electric double layer (EDL) capacitors by ion accumulation and the PEDOT:PSS layer's expansion by ion interchange and penetration. Dependence of actuator deformation on structural design is studied experimentally and conclusions are verified by analytical and finite element method modeling. The results suggest that the ion-material interactions are considerably dominated by the design of the drop-cast PEDOT:PSS on Nafion.

Linear Extended State Observer-Based Motion Synchronization Control for Hybrid Actuation System of More Electric Aircraft.

PubMed

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

2017-10-25

Moving towards the more electric aircraft (MEA), a hybrid actuator configuration provides an opportunity to introduce electromechanical actuator (EMA) into primary flight control. In the hybrid actuation system (HAS), an electro-hydraulic servo actuator (EHSA) and an EMA operate on the same control surface. In order to solve force fighting problem in HAS, this paper proposes a novel linear extended state observer (LESO)-based motion synchronization control method. To cope with the problem of unavailability of the state signals required by the motion synchronization controller, LESO is designed for EHSA and EMA to observe the state variables. Based on the observed states of LESO, motion synchronization controllers could enable EHSA and EMA to simultaneously track the desired motion trajectories. Additionally, nonlinearities, uncertainties and unknown disturbances as well as the coupling term between EHSA and EMA can be estimated and compensated by using the extended state of the proposed LESO. Finally, comparative simulation results indicate that the proposed LESO-based motion synchronization controller could reduce significant force fighting between EHSA and EMA.

Linear Extended State Observer-Based Motion Synchronization Control for Hybrid Actuation System of More Electric Aircraft

PubMed Central

Liao, Rui; Shi, Cun; Wang, Shaoping

2017-01-01

Moving towards the more electric aircraft (MEA), a hybrid actuator configuration provides an opportunity to introduce electromechanical actuator (EMA) into primary flight control. In the hybrid actuation system (HAS), an electro-hydraulic servo actuator (EHSA) and an EMA operate on the same control surface. In order to solve force fighting problem in HAS, this paper proposes a novel linear extended state observer (LESO)-based motion synchronization control method. To cope with the problem of unavailability of the state signals required by the motion synchronization controller, LESO is designed for EHSA and EMA to observe the state variables. Based on the observed states of LESO, motion synchronization controllers could enable EHSA and EMA to simultaneously track the desired motion trajectories. Additionally, nonlinearities, uncertainties and unknown disturbances as well as the coupling term between EHSA and EMA can be estimated and compensated by using the extended state of the proposed LESO. Finally, comparative simulation results indicate that the proposed LESO-based motion synchronization controller could reduce significant force fighting between EHSA and EMA. PMID:29068392

Evolution from MEMS-based Linear Drives to Bio-based Nano Drives

NASA Astrophysics Data System (ADS)

Fujita, Hiroyuki

The successful extension of semiconductor technology to fabricate mechanical parts of the sizes from 10 to 100 micrometers opened wide ranges of possibilities for micromechanical devices and systems. The fabrication technique is called micromachining. Micromachining processes are based on silicon integrated circuits (IC) technology and used to build three-dimensional structures and movable parts by the combination of lithography, etching, film deposition, and wafer bonding. Microactuators are the key devices allowing MEMS to perform physical functions. Some of them are driven by electric, magnetic, and fluidic forces. Some others utilize actuator materials including piezoelectric (PZT, ZnO, quartz) and magnetostrictive materials (TbFe), shape memory alloy (TiNi) and bio molecular motors. This paper deals with the development of MEMS based microactuators, especially linear drives, following my own research experience. They include an electrostatic actuator, a superconductive levitated actuator, arrayed actuators, and a bio-motor-driven actuator.

Linear finite-difference bond graph model of an ionic polymer actuator

NASA Astrophysics Data System (ADS)

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

2017-09-01

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

Stretchable Materials for Robust Soft Actuators towards Assistive Wearable Devices

NASA Astrophysics Data System (ADS)

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

2016-09-01

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

Stretchable Materials for Robust Soft Actuators towards Assistive Wearable Devices

PubMed Central

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

2016-01-01

Soft actuators made from elastomeric active materials can find widespread potential implementation in a variety of applications ranging from assistive wearable technologies targeted at biomedical rehabilitation or assistance with activities of daily living, bioinspired and biomimetic systems, to gripping and manipulating fragile objects, and adaptable locomotion. In this manuscript, we propose a novel two-component soft actuator design and design tool that produces actuators targeted towards these applications with enhanced mechanical performance and manufacturability. Our numerical models developed using the finite element method can predict the actuator behavior at large mechanical strains to allow efficient design iterations for system optimization. Based on two distinctive actuator prototypes’ (linear and bending actuators) experimental results that include free displacement and blocked-forces, we have validated the efficacy of the numerical models. The presented extensive investigation of mechanical performance for soft actuators with varying geometric parameters demonstrates the practical application of the design tool, and the robustness of the actuator hardware design, towards diverse soft robotic systems for a wide set of assistive wearable technologies, including replicating the motion of several parts of the human body. PMID:27670953

Stretchable Materials for Robust Soft Actuators towards Assistive Wearable Devices.

PubMed

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

2016-09-27

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

Novel linear piezoelectric motor for precision position stage

NASA Astrophysics Data System (ADS)

Chen, Chao; Shi, Yunlai; Zhang, Jun; Wang, Junshan

2016-03-01

Conventional servomotor and stepping motor face challenges in nanometer positioning stages due to the complex structure, motion transformation mechanism, and slow dynamic response, especially directly driven by linear motor. A new butterfly-shaped linear piezoelectric motor for linear motion is presented. A two-degree precision position stage driven by the proposed linear ultrasonic motor possesses a simple and compact configuration, which makes the system obtain shorter driving chain. Firstly, the working principle of the linear ultrasonic motor is analyzed. The oscillation orbits of two driving feet on the stator are produced successively by using the anti-symmetric and symmetric vibration modes of the piezoelectric composite structure, and the slider pressed on the driving feet can be propelled twice in only one vibration cycle. Then with the derivation of the dynamic equation of the piezoelectric actuator and transient response model, start-upstart-up and settling state characteristics of the proposed linear actuator is investigated theoretically and experimentally, and is applicable to evaluate step resolution of the precision platform driven by the actuator. Moreover the structure of the two-degree position stage system is described and a special precision displacement measurement system is built. Finally, the characteristics of the two-degree position stage are studied. In the closed-loop condition the positioning accuracy of plus or minus <0.5 μm is experimentally obtained for the stage propelled by the piezoelectric motor. A precision position stage based the proposed butterfly-shaped linear piezoelectric is theoretically and experimentally investigated.

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.

Linear force device

NASA Technical Reports Server (NTRS)

Clancy, John P.

1988-01-01

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

A comparison of two multi-variable integrator windup protection schemes

NASA Technical Reports Server (NTRS)

Mattern, Duane

1993-01-01

Two methods are examined for limit and integrator wind-up protection for multi-input, multi-output linear controllers subject to actuator constraints. The methods begin with an existing linear controller that satisfies the specifications for the nominal, small perturbation, linear model of the plant. The controllers are formulated to include an additional contribution to the state derivative calculations. The first method to be examined is the multi-variable version of the single-input, single-output, high gain, Conventional Anti-Windup (CAW) scheme. Except for the actuator limits, the CAW scheme is linear. The second scheme to be examined, denoted the Modified Anti-Windup (MAW) scheme, uses a scalar to modify the magnitude of the controller output vector while maintaining the vector direction. The calculation of the scalar modifier is a nonlinear function of the controller outputs and the actuator limits. In both cases the constrained actuator is tracked. These two integrator windup protection methods are demonstrated on a turbofan engine control system with five measurements, four control variables, and four actuators. The closed-loop responses of the two schemes are compared and contrasted during limit operation. The issue of maintaining the direction of the controller output vector using the Modified Anti-Windup scheme is discussed and the advantages and disadvantages of both of the IWP methods are presented.

AlN based piezoelectric micromirror.

PubMed

Shao, Jian; Li, Qi; Feng, Chuhuan; Li, Wei; Yu, Hongbin

2018-03-01

Aiming to pursue a micromirror possessing many desired characteristics, such as linear control, low power consumption, fast response, and easy fabrication, a new piezoelectric actuation strategy is presented. Different from conventional piezoelectric actuation cases, we first propose using AlN film as the active layer for actuating the micromirror. Owing to its good CMOS compatible deposition and patterning techniques, the AlN based piezoelectric micromirror has been successfully fabricated with a modified silicon-on-insulator-based microelectromechanical system (MEMS) process. At the same time, various mirror movement modes operating at high frequencies and excellent linear relationship between the movement and the control signal both have been experimentally demonstrated.

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.

Nonlinear aeroservoelastic analysis of a controlled multiple-actuated-wing model with free-play

NASA Astrophysics Data System (ADS)

Huang, Rui; Hu, Haiyan; Zhao, Yonghui

2013-10-01

In this paper, the effects of structural nonlinearity due to free-play in both leading-edge and trailing-edge outboard control surfaces on the linear flutter control system are analyzed for an aeroelastic model of three-dimensional multiple-actuated-wing. The free-play nonlinearities in the control surfaces are modeled theoretically by using the fictitious mass approach. The nonlinear aeroelastic equations of the presented model can be divided into nine sub-linear modal-based aeroelastic equations according to the different combinations of deflections of the leading-edge and trailing-edge outboard control surfaces. The nonlinear aeroelastic responses can be computed based on these sub-linear aeroelastic systems. To demonstrate the effects of nonlinearity on the linear flutter control system, a single-input and single-output controller and a multi-input and multi-output controller are designed based on the unconstrained optimization techniques. The numerical results indicate that the free-play nonlinearity can lead to either limit cycle oscillations or divergent motions when the linear control system is implemented.

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

NASA Astrophysics Data System (ADS)

Song, Yan; Fang, Xiaosheng; Diao, Qingda

2016-03-01

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

Design and control of electromagnetic clutch actuation system for automated manual transmission

NASA Astrophysics Data System (ADS)

Ranjan, Ashish; Prasanth, S.; Cherian, Fenin; Baskar, P.

2017-11-01

There is a growing interest towards Automatic Transmission in India as it provides better comfort and drivability. But the high cost of this system is limiting itself to be successful in the Indian markets. Due to this, Automated Manual Transmission (AMT) is considered which provides a better solution towards automation as it enhances the drivability and fuel consumption characteristics of a manual transmission at lower costs. However, torque lag and comfort are major issues with AMT which can be addressed by reducing the shift time. In this paper we describe an Electromagnetic Linear Clutch Actuator as a replacement to current electrohydraulic and electromechanical actuator. A control system for the actuator is presented and a clutch engagement strategy is also implemented which reduces the engagement time to 0.78 seconds while reducing jerk and torque lag. The actuator and control system is simulated on a MATLAB Simulink and agreeable results have been obtained.

Improvements In Ball-Screw Linear Actuators

NASA Technical Reports Server (NTRS)

Iskenderian, Theodore; Joffe, Benjamin; Summers, Robert

1996-01-01

Report describes modifications of design of type of ball-screw linear actuator driven by dc motor, with linear-displacement feedback via linear variable-differential transformer (LVDT). Actuators used to position spacecraft engines to direct thrust. Modifications directed toward ensuring reliable and predictable operation during planned 12-year cruise and interval of hard use at end of cruise.

Thermostatic Valves Containing Silicone-Oil Actuators

NASA Technical Reports Server (NTRS)

Bhandari, Pradeep; Birur, Gajanana C.; Bame, David P.; Karlmann, Paul B.; Prina, Mauro; Young, William; Fisher, Richard

2009-01-01

Flow-splitting and flow-mixing thermally actuated spool valves have been developed for controlling flows of a heat-transfer fluid in a temperature-regulation system aboard the Mars Science Laboratory (MSL) rover. Valves like these could also be useful in terrestrial temperature-regulation systems, including automobile air-conditioning systems and general refrigeration systems. These valves are required to provide smoother actuation over a wider temperature range than the flow-splitting, thermally actuated spool valves used in the Mars Explorer Rover (MER). Also, whereas the MER valves are unstable (tending to oscillate) in certain transition temperature ranges, these valves are required not to oscillate. The MER valves are actuated by thermal expansion of a wax against spring-loaded piston rods (as in common automotive thermostats). The MSL valves contain similar actuators that utilize thermal expansion of a silicone oil, because silicone-oil actuators were found to afford greater and more nearly linear displacements, needed for smoother actuation, over the required wider temperature range. The MSL valves also feature improved spool designs that reflect greater understanding of fluid dynamics, consideration of pressure drops in valves, and a requirement for balancing of pressures in different flow branches.

Modeling and design of a high-performance hybrid actuator

NASA Astrophysics Data System (ADS)

Aloufi, Badr; Behdinan, Kamran; Zu, Jean

2016-12-01

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

State and actuator fault estimation observer design integrated in a riderless bicycle stabilization system.

PubMed

Brizuela Mendoza, Jorge Aurelio; Astorga Zaragoza, Carlos Manuel; Zavala Río, Arturo; Pattalochi, Leo; Canales Abarca, Francisco

2016-03-01

This paper deals with an observer design for Linear Parameter Varying (LPV) systems with high-order time-varying parameter dependency. The proposed design, considered as the main contribution of this paper, corresponds to an observer for the estimation of the actuator fault and the system state, considering measurement noise at the system outputs. The observer gains are computed by considering the extension of linear systems theory to polynomial LPV systems, in such a way that the observer reaches the characteristics of LPV systems. As a result, the actuator fault estimation is ready to be used in a Fault Tolerant Control scheme, where the estimated state with reduced noise should be used to generate the control law. The effectiveness of the proposed methodology has been tested using a riderless bicycle model with dependency on the translational velocity v, where the control objective corresponds to the system stabilization towards the upright position despite the variation of v along the closed-loop system trajectories. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Making a Reliable Actuator Faster and More Affordable

NASA Technical Reports Server (NTRS)

2005-01-01

Before any rocket is allowed to fly and be used for a manned mission, it is first test-fired on a static test stand to verify its flight readiness. NASA s Stennis Space Center provides testing of Space Shuttle Main Engines, rocket propulsion systems, and related components with several test facilities. It has been NASA s test-launch site since 1961. The testing stations age with time and repeated use; and with aging comes maintenance; and with maintenance comes expense. NASA has been seeking ways to lower the cost of maintaining the stations, and has aided in the development of an improved reliable linear actuator that arrives onsite quickly and costs less money than other actuators. In general terms, a linear actuator is a servomechanism that supplies a measured amount of energy for the operation of another mechanical system. Accuracy, reliability, and speed of the actuator are critical to performance of the entire system, and these actuators are critical components of the engine test stands. Partnership An actuator was developed as part of a Dual-Use Cooperative Agreement between BAFCO, Inc., of Warminister, Pennsylvania, and Stennis. BAFCO identified four suppliers that manufactured actuator components that met the rigorous testing standards imposed by the Space Agency and then modified these components for application on the rocket test stands. In partnership with BAFCO, the existing commercial products size and weight were reworked, reducing cost and delivery time. Previously, these parts would cost between $20,000 and $22,000, but with the new process, they now run between $11,000 and $13,000, a substantial savings, considering NASA has already purchased over 120 of the units. Delivery time of the cost-saving actuators has also been cut from over 20 to 22 weeks to within 8 to 10 weeks. The redesigned actuator is commercially available, and the company is successfully supplying them to customers other than NASA.

A class of stabilizing controllers for flexible multibody systems

NASA Technical Reports Server (NTRS)

Joshi, Suresh M.; Kelkar, Atul G.; Maghami, Peiman G.

1995-01-01

The problem of controlling a class of nonlinear multibody flexible space systems consisting of a flexible central body to which a number of articulated appendages are attached is considered. Collocated actuators and sensors are assumed, and global asymptotic stability of such systems is established under a nonlinear dissipative control law. The stability is shown to be robust to unmodeled dynamics and parametric uncertainties. For a special case in which the attitude motion of the central body is small, the system, although still nonlinear, is shown to be stabilized by linear dissipative control laws. Two types of linear controllers are considered: static dissipative (constant gain) and dynamic dissipative. The static dissipative control law is also shown to provide robust stability in the presence of certain classes of actuator and sensor nonlinearities and actuator dynamics. The results obtained for this special case can also be readily applied for controlling single-body linear flexible space structures. For this case, a synthesis technique for the design of a suboptimal dynamic dissipative controller is also presented. The results obtained in this paper are applicable to a broad class of multibody and single-body systems such as flexible multilink manipulators, multipayload space platforms, and space antennas. The stability proofs use the Lyapunov approach and exploit the inherent passivity of such systems.

Design of a Linear Gaussian Control Law for an Adaptive Optics System

DTIC Science & Technology

1990-12-01

3-7 3.4. X-Axis Slice of Actuator :#49 Influence Function .. .. .... ...... ...... 3-9 3.5. Approximate Influence Function for Actuator #49... influence function is a mathematical representation of the effect of a single ac- tuator voltage on the local mirror shape. Usually, the influence ... function is nonzero only in the vicinity of the actuator: the influence function of an actualor has a limited spa- tial domain. Several factors affect the

A degree of controllability definition - Fundamental concepts and application to modal systems

NASA Technical Reports Server (NTRS)

Viswanathan, C. N.; Longman, R. W.; Likins, P. W.

1984-01-01

Starting from basic physical considerations, this paper develops a concept of the degree of controllability of a control system, and then develops numerical methods to generate approximate values of the degree of controllability for any linear time-invariant system. In many problems, such as the control of future, very large, flexible spacecraft and certain chemical process control problems, the question of how to choose the number and locations of the control system actuators is an important one. The results obtained here offer the control system designer a tool which allows him to rank the effectiveness of alternative actuator distributions, and hence to choose the actuator locations on a rational basis. The degree of controllability is shown to take a particularly simple form when the dynamic equations of a satellite are in second-order modal form. The degree of controllability concept has still other fundamental uses - it allows one to study the system structural relations between the various inputs and outputs of a linear system, which has applications to decoupling and model reduction.

Reduced modeling of flexible structures for decentralized control

NASA Technical Reports Server (NTRS)

Yousuff, A.; Tan, T. M.; Bahar, L. Y.; Konstantinidis, M. F.

1986-01-01

Based upon the modified finite element-transfer matrix method, this paper presents a technique for reduced modeling of flexible structures for decentralized control. The modeling decisions are carried out at (finite-) element level, and are dictated by control objectives. A simply supported beam with two sets of actuators and sensors (linear force actuator and linear position and velocity sensors) is considered for illustration. In this case, it is conjectured that the decentrally controlled closed loop system is guaranteed to be at least marginally stable.

International Neural Network Society Annual Meeting (1994) Held in San Diego, California on 5-9 June 1994. Volume 3.

DTIC Science & Technology

1994-06-09

Competitive Neural Nets Speed Complex Fluid Flow Calculations 1-366 T. Long, E. Hanzevack Neural Networks for Steam Boiler MIMO Modeling and Advisory Control...Gallinr The Cochlear Nucleus and Primary Cortex as a Sequence of Distributed Neural Filters in Phoneme IV-607 Perception J. Antrobus, C. Tarshish, S...propulsion linear model, a fuel flow actuator modelled as a linear second order system with position and rate limits, and a thrust vectoring actuator

Contact position sensor using constant contact force control system

NASA Technical Reports Server (NTRS)

Sturdevant, Jay (Inventor)

1995-01-01

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

An Optimized Integrator Windup Protection Technique Applied to a Turbofan Engine Control

NASA Technical Reports Server (NTRS)

Watts, Stephen R.; Garg, Sanjay

1995-01-01

This paper introduces a new technique for providing memoryless integrator windup protection which utilizes readily available optimization software tools. This integrator windup protection synthesis provides a concise methodology for creating integrator windup protection for each actuation system loop independently while assuring both controller and closed loop system stability. The individual actuation system loops' integrator windup protection can then be combined to provide integrator windup protection for the entire system. This technique is applied to an H(exp infinity) based multivariable control designed for a linear model of an advanced afterburning turbofan engine. The resulting transient characteristics are examined for the integrated system while encountering single and multiple actuation limits.

Optimization of a pressure control valve for high power automatic transmission considering stability

NASA Astrophysics Data System (ADS)

Jian, Hongchao; Wei, Wei; Li, Hongcai; Yan, Qingdong

2018-02-01

The pilot-operated electrohydraulic clutch-actuator system is widely utilized by high power automatic transmission because of the demand of large flowrate and the excellent pressure regulating capability. However, a self-excited vibration induced by the inherent non-linear characteristics of valve spool motion coupled with the fluid dynamics can be generated during the working state of hydraulic systems due to inappropriate system parameters, which causes sustaining instability in the system and leads to unexpected performance deterioration and hardware damage. To ensure a stable and fast response performance of the clutch actuator system, an optimal design method for the pressure control valve considering stability is proposed in this paper. A non-linear dynamic model of the clutch actuator system is established based on the motion of the valve spool and coupling fluid dynamics in the system. The stability boundary in the parameter space is obtained by numerical stability analysis. Sensitivity of the stability boundary and output pressure response time corresponding to the valve parameters are identified using design of experiment (DOE) approach. The pressure control valve is optimized using particle swarm optimization (PSO) algorithm with the stability boundary as constraint. The simulation and experimental results reveal that the optimization method proposed in this paper helps in improving the response characteristics while ensuring the stability of the clutch actuator system during the entire gear shift process.

Verification of operation of the actuator control system using the integration the B&R Automation Studio software with a virtual model of the actuator system

NASA Astrophysics Data System (ADS)

Herbuś, K.; Ociepka, P.

2017-08-01

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

Arduino-based automation of a DNA extraction system.

PubMed

Kim, Kyung-Won; Lee, Mi-So; Ryu, Mun-Ho; Kim, Jong-Won

2015-01-01

There have been many studies to detect infectious diseases with the molecular genetic method. This study presents an automation process for a DNA extraction system based on microfluidics and magnetic bead, which is part of a portable molecular genetic test system. This DNA extraction system consists of a cartridge with chambers, syringes, four linear stepper actuators, and a rotary stepper actuator. The actuators provide a sequence of steps in the DNA extraction process, such as transporting, mixing, and washing for the gene specimen, magnetic bead, and reagent solutions. The proposed automation system consists of a PC-based host application and an Arduino-based controller. The host application compiles a G code sequence file and interfaces with the controller to execute the compiled sequence. The controller executes stepper motor axis motion, time delay, and input-output manipulation. It drives the stepper motor with an open library, which provides a smooth linear acceleration profile. The controller also provides a homing sequence to establish the motor's reference position, and hard limit checking to prevent any over-travelling. The proposed system was implemented and its functionality was investigated, especially regarding positioning accuracy and velocity profile.

A study of the feasibility of directly applying gas generator systems to space shuttle mechanical functions

NASA Technical Reports Server (NTRS)

Lake, E. R.

1974-01-01

This study examined the current status and potential application of pyrotechnic gas generators and energy convertors for the space shuttle program. While most pyrotechnic devices utilize some form of linear actuation, only limited use of rotary actuators has been observed. This latter form of energy conversion, using a vane-type actuator as optimum, offers considerable potential in the area of servo, as well as non-servo systems, and capitalizes on a means of providing prolonged operating times. Pyrotechnic devices can often be shown to provide the optimum means of attaining a truly redundant back-up to a primary, non-pyrotechnic system.

Robust control for spacecraft rendezvous system with actuator unsymmetrical saturation: a gain scheduling approach

NASA Astrophysics Data System (ADS)

Wang, Qian; Xue, Anke

2018-06-01

This paper has proposed a robust control for the spacecraft rendezvous system by considering the parameter uncertainties and actuator unsymmetrical saturation based on the discrete gain scheduling approach. By changing of variables, we transform the actuator unsymmetrical saturation control problem into a symmetrical one. The main advantage of the proposed method is improving the dynamic performance of the closed-loop system with a region of attraction as large as possible. By the Lyapunov approach and the scheduling technology, the existence conditions for the admissible controller are formulated in the form of linear matrix inequalities. The numerical simulation illustrates the effectiveness of the proposed method.

Design and position control of AF lens actuator for mobile phone using IPMC-EMIM

NASA Astrophysics Data System (ADS)

Kim, Sung-Joo; Kim, Chul-Jin; Park, No-Cheol; Yang, Hyun-Seok; Park, Young-Pil; Park, Kang-Ho; Lee, Hyung-Kun; Choi, Nak-Jin

2008-03-01

IPMC-EMIM (Ionic Polyer Metal Composites + 1-ethyl-3- methyl imidazolium trifluromethane sulfonate, EMIM-Tfo) is fabricated by substituting ionic liquid for water in Nafion film, which improves water sensitiveness of IPMC and guarantees uniform performance regardless of the surrounding environment. In this paper, we will briefly introduce the procedure of fabrication of IPMC-EMIM and proceed to introduce the Hook-type actuator using IPMC-EMIM and application to AF Lens actuator. Parameters of Hook-type actuator are estimated from experimental data. In the simulation, The proposed AF Lens Actuator is assumed to be a linear system and based on estimated parameters, PID controller will be designed and controlled motion of AF Lens actuator will be shown through simulation.

Velocity feedback control with a flywheel proof mass actuator

NASA Astrophysics Data System (ADS)

Kras, Aleksander; Gardonio, Paolo

2017-08-01

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

Distributed fault-tolerant time-varying formation control for high-order linear multi-agent systems with actuator failures.

PubMed

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

2017-11-01

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

Linear micromechanical stepping drive for pinhole array positioning

NASA Astrophysics Data System (ADS)

Endrödy, Csaba; Mehner, Hannes; Grewe, Adrian; Hoffmann, Martin

2015-05-01

A compact linear micromechanical stepping drive for positioning a 7 × 5.5 mm2 optical pinhole array is presented. The system features a step size of 13.2 µm and a full displacement range of 200 µm. The electrostatic inch-worm stepping mechanism shows a compact design capable of positioning a payload 50% of its own weight. The stepping drive movement, step sizes and position accuracy are characterized. The actuated pinhole array is integrated in a confocal chromatic hyperspectral imaging system, where coverage of the object plane, and therefore the useful picture data, can be multiplied by 14 in contrast to a non-actuated array.

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

NASA Astrophysics Data System (ADS)

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

2017-08-01

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

DOE Office of Scientific and Technical Information (OSTI.GOV)

Colldelram, Carles, E-mail: ccolldelram@cells.es; Nicolas, Josep, E-mail: jnicolas@cells.es; Nikitina, Liudmila, E-mail: lnikitina@cells.es

In this work we report the design and performance of a novel compact in-vacuum actuator, designed to be compatible with all the motions required for the scissor-type ESRF mirror bender. These mirror benders include several linear actuators, which drive the mirror bending torques, as well as the main alignment motions such as pitch and translation along the normal to the mirror surface. The motions are provided by compact linear actuators, which consist of motor, reduction, spindle and nut, encapsulated on a closed air volume to provide vacuum compatibility. The actuator includes a hydroformed bellows to transmit the force to themore » actuator tip, and an electrical feedthrough for the motor cables. The design boundaries for these actuators are quite tight, as they must be integrated in a narrow volume, must be UHV compatible and must provide high resolution, for a relatively high load. As a result, they have limited mechanical performance, and in some cases poor reliability. To overcome these problems, we designed and implemented a different concept. In the proposed concept, the motor rotation is converted onto a linear motion by means of a cam instead of a spindle and a nut. This allows for much shorter and stiffer transmission system, with similar dimensions. The vacuum compatibility is intrinsic for this solution, since the whole mechanism of the actuator is UHV compatible. All motions are preloaded and guided by vacuum compatible (hybrid metal-ceramics) ball bearings. This allows the system reaching a repeatability and backlash well within the micron. The absence of friction allows for a high reliability and releases the maintenance needs of the system. The transmission is intrinsically irreversible, and the system can hold a load of 250 N within a few nanometers without any holding current on the motors. This allows the system to move reliably also in micro-stepping mode, providing a resolution well below the half-step nominal resolution of 100 nm. Performances have been tested on a prototype. We report the results of the tests obtained in air and in vacuum after bake-out. Two units of the new actuator have been installed at the photoemission beamline of ALBA (CIRCE) and are routinely used to align the 3 µm spot on the field of view of the Photoemission Electron Microscope. The absence of any noticeable backlash, or any friction effect and the reliability of the micro-stepping motion has simplified very much the alignment of the photon beam, reducing the alignment process to few minutes. The excellent performances and relatively high load capacity of this new compact actuator make of it a versatile element to be integrated in other systems requiring reliable in-vacuum positioning.« less

Selection of Noisy Sensors and Actuators for Regulation of Linear Systems.

DTIC Science & Technology

1983-08-01

and the inability of (5.8) to account for the possibility of the loss of controllability or stabilizability of the system If a particular actuator is...design by performing the checks tThe condition q4 can result only when a stabilizable , detectable system Is not obtput controllable and one of the...M.R., and Installe, M.J., "Optimal sensors’ allocation strategies for a class of stochastic distributed systems ," Int. J. Control , 1975, Vol. 22, No. 2

Development of a piezo-actuated micro-teleoperation system for cell manipulation.

PubMed

Zareinejad, M; Rezaei, S M; Abdullah, A; Shiry Ghidary, S

2009-03-01

Intracytoplasmic sperm injection (ICSI) requires long training and has low success rates, primarily due to poor control over the injection force. Making force feedback available to the operator will improve the success rate of the injection task. A macro-micro-teleoperation system bridges the gap between the task performed at the micro-level and the macroscopic movements of the operator. The teleoperation slave manipulator should accurately position a needle to precisely penetrate a cell membrane. Piezoelectric actuators are widely used in micromanipulation applications; however, hysteresis non-linearity limits the accuracy of these actuators. This paper presents a novel approach for utilizing a piezoelectric nano-stage as slave manipulator of a teleoperation system. The Prandtl-Ishlinskii (PI) model is used to model actuator hysteresis in a feedforward scheme to cancel out this non-linearity. To deal with the influence of parametric uncertainties, unmodelled dynamics and PI identification error, a perturbation term is added to the slave model and applies a sliding mode-based impedance control with perturbation estimation. The stability of entire system is guaranteed by Llewellyn's absolute stability criterion. The performance of the proposed controller was investigated through experiments for cell membrane penetration. The experimental results verified the accurate position tracking in free motion and simultaneous position and force tracking in contact with a low stiffness environment.

Characterization and application of Shape Memory Alloy wires for micro and meso positioning systems

NASA Astrophysics Data System (ADS)

Khan, Afzal

The properties of Shape Memory Alloy (SMA) wires are determined by experimentation, and previously used experimental equipment contributes to measurement errors in data. In this study, various characterization experiments are designed and carried out using a precision characterization instrument for shape memory alloy wires to determine the properties and parameters of the alloy. These experiments demonstrate the behavior of SMA wires under different thermal and loading conditions as they occur in actuation applications. As SMA wires go through phase transformation, a significant amount of contraction force is produced. This actuation force has been used in bias spring actuators and differential actuators. In this dissertation, the force generated during the twinning of martensite is used to actuate positioning systems with small displacements at the micrometer level. A micropositioning system is designed and tested that has a positioning accuracy of about +/-0.15 mum. A relation between the current input and the displacement output is determined for the specific preload. The transformation force generated during the phase change from martensite to austenite is used as an actuation force for a second positioning system that uses linear bearing with a displacement range of about a millimeter. This positioning system actuated with a single nitinol wire and guided by symmetric parallel diaphragm flexures, was designed and tested. The actuation is repeatable to about +/-15 mum with variation of about +/-5 mum in postion at steady temperature.

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.

Resonant mode controllers for launch vehicle applications

NASA Technical Reports Server (NTRS)

Schreiner, Ken E.; Roth, Mary Ellen

1992-01-01

Electro-mechanical actuator (EMA) systems are currently being investigated for the National Launch System (NLS) as a replacement for hydraulic actuators due to the large amount of manpower and support hardware required to maintain the hydraulic systems. EMA systems in weight sensitive applications, such as launch vehicles, have been limited to around 5 hp due to system size, controller efficiency, thermal management, and battery size. Presented here are design and test data for an EMA system that competes favorably in weight and is superior in maintainability to the hydraulic system. An EMA system uses dc power provided by a high energy density bipolar lithium thionyl chloride battery, with power conversion performed by low loss resonant topologies, and a high efficiency induction motor controlled with a high performance field oriented controller to drive a linear actuator.

Optimal design of a smart post-buckled beam actuator using bat algorithm: simulations and experiments

NASA Astrophysics Data System (ADS)

Mallick, Rajnish; Ganguli, Ranjan; Kumar, Ravi

2017-05-01

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

Linear Quadratic Tracking Design for a Generic Transport Aircraft with Structural Load Constraints

NASA Technical Reports Server (NTRS)

Burken, John J.; Frost, Susan A.; Taylor, Brian R.

2011-01-01

When designing control laws for systems with constraints added to the tracking performance, control allocation methods can be utilized. Control allocations methods are used when there are more command inputs than controlled variables. Constraints that require allocators are such task as; surface saturation limits, structural load limits, drag reduction constraints or actuator failures. Most transport aircraft have many actuated surfaces compared to the three controlled variables (such as angle of attack, roll rate & angle of side slip). To distribute the control effort among the redundant set of actuators a fixed mixer approach can be utilized or online control allocation techniques. The benefit of an online allocator is that constraints can be considered in the design whereas the fixed mixer cannot. However, an online control allocator mixer has a disadvantage of not guaranteeing a surface schedule, which can then produce ill defined loads on the aircraft. The load uncertainty and complexity has prevented some controller designs from using advanced allocation techniques. This paper considers actuator redundancy management for a class of over actuated systems with real-time structural load limits using linear quadratic tracking applied to the generic transport model. A roll maneuver example of an artificial load limit constraint is shown and compared to the same no load limitation maneuver.

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.

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.

Larger-Stroke Piezoelectrically Actuated Microvalve

NASA Technical Reports Server (NTRS)

Yang, Eui-Hyeok

2003-01-01

A proposed normally-closed microvalve would contain a piezoelectric bending actuator instead of a piezoelectric linear actuator like that of the microvalve described in the preceding article. Whereas the stroke of the linear actuator of the preceding article would be limited to approximately equal to 6 micrometers, the stroke of the proposed bending actuator would lie in the approximate range of 10 to 15 micrometers-large enough to enable the microvalve to handle a variety of liquids containing suspended particles having sizes up to 10 m. Such particulate-laden liquids occur in a variety of microfluidic systems, one example being a system that sorts cells or large biomolecules for analysis. In comparison with the linear actuator of the preceding article, the bending actuator would be smaller and less massive. The combination of increased stroke, smaller mass, and smaller volume would be obtained at the cost of decreased actuation force: The proposed actuator would generate a force in the approximate range of 1 to 4 N, the exact amount depending on operating conditions and details of design. This level of actuation force would be too low to enable the valve to handle a fluid at the high pressure level mentioned in the preceding article. The proposal encompasses two alternative designs one featuring a miniature piezoelectric bimorph actuator and one featuring a thick-film unimorph piezoelectric actuator (see figure). In either version, the valve would consume a power of only 0.01 W when actuated at a frequency of 100 Hz. Also, in either version, it would be necessary to attach a soft elastomeric sealing ring to the valve seat so that any particles that settle on the seat would be pushed deep into the elastomeric material to prevent or reduce leakage. The overall dimensions of the bimorph version would be 7 by 7 by 1 mm. The actuator in this version would generate a force of 1 N and a stroke of 10 m at an applied potential of 150 V. The actuation force would be sufficient to enable the valve to handle a fluid pressurized up to about 50 psi (approximately equal to 0.35 MPa). The overall dimensions of the unimorph version would be 2 by 2 by 0.5 mm. In this version, an electric field across the piezoelectric film on a diaphragm would cause the film to pull on, and thereby bend, the diaphragm. At an applied potential of 20 V, the actuator in this version would generate a stroke of 10 micrometers and a force of 0.01 N. This force level would be too low to enable handling of fluids at pressures comparable to those of the bimorph version. This version would be useful primarily in microfluidic and nanofluidic applications that involve extremely low differential pressures and in which there are requirements for extreme miniaturization of valves. Examples of such applications include liquid chromatography and sequencing of deoxyribonucleic acid.

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.

Precharged Pneumatic Soft Actuators and Their Applications to Untethered Soft Robots.

PubMed

Li, Yunquan; Chen, Yonghua; Ren, Tao; Li, Yingtian; Choi, Shiu Hong

2018-06-20

The past decade has witnessed tremendous progress in soft robotics. Unlike most pneumatic-based methods, we present a new approach to soft robot design based on precharged pneumatics (PCP). We propose a PCP soft bending actuator, which is actuated by precharged air pressure and retracted by inextensible tendons. By pulling or releasing the tendons, the air pressure in the soft actuator is modulated, and hence, its bending angle. The tendons serve in a way similar to pressure-regulating valves that are used in typical pneumatic systems. The linear motion of tendons is transduced into complex motion via the prepressurized bent soft actuator. Furthermore, since a PCP actuator does not need any gas supply, complicated pneumatic control systems used in traditional soft robotics are eliminated. This facilitates the development of compact untethered autonomous soft robots for various applications. Both theoretical modeling and experimental validation have been conducted on a sample PCP soft actuator design. A fully untethered autonomous quadrupedal soft robot and a soft gripper have been developed to demonstrate the superiority of the proposed approach over traditional pneumatic-driven soft robots.

Development of a Design Methodology for Reconfigurable Flight Control Systems

NASA Technical Reports Server (NTRS)

Hess, Ronald A.; McLean, C.

2000-01-01

A methodology is presented for the design of flight control systems that exhibit stability and performance-robustness in the presence of actuator failures. The design is based upon two elements. The first element consists of a control law that will ensure at least stability in the presence of a class of actuator failures. This law is created by inner-loop, reduced-order, linear dynamic inversion, and outer-loop compensation based upon Quantitative Feedback Theory. The second element consists of adaptive compensators obtained from simple and approximate time-domain identification of the dynamics of the 'effective vehicle' with failed actuator(s). An example involving the lateral-directional control of a fighter aircraft is employed both to introduce the proposed methodology and to demonstrate its effectiveness and limitations.

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.

Design and test of electromechanical actuators for thrust vector control

NASA Astrophysics Data System (ADS)

Cowan, J. R.; Weir, Rae Ann

1993-05-01

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.

Sliding-Mode Control Applied for Robust Control of a Highly Unstable Aircraft

NASA Technical Reports Server (NTRS)

Vetter, Travis Kenneth

2002-01-01

An investigation into the application of an observer based sliding mode controller for robust control of a highly unstable aircraft and methods of compensating for actuator dynamics is performed. After a brief overview of some reconfigurable controllers, sliding mode control (SMC) is selected because of its invariance properties and lack of need for parameter identification. SMC is reviewed and issues with parasitic dynamics, which cause system instability, are addressed. Utilizing sliding manifold boundary layers, the nonlinear control is converted to a linear control and sliding manifold design is performed in the frequency domain. An additional feedback form of model reference hedging is employed which is similar to a prefilter and has large benefits to system performance. The effects of inclusion of actuator dynamics into the designed plant is heavily investigated. Multiple Simulink models of the full longitudinal dynamics and wing deflection modes of the forward swept aero elastic vehicle (FSAV) are constructed. Additionally a linear state space models to analyze effects from various system parameters. The FSAV has a pole at +7 rad/sec and is non-minimum phase. The use of 'model actuators' in the feedback path, and varying there design, is heavily investigated for the resulting effects on plant robustness and tolerance to actuator failure. The use of redundant actuators is also explored and improved robustness is shown. All models are simulated with severe failure and excellent tracking, and task dependent handling qualities, and low pilot induced oscillation tendency is shown.

Force-deflection behavior of piezoelectric actuators

NASA Astrophysics Data System (ADS)

Singh, Ashok K.; Nagpal, Pawan

2001-11-01

In the present endeavour, force - deflection behavior of various piezoelectric actuator configurations has been analyzed for performance comparison. The response of stack actuator has been simulated using MATLAB Simulink, in a stack actuator-pendulum configuration. During simulation, stack actuator has been used in charge control feedback mode, because of the advantage of low hysteresis, and high linearity. The model incorporates three compensation blocks, viz 1) a PID position controller, 2) a PI piezoelectric current controller, and 3) a dynamic force feedback. A typical stack actuator, having 130 layers, 1.20x10-4 m thickness, 3.46x10-5m2 cross sectional area, of PZT-5H type, has been utilized for simulation. The response of the system has been tested by applying a sinusoidal input of frequency 500 Hz, and waveform amplitude of 1x10-3V.

Assessing Aircraft Susceptibility to Nonlinear Aircraft-Pilot Coupling/Pilot-Induced Oscillations

NASA Technical Reports Server (NTRS)

Hess, R.A.; Stout, P. W.

1997-01-01

A unified approach for assessing aircraft susceptibility to aircraft-pilot coupling (or pilot-induced oscillations) which was previously reported in the literature and applied to linear systems is extended to nonlinear systems, with emphasis upon vehicles with actuator rate saturation. The linear methodology provided a tool for predicting: (1) handling qualities levels, (2) pilot-induced oscillation rating levels and (3) a frequency range in which pilot-induced oscillations are likely to occur. The extension to nonlinear systems provides a methodology for predicting the latter two quantities. Eight examples are presented to illustrate the use of the technique. The dearth of experimental flight-test data involving systematic variation and assessment of the effects of actuator rate limits presently prevents a more thorough evaluation of the methodology.

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.

Assessing the degradation of compliant electrodes for soft actuators.

PubMed

Rosset, Samuel; de Saint-Aubin, Christine; Poulin, Alexandre; Shea, Herbert R

2017-10-01

We present an automated system to measure the degradation of compliant electrodes used in dielectric elastomer actuators (DEAs) over millions of cycles. Electrodes for DEAs generally experience biaxial linear strains of more than 10%. The decrease in electrode conductivity induced by this repeated fast mechanical deformation impacts the bandwidth of the actuator and its strain homogeneity. Changes in the electrode mechanical properties lead to reduced actuation strain. Rather than using an external actuator to periodically deform the electrodes, our measurement method consists of measuring the properties of an electrode in an expanding circle DEA. A programmable high voltage power supply drives the actuator with a square signal up to 1 kHz, periodically actuating the DEA, and thus stretching the electrodes. The DEA strain is monitored with a universal serial bus camera, while the resistance of the ground electrode is measured with a multimeter. The system can be used for any type of electrode. We validated the test setup by characterising a carbon black/silicone composite that we commonly use as compliant electrode. Although the composite is well-suited for tens of millions of cycles of actuation below 5%, we observe important degradation for higher deformations. When activated at a 20% radial strain, the electrodes suffer from important damage after a few thousand cycles, and an inhomogeneous actuation is observed, with the strain localised in a sub-region of the actuator only.

Assessing the degradation of compliant electrodes for soft actuators

NASA Astrophysics Data System (ADS)

Rosset, Samuel; de Saint-Aubin, Christine; Poulin, Alexandre; Shea, Herbert R.

2017-10-01

We present an automated system to measure the degradation of compliant electrodes used in dielectric elastomer actuators (DEAs) over millions of cycles. Electrodes for DEAs generally experience biaxial linear strains of more than 10%. The decrease in electrode conductivity induced by this repeated fast mechanical deformation impacts the bandwidth of the actuator and its strain homogeneity. Changes in the electrode mechanical properties lead to reduced actuation strain. Rather than using an external actuator to periodically deform the electrodes, our measurement method consists of measuring the properties of an electrode in an expanding circle DEA. A programmable high voltage power supply drives the actuator with a square signal up to 1 kHz, periodically actuating the DEA, and thus stretching the electrodes. The DEA strain is monitored with a universal serial bus camera, while the resistance of the ground electrode is measured with a multimeter. The system can be used for any type of electrode. We validated the test setup by characterising a carbon black/silicone composite that we commonly use as compliant electrode. Although the composite is well-suited for tens of millions of cycles of actuation below 5%, we observe important degradation for higher deformations. When activated at a 20% radial strain, the electrodes suffer from important damage after a few thousand cycles, and an inhomogeneous actuation is observed, with the strain localised in a sub-region of the actuator only.

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 for resetting. Thus, this design allows the actuator to work at a frequency of up to 0.1 Hz. The actuator does not make use of the whole range of motion of the SMA material, allowing for large margins on the mechanical parameters of the design. The efficiency of the actuator is of the order of 10%, including the margins. The average dissipated power while driving at full speed is of the order of 1 W, and can be scaled down linearly if the rate of cycling is reduced. This design produces an extremely quiet actuator; it can generate a force greater than 2 N and a stroke greater than 1 cm. The operational duration of SMA materials is of the order of millions of cycles with some reduced stroke over a wide temperature range up to 150 C.

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 seconds for resetting. Thus, this design allows the actuator to work at a frequency of up to 0.1 Hz. The actuator does not make use of the whole range of motion of the SMA material, allowing for large margins on the mechanical parameters of the design. The efficiency of the actuator is of the order of 10%, including the margins. The average dissipated power while driving at full speed is of the order of 1 W, and can be scaled down linearly if the rate of cycling is reduced. This design produces an extremely quiet actuator; it can generate a force greater than 2 N and a stroke greater than 1 cm. The operational duration of SMA materials is of the order of millions of cycles with some reduced stroke over a wide temperature range up to 150 C.

Design and Calibration of an RF Actuator for Low-Level RF Systems

NASA Astrophysics Data System (ADS)

Geng, Zheqiao; Hong, Bo

2016-02-01

X-ray free electron laser (FEL) machines like the Linac Coherent Light Source (LCLS) at SLAC require high-quality electron beams to generate X-ray lasers for various experiments. Digital low-level RF (LLRF) systems are widely used to control the high-power RF klystrons to provide a highly stable RF field in accelerator structures for beam acceleration. Feedback and feedforward controllers are implemented in LLRF systems to stabilize or adjust the phase and amplitude of the RF field. To achieve the RF stability and the accuracy of the phase and amplitude adjustment, low-noise and highly linear RF actuators are required. Aiming for the upgrade of the S-band Linac at SLAC, an RF actuator is designed with an I/Qmodulator driven by two digital-to-analog converters (DAC) for the digital LLRF systems. A direct upconversion scheme is selected for RF actuation, and an on-line calibration algorithm is developed to compensate the RF reference leakage and the imbalance errors in the I/Q modulator, which may cause significant phase and amplitude actuation errors. This paper presents the requirements on the RF actuator, the design of the hardware, the calibration algorithm, and the implementation in firmware and software and the test results at LCLS.

Carbide-derived carbon (CDC) linear actuator properties in combination with conducting polymers

NASA Astrophysics Data System (ADS)

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

2014-03-01

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

Instantaneous phase mapping deflectometry for dynamic deformable mirror characterization

NASA Astrophysics Data System (ADS)

Trumper, Isaac; Choi, Heejoo

2017-09-01

We present an instantaneous phase mapping deflectometry (PMD) system in the context of measuring a continuous surface deformable mirror (DM). Deflectometry has a high dynamic range, enabling the full range of surfaces generated by the DM to be measured. The recent development of an instantaneous PMD system leverages the simple setup of the PMD system to measure dynamic objects with accuracy similar to an interferometer. To demonstrate the capabilities of this technology, we perform a linearity measurement of the actuator motion in a continuous surface DM, which is critical for closed loop control in adaptive optics applications. We measure the entire set of actuators across the DM as they traverse their full range of motion with a Shack-Hartman wavefront sensor, thereby obtaining the influence function. Given the influence function of each actuator, the DM can produce specific Zernike terms on its surface. We then measure the linearity of the Zernike modes available in the DM software using the instantaneous PMD system. By obtaining the relationship between modes, we can more accurately generate surface profiles composed of Zernike terms. This ability is useful for other dynamic freeform metrology applications that utilize the DM as a null component.

Precision Linear Actuator for Space Interferometry Mission (SIM) Siderostat Pointing

NASA Technical Reports Server (NTRS)

Cook, Brant; Braun, David; Hankins, Steve; Koenig, John; Moore, Don

2008-01-01

'SIM PlanetQuest will exploit the classical measuring tool of astrometry (interferometry) with unprecedented precision to make dramatic advances in many areas of astronomy and astrophysics'(1). In order to obtain interferometric data two large steerable mirrors, or Siderostats, are used to direct starlight into the interferometer. A gimbaled mechanism actuated by linear actuators is chosen to meet the unprecedented pointing and angle tracking requirements of SIM. A group of JPL engineers designed, built, and tested a linear ballscrew actuator capable of performing submicron incremental steps for 10 years of continuous operation. Precise, zero backlash, closed loop pointing control requirements, lead the team to implement a ballscrew actuator with a direct drive DC motor and a precision piezo brake. Motor control commutation using feedback from a precision linear encoder on the ballscrew output produced an unexpected incremental step size of 20 nm over a range of 120 mm, yielding a dynamic range of 6,000,000:1. The results prove linear nanometer positioning requires no gears, levers, or hydraulic converters. Along the way many lessons have been learned and will subsequently be shared.

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

PubMed Central

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

2016-01-01

This paper proposes a design methodology for linear actuators, considering thermal and electromagnetic coupling with geometrical and temperature constraints, that maximizes force density and minimizes force ripple. The method allows defining an actuator for given specifications in a step-by-step way so that requirements are met and the temperature within the device is maintained under or equal to its maximum allowed for continuous operation. According to the proposed method, the electromagnetic and thermal models are built with quasi-static parametric finite element models. The methodology was successfully applied to the design of a linear cylindrical actuator with a dual quasi-Halbach array of permanent magnets and a moving-coil. The actuator can produce an axial force of 120 N and a stroke of 80 mm. The paper also presents a comparative analysis between results obtained considering only an electromagnetic model and the thermal-electromagnetic coupled model. This comparison shows that the final designs for both cases differ significantly, especially regarding its active volume and its electrical and magnetic loading. Although in this paper the methodology was employed to design a specific actuator, its structure can be used to design a wide range of linear devices if the parametric models are adjusted for each particular actuator. PMID:26978370

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

PubMed

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

2016-03-11

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

Aeroelastic Analysis of Helicopter Rotor Blades Incorporating Anisotropic Piezoelectric Twist Actuation

NASA Technical Reports Server (NTRS)

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

1996-01-01

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

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

NASA Technical Reports Server (NTRS)

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

1996-01-01

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

Design of a portable artificial heart drive system based on efficiency analysis.

PubMed

Kitamura, T

1986-11-01

This paper discusses a computer simulation of a pneumatic portable piston-type artificial heart drive system with a linear d-c-motor. The purpose of the design is to obtain an artificial heart drive system with high efficiency and small dimensions to enhance portability. The design employs two factors contributing the total efficiency of the drive system. First, the dimensions of the pneumatic actuator were optimized under a cost function of the total efficiency. Second, the motor performance was studied in terms of efficiency. More than 50 percent of the input energy of the actuator with practical loads is consumed in the armature circuit in all linear d-c-motors with brushes. An optimal design is: the piston cross-sectional area of 10.5 cm2 cylinder longitudinal length of 10 cm. The total efficiency could be up to 25 percent by improving the gasket to reduce the frictional force.

Model-based design and experimental verification of a monitoring concept for an active-active electromechanical aileron actuation system

NASA Astrophysics Data System (ADS)

Arriola, David; Thielecke, Frank

2017-09-01

Electromechanical actuators have become a key technology for the onset of power-by-wire flight control systems in the next generation of commercial aircraft. The design of robust control and monitoring functions for these devices capable to mitigate the effects of safety-critical faults is essential in order to achieve the required level of fault tolerance. A primary flight control system comprising two electromechanical actuators nominally operating in active-active mode is considered. A set of five signal-based monitoring functions are designed using a detailed model of the system under consideration which includes non-linear parasitic effects, measurement and data acquisition effects, and actuator faults. Robust detection thresholds are determined based on the analysis of parametric and input uncertainties. The designed monitoring functions are verified experimentally and by simulation through the injection of faults in the validated model and in a test-rig suited to the actuation system under consideration, respectively. They guarantee a robust and efficient fault detection and isolation with a low risk of false alarms, additionally enabling the correct reconfiguration of the system for an enhanced operational availability. In 98% of the performed experiments and simulations, the correct faults were detected and confirmed within the time objectives set.

Development and Preliminary Testing of a High Precision Long Stroke Slit Change Mechanism for the SPICE Instrument

NASA Technical Reports Server (NTRS)

Paciotti, Gabriel; Humphries, Martin; Rottmeier, Fabrice; Blecha, Luc

2014-01-01

In the frame of ESA's Solar Orbiter scientific mission, Almatech has been selected to design, develop and test the Slit Change Mechanism of the SPICE (SPectral Imaging of the Coronal Environment) instrument. In order to guaranty optical cleanliness level while fulfilling stringent positioning accuracies and repeatability requirements for slit positioning in the optical path of the instrument, a linear guiding system based on a double flexible blade arrangement has been selected. The four different slits to be used for the SPICE instrument resulted in a total stroke of 16.5 mm in this linear slit changer arrangement. The combination of long stroke and high precision positioning requirements has been identified as the main design challenge to be validated through breadboard models testing. This paper presents the development of SPICE's Slit Change Mechanism (SCM) and the two-step validation tests successfully performed on breadboard models of its flexible blade support system. The validation test results have demonstrated the full adequacy of the flexible blade guiding system implemented in SPICE's Slit Change Mechanism in a stand-alone configuration. Further breadboard test results, studying the influence of the compliant connection to the SCM linear actuator on an enhanced flexible guiding system design have shown significant enhancements in the positioning accuracy and repeatability of the selected flexible guiding system. Preliminary evaluation of the linear actuator design, including a detailed tolerance analyses, has shown the suitability of this satellite roller screw based mechanism for the actuation of the tested flexible guiding system and compliant connection. The presented development and preliminary testing of the high-precision long-stroke Slit Change Mechanism for the SPICE Instrument are considered fully successful such that future tests considering the full Slit Change Mechanism can be performed, with the gained confidence, directly on a Qualification Model. The selected linear Slit Change Mechanism design concept, consisting of a flexible guiding system driven by a hermetically sealed linear drive mechanism, is considered validated for the specific application of the SPICE instrument, with great potential for other special applications where contamination and high precision positioning are dominant design drivers.

Vibration suppression of a piezo-equipped cylindrical shell in a broad-band frequency domain

NASA Astrophysics Data System (ADS)

Loghmani, Ali; Danesh, Mohammad; Kwak, Moon K.; Keshmiri, Mehdi

2017-12-01

This paper focuses on the dynamic modeling of a cylindrical shell equipped with piezoceramic sensors and actuators, as well as the design of a broad band multi-input and multi-output linear quadratic Gaussian controller for the suppression of vibrations. The optimal locations of actuators are derived by Genetic Algorithm (GA) to effectively control the specific structural modes of the cylinder. The dynamic model is derived based on the Sanders shell theory and the energy approach for both the cylinder and the piezoelectric transducers, all of which reflect the piezoelectric effect. The natural vibration characteristics of the cylindrical shell are investigated both theoretically and experimentally. The theoretical predictions are in good agreement with the experimental results. Then, the broad band multi-input and multi-output linear quadratic Gaussian controller was designed and applied to the test article. An active vibration control experiment is carried out on the cylindrical shell and the digital control system is used to implement the proposed control algorithm. The experimental results show that vibrations of the cylindrical shell can be suppressed by the piezoceramic sensors and actuators along with the proposed controller. The optimal location of the actuators makes the proposed control system more efficient than other configurations.

Feasibility of controlling speed-dependent low-frequency brake vibration amplification by modulating actuation pressure

NASA Astrophysics Data System (ADS)

Sen, Osman Taha; Dreyer, Jason T.; Singh, Rajendra

2014-12-01

In this article, a feasibility study of controlling the low frequency torque response of a disc brake system with modulated actuation pressure (in the open loop mode) is conducted. First, a quasi-linear model of the torsional system is introduced, and analytical solutions are proposed to incorporate the modulation effect. Tractable expressions for three different modulation schemes are obtained, and conditions that would lead to a reduction in the oscillatory amplitudes are identified. Second, these conditions are evaluated with a numerical model of the torsional system with clearance nonlinearity, and analytical solutions are verified in terms of the trends observed. Finally, a laboratory experiment with a solenoid valve is built to modulate actuation pressure with a constant duty cycle, and time-frequency domain data are acquired. Measurements are utilized to assess analytical observations, and all methods show that the speed-dependent brake torque amplitudes can be altered with an appropriate modulation of actuation pressure.

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

PubMed

Lin, Jhih-Hong; Chiang, Mao-Hsiung

2016-08-25

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

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

PubMed Central

Lin, Jhih-Hong; Chiang, Mao-Hsiung

2016-01-01

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

Linear Actuator Has Long Stroke and High Resolution

NASA Technical Reports Server (NTRS)

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

2009-01-01

The term precision linear actuator, direct drive ( PLADD ) refers to a robust linear actuator designed to be capable of repeatedly performing, over a lifetime of the order of 5 to 10 years, positioning maneuvers that include, variously, submicron increments or slews of the order of a centimeter. The PLADD is capable of both long stroke (120 mm) and high resolution (repeatable increments of 20 nm). Unlike precise linear actuators of prior design, the PLADD contains no gears, levers, or hydraulic converters. The PLADD, now at the prototype stage of development, is intended for original use as a coarse-positioning actuator in a spaceborne interferometer. The PLADD could also be adapted to terrestrial applications in which there are requirements for long stroke and high resolution: potential applications include medical imaging and fabrication of semiconductor devices. The PLADD (see figure) includes a commercially available ball-screw actuator driven directly by a commercially available three-phase brushless DC motor. The ball-screw actuator comprises a spring-preloaded ball nut on a ball screw that is restrained against rotation as described below. The motor is coupled directly (that is, without an intervening gear train) to a drive link that, in turn, is coupled to the ball nut. By eliminating the gear train, the direct-drive design eliminates the complexity, backlash, and potential for misalignment associated with a gear train. To prevent inadvertent movement, there is a brake that includes flexured levers compressed against the drive link by preload springs. This is a power-off brake: There are also piezoelectric stacks that can be activated to oppose the springs and push the levers away from the drive link. Hence, power must be applied to the piezoelectric stacks to release the drive link from braking. To help ensure long operational life, all of the mechanical drive components are immersed in an oil bath within hermetically sealed bellows. The outer end of the bellows holds the outer end of the ball screw, thereby preventing rotation of the ball screw. Positioning is controlled by an electronic control system that includes digital and analog subsystems that interact with the motor and brake and with two sensor/encoder units: a Hall-effect-sensor rotation encoder and a linear glass-scale encoder. This system implements a proportional + integral + derivative control algorithm that results in variation of voltage commands to each of the three pairs of windings of the brushless DC motor. In one of two alternative control modes, the voltages are applied to the windings in a trapezoidal commutation scheme on the basis of timing signals obtained from the Hall-effect sensors; this scheme yields relatively coarse positioning - 24 steps per motor revolution. The second control mode involves a sinusoidal commutation scheme in which the output of the linear glass-scale encoder is transposed to rotational increments to yield much finer position feedback - more than 400,000 steps per revolution.

The Structure, Design, and Closed-Loop Motion Control of a Differential Drive Soft Robot.

PubMed

Wu, Pang; Jiangbei, Wang; Yanqiong, Fei

2018-02-01

This article presents the structure, design, and motion control of an inchworm inspired pneumatic soft robot, which can perform differential movement. This robot mainly consists of two columns of pneumatic multi-airbags (actuators), one sensor, one baseboard, front feet, and rear feet. According to the different inflation time of left and right actuators, the robot can perform both linear and turning movements. The actuators of this robot are composed of multiple airbags, and the design of the airbags is analyzed. To deal with the nonlinear performance of the soft robot, we use radial basis function neural networks to train the turning ability of this robot on three different surfaces and create a mathematical model among coefficient of friction, deflection angle, and inflation time. Then, we establish the closed-loop automatic control model using three-axis electronic compass sensor. Finally, the automatic control model is verified by linear and turning movement experiments. According to the experiment, the robot can finish the linear and turning movements under the closed-loop control system.

Series elastic actuation of an elbow rehabilitation exoskeleton with axis misalignment adaptation.

PubMed

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

2017-07-01

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

Control of Flexible Systems in the Presence of Failures

NASA Technical Reports Server (NTRS)

Magahami, Peiman G.; Cox, David E.; Bauer, Frank H. (Technical Monitor)

2001-01-01

Control of flexible systems under degradation or failure of sensors/actuators is considered. A Linear Matrix Inequality framework is used to synthesize H(sub infinity)-based controllers, which provide good disturbance rejection while capable of tolerating real parameter uncertainties in the system model, as well as potential degradation or failure of the control system hardware. In this approach, a one-at-a-time failure scenario is considered, wherein no more than one sensor or actuator is allowed to fail at any given time. A numerical example involving control synthesis for a two-dimensional flexible system is presented to demonstrate the feasibility of the proposed approach.

A method to estimate the deformation and the absorbed current of an IPMC actuator

NASA Astrophysics Data System (ADS)

Bonomo, Claudia; Fortuna, Luigi; Giannone, Pietro; Graziani, Salvatore; Strazzeri, Salvatore

2006-03-01

Based on a previous paper presented at EAPAD Conference on 2005 and supported by the European Community by the research project ISAMCO (Ionic polymer metal composite as Sensors and Actuators for Motion COntrol, 2004-2006) inside the sixth Framework Program, the proposed paper goes on describing the results about the characterization of IPMC materials as motion actuators, obtained by using an improved infrared-based system designed, realized and characterised to this aim. The system was required to detect both the IPMC absorbed current and its consequent deflection, under the effect of the applied voltage. The deflection is detected by the IR system, that uses a differential configuration in order to reduce non-linearity, peculiar to IR devices. The measurement system is used to identify and then validate a model, proposed to describe the IPMC actuator behaviour in a wide range of operating conditions. The model was obtained by adopting a grey box approach. By acquiring the signals involved: the applied voltage, the absorbed current and the IPMC displacement, for different inputs such as pulses, sinusoidal waves (with varying frequency and amplitude) and noise, and by post-processing these signals, all the parameters relative to the IPMC actuator were identified and several tests were performed in order to compare the behaviour of the actuator as predicted by the model with the experimental one. The obtained results show a very good accordance between the simulated and the real actuator response, hence represent a good validation of the proposed model.

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

NASA Astrophysics Data System (ADS)

Neubert, Holger; Kamusella, Alfred; Lienig, Jens

2011-03-01

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

Real Time Digital Control of a Magnetostrictive Actuator

NASA Technical Reports Server (NTRS)

Zrostlik, Rick L.; Hall, David L.; Flatau, Alison B.

1996-01-01

The use of the magnetostrictive material Terfenol-D as a motion source in active vibration control (AVC) systems are being studied. Currently it is of limited use due to the nonlinear nature of the strain versus magnetization curve and the magnetic hysteresis in the Terfenol-D. One manifestation of these nonlinearities is waveform distortion in the output velocity of the transducer. For Terfenol-D to be used in ever greater numbers of AVC systems, these nonlinearities must be addressed. In this study the nonlinearities are treated as disturbances to a linear system. The acceleration output is used in simple analog and digital feedback control schemes to improve linearity of the transducer. In addition, the use of a Terfenol-D actuator in an AVC system is verified. Both analog and digital controllers are implemented and results compared. A cantilever beam system is considered for AVC applications. The second thrust of this presentation is the reduction of harmonic distortions. Two conclusions can be reached from this work. One, the linearization of Terfenol-D transducers is possible with the use of feedback controllers, both digital and analog. Second, Terfenol-D is a viable motion source in active vibration control systems utilizing either analog or digital controllers.

NASA pyrotechnically actuated systems program

NASA Technical Reports Server (NTRS)

Schulze, Norman R.

1993-01-01

The Office of Safety and Mission Quality initiated a Pyrotechnically Actuated Systems (PAS) Program in FY-92 to address problems experienced with pyrotechnically actuated systems and devices used both on the ground and in flight. The PAS Program will provide the technical basis for NASA's projects to incorporate new technological developments in operational systems. The program will accomplish that objective by developing/testing current and new hardware designs for flight applications and by providing a pyrotechnic data base. This marks the first applied pyrotechnic technology program funded by NASA to address pyrotechnic issues. The PAS Program has been structured to address the results of a survey of pyrotechnic device and system problems with the goal of alleviating or minimizing their risks. Major program initiatives include the development of a Laser Initiated Ordnance System, a pyrotechnic systems data base, NASA Standard Initiator model, a NASA Standard Linear Separation System and a NASA Standard Gas Generator. The PAS Program sponsors annual aerospace pyrotechnic systems workshops.

Feedback control of acoustic disturbance transient growth in triggering thermoacoustic instability

NASA Astrophysics Data System (ADS)

Zhao, Dan; Reyhanoglu, Mahmut

2014-08-01

Transient growth of acoustic disturbances could trigger thermoacoustic instability in a combustion system with non-orthogonal eigenmodes, even with stable eigenvalues. In this work, feedback control of transient growth of flow perturbations in a Rijke-type combustion system is considered. For this, a generalized thermoacoustic model with distributed monopole-like actuators is developed. The model is formulated in state-space to gain insights on the interaction between various eigenmodes and the dynamic response of the system to the actuators. Three critical parameters are identified: (1) the mode number, (2) the number of actuators, and (3) the locations of the actuators. It is shown that in general the number of the actuators K is related to the mode number N as K=N2. For simplicity in illustrating the main results of the paper, two different thermoacoustic systems are considered: system (a) with one mode and system (b) that involves two modes. The actuator location effect is studied in system (a) and it is found that the actuator location plays an important role in determining the control effort. In addition, sensitivity analysis of pressure- and velocity-related control parameters is conducted. In system (b), when the actuators are turned off (i.e., open-loop configuration), it is observed that acoustic energy transfers from the high frequency mode to the lower frequency mode. After some time, the energy is transferred back. Moreover, the high frequency oscillation grows into nonlinear limit cycle with the low frequency oscillation amplified. As a linear-quadratic regulator (LQR) is implemented to tune the actuators, both systems become asymptotically stable. However, the LQR controller fails in eliminating the transient growth, which may potentially trigger thermoacoustic instability. In order to achieve strict dissipativity (i.e., unity maximum transient growth), a transient growth controller is systematically designed and tested in both systems. Comparison is then made between the performance of the LQR controller and that of the transient growth controller. It is found in both systems that the transient growth controller achieves both exponential decay of the flow disturbance energy and unity maximum transient growth.

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

NASA Technical Reports Server (NTRS)

Brenner, Martin J.

1993-01-01

Accurate prediction of airframe/actuation coupling is required by the imposing demands of modern flight control systems. In particular, for agility enhancement at high angle of attack and low dynamic pressure, structural integration characteristics such as hinge moments, effective actuator stiffness, and airframe/control surface damping can have a significant effect on stability predictions. Actuator responses are customarily represented with low-order transfer functions matched to actuator test data, and control surface stiffness is often modeled as a linear spring. The inclusion of the physical properties of actuation and its installation on the airframe is therefore addressed in this paper using detailed actuator models which consider the physical, electrical, and mechanical elements of actuation. The aeroservoelastic analysis procedure is described in which the actuators are modeled as detailed high-order transfer functions and as approximate low-order transfer functions. The impacts of unsteady aerodynamic modeling on aeroservoelastic stability are also investigated in this paper by varying the order of approximation, or number of aerodynamic lag states, in the analysis. Test data from a thrust-vectoring configuration of an F/A-18 aircraft are compared to predictions to determine the effects on accuracy as a function of modeling complexity.

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

NASA Technical Reports Server (NTRS)

Brenner, Martin J.

1993-01-01

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

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

PubMed

Bagherpoor, H M; Salmasi, Farzad R

2015-07-01

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

Feed-forward control of gear mesh vibration using piezoelectric actuators

NASA Technical Reports Server (NTRS)

Montague, Gerald T.; Kascak, Albert F.; Palazzolo, Alan; Manchala, Daniel; Thomas, Erwin

1994-01-01

This paper presents a novel means for suppressing gear mesh-related vibrations. The key components in this approach are piezoelectric actuators and a high-frequency, analog feed-forward controller. Test results are presented and show up to a 70-percent reduction in gear mesh acceleration and vibration control up to 4500 Hz. The principle of the approach is explained by an analysis of a harmonically excited, general linear vibratory system.

Hybrid active vibration control of rotorbearing systems using piezoelectric actuators

NASA Technical Reports Server (NTRS)

Palazzolo, A. B.; Jagannathan, S.; Kascak, A. F.; Montague, G. T.; Kiraly, L. J.

1993-01-01

The vibrations of a flexible rotor are controlled using piezoelectric actuators. The controller includes active analog components and a hybrid interface with a digital computer. The computer utilizes a grid search algorithm to select feedback gains that minimize a vibration norm at a specific operating speed. These gains are then downloaded as active stillnesses and dampings with a linear fit throughout the operating speed range to obtain a very effective vibration control.

Permanent magnet flux-biased magnetic actuator with flux feedback

NASA Technical Reports Server (NTRS)

Groom, Nelson J. (Inventor)

1991-01-01

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

Linear magnetic motor/generator. [to generate electric energy using magnetic flux for spacecraft power supply

NASA Technical Reports Server (NTRS)

Studer, P. A. (Inventor)

1982-01-01

A linear magnetic motor/generator is disclosed which uses magnetic flux to provide mechanical motion or electrical energy. The linear magnetic motor/generator includes an axially movable actuator mechanism. A permament magnet mechanism defines a first magnetic flux path which passes through a first end portion of the actuator mechanism. Another permament magnet mechanism defines a second magnetic flux path which passes through a second end portion of the actuator mechanism. A drive coil defines a third magnetic flux path passing through a third central portion of the actuator mechanism. A drive coil selectively adds magnetic flux to and subtracts magnetic flux from magnetic flux flowing in the first and second magnetic flux path.

Linear Parameter Varying Control Synthesis for Actuator Failure, Based on Estimated Parameter

NASA Technical Reports Server (NTRS)

Shin, Jong-Yeob; Wu, N. Eva; Belcastro, Christine

2002-01-01

The design of a linear parameter varying (LPV) controller for an aircraft at actuator failure cases is presented. The controller synthesis for actuator failure cases is formulated into linear matrix inequality (LMI) optimizations based on an estimated failure parameter with pre-defined estimation error bounds. The inherent conservatism of an LPV control synthesis methodology is reduced using a scaling factor on the uncertainty block which represents estimated parameter uncertainties. The fault parameter is estimated using the two-stage Kalman filter. The simulation results of the designed LPV controller for a HiMXT (Highly Maneuverable Aircraft Technology) vehicle with the on-line estimator show that the desired performance and robustness objectives are achieved for actuator failure cases.

A velocity command stepper motor for CSI application

NASA Technical Reports Server (NTRS)

Sulla, Jeffrey L.; Juang, Jer-Nan; Horta, Lucas G.

1991-01-01

The application of linear force actuators for vibration suppression of flexible structures has received much attention in recent years. A linear force actuator consists of a movable mass that is restrained such that its motion is linear. By application of a force to the mass, an equal and opposite reaction force can be applied to a structure. The use of an industrial linear stepper motor as a reaction mass actuator is described. With the linear stepper motor mounted on a simple test beam and the NASA Mini-Mast, output feedback of acceleration or displacement are used to augment the structural damping of the test articles. Significant increases in damping were obtained for both the test beam and the Mini-Mast.

Development and experimental characterization of a pneumatic valve actuated by a dielectric elastomer membrane

NASA Astrophysics Data System (ADS)

Hill, Marc; Rizzello, Gianluca; Seelecke, Stefan

2017-08-01

Due to their many features including lightweight and low energy consumption, dielectric elastomer (DE) membrane actuators are of interest for a number of industrial applications, such as pumping systems or valve control units. In particular, the use of DEs in valve control units offers advantages over traditional solenoid valves, including lower power requirements and relative simplicity in achieving proportional control. Additionally, DEs generate low thermal dissipation and are capable of virtually silent operation. The contribution of this work is the development of a new valve system based on a circular DE membrane pre-loaded with a linear spring. The valve is designed for pressurized air and operates by actuating a lever mechanism that opens and closes an outlet port. After presenting the operating principle and system design, several experiments are presented to compare actuator force, stroke, and dissipated energy for several pressure differentials and associated volume flows. It is observed that the DE-driven valve achieves a performance similar to a solenoid-based valve, while requiring a significantly lower amount of input energy. In addition, it is shown that DE-membrane valves can be controlled proportionally by simply adjusting the actuator voltage.

The Absolute Stability Analysis in Fuzzy Control Systems with Parametric Uncertainties and Reference Inputs

NASA Astrophysics Data System (ADS)

Wu, Bing-Fei; Ma, Li-Shan; Perng, Jau-Woei

This study analyzes the absolute stability in P and PD type fuzzy logic control systems with both certain and uncertain linear plants. Stability analysis includes the reference input, actuator gain and interval plant parameters. For certain linear plants, the stability (i.e. the stable equilibriums of error) in P and PD types is analyzed with the Popov or linearization methods under various reference inputs and actuator gains. The steady state errors of fuzzy control systems are also addressed in the parameter plane. The parametric robust Popov criterion for parametric absolute stability based on Lur'e systems is also applied to the stability analysis of P type fuzzy control systems with uncertain plants. The PD type fuzzy logic controller in our approach is a single-input fuzzy logic controller and is transformed into the P type for analysis. In our work, the absolute stability analysis of fuzzy control systems is given with respect to a non-zero reference input and an uncertain linear plant with the parametric robust Popov criterion unlike previous works. Moreover, a fuzzy current controlled RC circuit is designed with PSPICE models. Both numerical and PSPICE simulations are provided to verify the analytical results. Furthermore, the oscillation mechanism in fuzzy control systems is specified with various equilibrium points of view in the simulation example. Finally, the comparisons are also given to show the effectiveness of the analysis method.

Sensor-actuator system for dynamic chloride ion determination.

PubMed

de Graaf, Derk Balthazar; Abbas, Yawar; Gerrit Bomer, Johan; Olthuis, Wouter; van den Berg, Albert

2015-08-12

Chloride is a crucial anion for various analytical applications from biological to environmental applications. In order to measure the chloride ion concentration, a measurement system is needed which can detect this concentration for prolonged times reliably. Chronopotentiometry is a technique which does not need a long term stable reference electrode and is therefore very suitable for prolonged ion concentration measurements. As the used electrode might be fouled by reaction products, this work focuses on a chronopotentiometric approach with a separated sensing electrode (sensor) and actuating electrode (actuator). Both actuation and sensor electrode are made of Ag/AgCl. A constant current is applied to the actuator and will start the reaction between Ag and Cl-, while the resulting Cl- ion concentration change is observed through the sensor, which is placed close to the actuator. The time it takes to locally deplete the Cl- ions is called transition time. Experiments were performed to verify the feasibility of this approach. The performed experiments show that the sensor detects the local concentration changes resulting from the current applied to the actuator. A linear relation between the Cl- ion concentration and the square root of the transition time was observed, just as was predicted by theory. The calibration curves for different chips showed that both a larger sensor and a larger distance between sensor and actuator resulted in a larger time delay between the transition time detected at the actuator and the sensor. Copyright © 2015 Elsevier B.V. All rights reserved.

Dynamic actuation of a novel laser-processed NiTi linear actuator

NASA Astrophysics Data System (ADS)

Pequegnat, A.; Daly, M.; Wang, J.; Zhou, Y.; Khan, M. I.

2012-09-01

A novel laser processing technique, capable of locally modifying the shape memory effect, was applied to enhance the functionality of a NiTi linear actuator. By altering local transformation temperatures, an additional memory was imparted into a monolithic NiTi wire to enable dynamic actuation via controlled resistive heating. Characterizations of the actuator load, displacement and cyclic properties were conducted using a custom-built spring-biased test set-up. Monotonic tensile testing was also implemented to characterize the deformation behaviour of the martensite phase. Observed differences in the deformation behaviour of laser-processed material were found to affect the magnitude of the active strain. Furthermore, residual strain during cyclic actuation testing was found to stabilize after 150 cycles while the recoverable strain remained constant. This laser-processed actuator will allow for the realization of new applications and improved control methods for shape memory alloys.

Reference governors for controlled belt restraint systems

NASA Astrophysics Data System (ADS)

van der Laan, E. P.; Heemels, W. P. M. H.; Luijten, H.; Veldpaus, F. E.; Steinbuch, M.

2010-07-01

Today's restraint systems typically include a number of airbags, and a three-point seat belt with load limiter and pretensioner. For the class of real-time controlled restraint systems, the restraint actuator settings are continuously manipulated during the crash. This paper presents a novel control strategy for these systems. The control strategy developed here is based on a combination of model predictive control and reference management, in which a non-linear device - a reference governor (RG) - is added to a primal closed-loop controlled system. This RG determines an optimal setpoint in terms of injury reduction and constraint satisfaction by solving a constrained optimisation problem. Prediction of the vehicle motion, required to predict future constraint violation, is included in the design and is based on past crash data, using linear regression techniques. Simulation results with MADYMO models show that, with ideal sensors and actuators, a significant reduction (45%) of the peak chest acceleration can be achieved, without prior knowledge of the crash. Furthermore, it is shown that the algorithms are sufficiently fast to be implemented online.

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.

Proprioceptive Flexible Fluidic Actuators Using Conductive Working Fluids

PubMed Central

Rossiter, Jonathan

2018-01-01

Abstract Soft robotic systems generally require both soft actuators and soft sensors to perform complex functions. Separate actuators and sensors are often combined into one composite device when proprioception (self-sensing) is required. In this article, we introduce the concept of using a conductive liquid to perform both the sensing and actuation functions of a proprioceptive soft actuator. The working fluid drives actuator deformation while simultaneously acting as a strain-sensing component for detecting actuator deformation. The concept is examined and demonstrated in two proprioceptive flexible fluidic actuators (FFAs) that use conductive liquids as their working fluids: a linear actuator and a bending actuator. In both cases, we show that resistance can be used to infer strain. Some hysteresis and nonlinearity are present, but repeatability is high. The bandwidth of resistance as a sensing variable in the bending FFA is tested and found to be ∼3.665 Hz. Resistance is demonstrated as a feedback variable in a control loop, and the proprioceptive bending FFA is controlled to respond to step input and sinusoidal target functions. The effect of temperature on resistance–strain behavior is also examined, and we demonstrate how measurement of volume and resistance can be used to detect when the actuator is constrained. Biocompatible proprioceptive soft actuators such as those presented in this article are ideal for use in low-cost bionic healthcare components such as orthotics, prosthetics, or even replacement muscles. PMID:29211627

Proprioceptive Flexible Fluidic Actuators Using Conductive Working Fluids.

PubMed

Helps, Tim; Rossiter, Jonathan

2018-04-01

Soft robotic systems generally require both soft actuators and soft sensors to perform complex functions. Separate actuators and sensors are often combined into one composite device when proprioception (self-sensing) is required. In this article, we introduce the concept of using a conductive liquid to perform both the sensing and actuation functions of a proprioceptive soft actuator. The working fluid drives actuator deformation while simultaneously acting as a strain-sensing component for detecting actuator deformation. The concept is examined and demonstrated in two proprioceptive flexible fluidic actuators (FFAs) that use conductive liquids as their working fluids: a linear actuator and a bending actuator. In both cases, we show that resistance can be used to infer strain. Some hysteresis and nonlinearity are present, but repeatability is high. The bandwidth of resistance as a sensing variable in the bending FFA is tested and found to be ∼3.665 Hz. Resistance is demonstrated as a feedback variable in a control loop, and the proprioceptive bending FFA is controlled to respond to step input and sinusoidal target functions. The effect of temperature on resistance-strain behavior is also examined, and we demonstrate how measurement of volume and resistance can be used to detect when the actuator is constrained. Biocompatible proprioceptive soft actuators such as those presented in this article are ideal for use in low-cost bionic healthcare components such as orthotics, prosthetics, or even replacement muscles.

Theoretical and experimental study of a wireless power supply system for moving low power devices in ferromagnetic and conductive medium

NASA Astrophysics Data System (ADS)

Safour, Salaheddine; Bernard, Yves

2017-10-01

This paper focuses on the design of a wireless power supply system for low power devices (e.g. sensors) located in harsh electromagnetic environment with ferromagnetic and conductive materials. Such particular environment could be found in linear and rotating actuators. The studied power transfer system is based on the resonant magnetic coupling between a fixed transmitter coil and a moving receiver coil. The technique was utilized successfully for rotary machines. The aim of this paper is to extend the technique to linear actuators. A modeling approach based on 2D Axisymmetric Finite Element model and an electrical lumped model based on the two-port network theory is introduced. The study shows the limitation of the technique to transfer the required power in the presence of ferromagnetic and conductive materials. Parametric and circuit analysis were conducted in order to design a resonant magnetic coupler that ensures good power transfer capability and efficiency. A design methodology is proposed based on this study. Measurements on the prototype show efficiency up to 75% at a linear distance of 20 mm.

Magnetic Actuators and Suspension for Space Vibration Control

NASA Technical Reports Server (NTRS)

Knospe, Carl R.; Allaire, Paul E.; Lewis, David W.

1993-01-01

The research on microgravity vibration isolation performed at the University of Virginia is summarized. This research on microgravity vibration isolation was focused in three areas: (1) the development of new actuators for use in microgravity isolation; (2) the design of controllers for multiple-degree-of-freedom active isolation; and (3) the construction of a single-degree-of-freedom test rig with umbilicals. Described are the design and testing of a large stroke linear actuator; the conceptual design and analysis of a redundant coarse-fine six-degree-of-freedom actuator; an investigation of the control issues of active microgravity isolation; a methodology for the design of multiple-degree-of-freedom isolation control systems using modern control theory; and the design and testing of a single-degree-of-freedom test rig with umbilicals.

Control performance of a road vehicle with four independent single-wheel electric motors and steer-by-wire system

NASA Astrophysics Data System (ADS)

Weiskircher, Thomas; Müller, Steffen

2012-01-01

This article presents a motion controller for a road vehicle equipped with a steer-by-wire system and four independent electric rim-mounted drives. The motion controller separates the control law from the specific actuator setup by the usage of virtual global control variables acting on the vehicle centre of gravity. A control allocation algorithm distributes the virtual control variables to the available actuators. An approximation of the real actuator dynamics is used to analyse the performance of different motion controller types in the linear and nonlinear driving regions. In addition, a vehicle state observer consisting of a traction force observer and an unscented Kalman filter is discussed to analyse the control behaviour in the case of a real sensor setup.

A prototype piecewise-linear dynamic attenuator

NASA Astrophysics Data System (ADS)

Hsieh, Scott S.; Peng, Mark V.; May, Christopher A.; Shunhavanich, Picha; Fleischmann, Dominik; Pelc, Norbert J.

2016-07-01

The piecewise-linear dynamic attenuator has been proposed as a mechanism in CT scanning for personalizing the x-ray illumination on a patient- and application-specific basis. Previous simulations have shown benefits in image quality, scatter, and dose objectives. We report on the first prototype implementation. This prototype is reduced in scale and speed and is integrated into a tabletop CT system with a smaller field of view (25 cm) and longer scan time (42 s) compared to a clinical system. Stainless steel wedges were machined and affixed to linear actuators, which were in turn held secure by a frame built using rapid prototyping technologies. The actuators were computer-controlled, with characteristic noise of about 100 microns. Simulations suggest that in a clinical setting, the impact of actuator noise could lead to artifacts of only 1 HU. Ring artifacts were minimized by careful design of the wedges. A water beam hardening correction was applied and the scan was collimated to reduce scatter. We scanned a 16 cm water cylinder phantom as well as an anthropomorphic pediatric phantom. The artifacts present in reconstructed images are comparable to artifacts normally seen with this tabletop system. Compared to a flat-field reference scan, increased detectability at reduced dose is shown and streaking is reduced. Artifacts are modest in our images and further refinement is possible. Issues of mechanical speed and stability in the challenging clinical CT environment will be addressed in a future design.

Mechatronic Materials and Systems. Design and Demonstration of High Aughtority Shape Morphing Structures

DTIC Science & Technology

2005-09-01

thermal expansion of these truss elements. One side of the structure is fully clamped, while the other is free to displace. As in prior assessments [6...levels, by using the finite element package ABAQUS . To simulate the complete system, the core and the Kagome face members are modeled using linear...code ABAQUS . To simulate the complete actuation system, the core and Kagome members are modeled using linear Timoshenko-type beams, while the solid

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.

Toward Modular Soft Robotics: Proprioceptive Curvature Sensing and Sliding-Mode Control of Soft Bidirectional Bending Modules.

PubMed

Luo, Ming; Skorina, Erik H; Tao, Weijia; Chen, Fuchen; Ozel, Selim; Sun, Yinan; Onal, Cagdas D

2017-06-01

Real-world environments are complex, unstructured, and often fragile. Soft robotics offers a solution for robots to safely interact with the environment and human coworkers, but suffers from a host of challenges in sensing and control of continuously deformable bodies. To overcome these challenges, this article considers a modular soft robotic architecture that offers proprioceptive sensing of pressure-operated bending actuation modules. We present integrated custom magnetic curvature sensors embedded in the neutral axis of bidirectional bending actuators. We describe our recent advances in the design and fabrication of these modules to improve the reliability of proprioceptive curvature feedback over our prior work. In particular, we study the effect of dimensional parameters on improving the linearity of curvature measurements. In addition, we present a sliding-mode controller formulation that drives the binary solenoid valve states directly, giving the control system the ability to hold the actuator steady without continuous pressurization and depressurization. In comparison to other methods, this control approach does not rely on pulse width modulation and hence offers superior dynamic performance (i.e., faster response rates). Our experimental results indicate that the proposed soft robotic modules offer a large range of bending angles with monotonic and more linear embedded curvature measurements, and that the direct sliding-mode control system exhibits improved bandwidth and a notable reduction in binary valve actuation operations compared to our earlier iterative sliding-mode controller.

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

NASA Astrophysics Data System (ADS)

Shepherd, Robert

2014-03-01

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

Non-Linear Finite Element Modeling of THUNDER Piezoelectric Actuators

NASA Technical Reports Server (NTRS)

Taleghani, Barmac K.; Campbell, Joel F.

1999-01-01

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

Variable volume combustor with pre-nozzle fuel injection system

DOE Office of Scientific and Technical Information (OSTI.GOV)

Keener, Christopher Paul; Johnson, Thomas Edward; McConnaughhay, Johnie Franklin

The present application provides a combustor for use with a gas turbine engine. The combustor may include a number of fuel nozzles, a pre-nozzle fuel injection system supporting the fuel nozzles, and a linear actuator to maneuver the fuel nozzles and the pre-nozzle fuel injection system.

Quasi-Static Analysis of Round LaRC THUNDER Actuators

NASA Technical Reports Server (NTRS)

Campbell, Joel F.

2007-01-01

An analytic approach is developed to predict the shape and displacement with voltage in the quasi-static limit of round LaRC Thunder Actuators. The problem is treated with classical lamination theory and Von Karman non-linear analysis. In the case of classical lamination theory exact analytic solutions are found. It is shown that classical lamination theory is insufficient to describe the physical situation for large actuators but is sufficient for very small actuators. Numerical results are presented for the non-linear analysis and compared with experimental measurements. Snap-through behavior, bifurcation, and stability are presented and discussed.

Quasi-Static Analysis of LaRC THUNDER Actuators

NASA Technical Reports Server (NTRS)

Campbell, Joel F.

2007-01-01

An analytic approach is developed to predict the shape and displacement with voltage in the quasi-static limit of LaRC Thunder Actuators. The problem is treated with classical lamination theory and Von Karman non-linear analysis. In the case of classical lamination theory exact analytic solutions are found. It is shown that classical lamination theory is insufficient to describe the physical situation for large actuators but is sufficient for very small actuators. Numerical results are presented for the non-linear analysis and compared with experimental measurements. Snap-through behavior, bifurcation, and stability are presented and discussed.

The artificial neural network modelling of the piezoelectric actuator vibrations using laser displacement sensor

NASA Astrophysics Data System (ADS)

Paralı, Levent; Sarı, Ali; Kılıç, Ulaş; Şahin, Özge; Pěchoušek, Jiří

2017-09-01

We report an improvement of the artificial neural network (ANN) modelling of a piezoelectric actuator vibration based on the experimental data. The controlled vibrations of an actuator were obtained by utilizing the swept-sine signal excitation. The peak value in the displacement signal response was measured by a laser displacement sensor. The piezoelectric actuator was modelled in both linear and nonlinear operating range. A consistency from 90.3 up to 98.9% of ANN modelled output values and experimental ones was reached. The obtained results clearly demonstrate exact linear relationship between the ANN model and experimental values.

A linear magnetic motor and generator

NASA Technical Reports Server (NTRS)

Studer, P. A.

1980-01-01

In linear magnetic motor and generator suitable for remote and hostile environments, magnetic forces drive reciprocating shaft along its axis. Actuator shaft is located in center of cylindrical body and may be supported by either contacting or noncontacting bearings. When device operates as bidirectional motor, drive coil selectively adds and subtracts magnetic flux to and from flux paths, producing forces that drive actuator along axis. When actuator is driven by external reciprocating engine, device becomes ac generator.

Robust Fault Detection and Isolation for Stochastic Systems

NASA Technical Reports Server (NTRS)

George, Jemin; Gregory, Irene M.

2010-01-01

This paper outlines the formulation of a robust fault detection and isolation scheme that can precisely detect and isolate simultaneous actuator and sensor faults for uncertain linear stochastic systems. The given robust fault detection scheme based on the discontinuous robust observer approach would be able to distinguish between model uncertainties and actuator failures and therefore eliminate the problem of false alarms. Since the proposed approach involves precise reconstruction of sensor faults, it can also be used for sensor fault identification and the reconstruction of true outputs from faulty sensor outputs. Simulation results presented here validate the effectiveness of the robust fault detection and isolation system.

Actuation of digital micro drops by electrowetting on open microfluidic chips fabricated in photolithography.

PubMed

Ko, Hyojin; Lee, Jeong Soo; Jung, Chan-Hee; Choi, Jae-Hak; Kwon, Oh-Sun; Shin, Kwanwoo

2014-08-01

Basic manipulations of discrete liquid drops on opened microfluidic chips based on electrowetting on dielectrics were described. While most developed microfluidic chips are closed systems equipped with a top plate to cover mechanically and to contact electrically to drop samples, our chips are opened systems with a single plate without any electric contact to drops directly. The chips consist of a linear array of patterned electrodes at 1.8 mm pitch was fabricated on a glass plate coated with thin hydrophobic and dielectric layers by using various methods including photolithography, spin coating and ion sputtering. Several actuations such as lateral oscillation, colliding mergence and translational motion for 3-10 μL water drops have been demonstrated satisfactory. All these kinetic performances of opened chips were similar to those of closed chip systems, indicating superiority of a none-contact method for the transport of drops on opened microfluidic chips actuated by using electrowetting technique.

Feedback control design for non-inductively sustained scenarios in NSTX-U using TRANSP

DOE Office of Scientific and Technical Information (OSTI.GOV)

Boyer, M. D.; Andre, R. G.; Gates, D. A.

This paper examines a method for real-time control of non-inductively sustained scenarios in NSTX-U by using TRANSP, a time-dependent integrated modeling code for prediction and interpretive analysis of tokamak experimental data, as a simulator. The actuators considered for control in this work are the six neutral beam sources and the plasma boundary shape. To understand the response of the plasma current, stored energy, and central safety factor to these actuators and to enable systematic design of control algorithms, simulations were run in which the actuators were modulated and a linearized dynamic response model was generated. A multi-variable model-based control schememore » that accounts for the coupling and slow dynamics of the system while mitigating the effect of actuator limitations was designed and simulated. Simulations show that modest changes in the outer gap and heating power can improve the response time of the system, reject perturbations, and track target values of the controlled values.« less

Feedback control design for non-inductively sustained scenarios in NSTX-U using TRANSP

DOE PAGES

Boyer, M. D.; Andre, R. G.; Gates, D. A.; ...

2017-04-24

This paper examines a method for real-time control of non-inductively sustained scenarios in NSTX-U by using TRANSP, a time-dependent integrated modeling code for prediction and interpretive analysis of tokamak experimental data, as a simulator. The actuators considered for control in this work are the six neutral beam sources and the plasma boundary shape. To understand the response of the plasma current, stored energy, and central safety factor to these actuators and to enable systematic design of control algorithms, simulations were run in which the actuators were modulated and a linearized dynamic response model was generated. A multi-variable model-based control schememore » that accounts for the coupling and slow dynamics of the system while mitigating the effect of actuator limitations was designed and simulated. Simulations show that modest changes in the outer gap and heating power can improve the response time of the system, reject perturbations, and track target values of the controlled values.« less

Feedback control design for non-inductively sustained scenarios in NSTX-U using TRANSP

NASA Astrophysics Data System (ADS)

Boyer, M. D.; Andre, R. G.; Gates, D. A.; Gerhardt, S. P.; Menard, J. E.; Poli, F. M.

2017-06-01

This paper examines a method for real-time control of non-inductively sustained scenarios in NSTX-U by using TRANSP, a time-dependent integrated modeling code for prediction and interpretive analysis of tokamak experimental data, as a simulator. The actuators considered for control in this work are the six neutral beam sources and the plasma boundary shape. To understand the response of the plasma current, stored energy, and central safety factor to these actuators and to enable systematic design of control algorithms, simulations were run in which the actuators were modulated and a linearized dynamic response model was generated. A multi-variable model-based control scheme that accounts for the coupling and slow dynamics of the system while mitigating the effect of actuator limitations was designed and simulated. Simulations show that modest changes in the outer gap and heating power can improve the response time of the system, reject perturbations, and track target values of the controlled values.

High speed exhaust gas recirculation valve

DOEpatents

Fensom, Rod; Kidder, David J.

2005-01-18

In order to minimize pollutants such as Nox, internal combustion engines typically include an exhaust gas recirculation (EGR) valve that can be used to redirect a portion of exhaust gases to an intake conduit, such as an intake manifold, so that the redirected exhaust gases will be recycled. It is desirable to have an EGR valve with fast-acting capabilities, and it is also desirable to have the EGR valve take up as little space as possible. An exhaust gas recirculation valve is provided that includes an exhaust passage tube, a valve element pivotally mounted within the exhaust passage tube, a linear actuator; and a gear train. The gear train includes a rack gear operatively connected to the linear actuator, and at least one rotatable gear meshing with the rack gear and operatively connected to the valve element to cause rotation of the valve element upon actuation of the linear actuator. The apparatus provides a highly compact package having a high-speed valve actuation capability.

Control Surface Interaction Effects of the Active Aeroelastic Wing Wind Tunnel Model

NASA Technical Reports Server (NTRS)

Heeg, Jennifer

2006-01-01

This paper presents results from testing the Active Aeroelastic Wing wind tunnel model in NASA Langley s Transonic Dynamics Tunnel. The wind tunnel test provided an opportunity to study aeroelastic system behavior under combined control surface deflections, testing for control surface interaction effects. Control surface interactions were observed in both static control surface actuation testing and dynamic control surface oscillation testing. The primary method of evaluating interactions was examination of the goodness of the linear superposition assumptions. Responses produced by independently actuating single control surfaces were combined and compared with those produced by simultaneously actuating and oscillating multiple control surfaces. Adjustments to the data were required to isolate the control surface influences. Using dynamic data, the task increases, as both the amplitude and phase have to be considered in the data corrections. The goodness of static linear superposition was examined and analysis of variance was used to evaluate significant factors influencing that goodness. The dynamic data showed interaction effects in both the aerodynamic measurements and the structural measurements.

Investigations on colour dependent photo induced microactuation effect of FSMA and proposing suitable mechanisms to control the effect

NASA Astrophysics Data System (ADS)

Bagchi, A.; Sarkar, S.; Mukhopadhyay, P. K.

2018-02-01

Three different coloured focused laser beams were used to study the photo induced microactuation effect found in some ferromagnetic shape memory alloys. Besides trying to uncover the basic causes of this unique and as yet unexplained effect, these studies are to help find other conditions to further characterize the effect for practical use. In this study some mechanisms have been proposed to control the amplitude of actuation of the sample. Control of the actuation of the FSMA sample both linearly with the help of a continuously variable neutral density filter as well periodically with the help of a linear polarizer was achieved. Statistical analysis of the experimental data was also done by applying ANOVA studies on the data to conclusively provide evidence in support of the relationship between the actuation of the sample and the various controlling factors. This study is expected to pave the way to implement this property of the sample in fabricating and operating useful micro-mechanical systems in the near future.

Investigations on colour dependent photo induced microactuation effect of FSMA and proposing suitable mechanisms to control the effect

NASA Astrophysics Data System (ADS)

Bagchi, A.; Sarkar, S.; Mukhopadhyay, P. K.

2018-07-01

Three different coloured focused laser beams were used to study the photo induced microactuation effect found in some ferromagnetic shape memory alloys. Besides trying to uncover the basic causes of this unique and as yet unexplained effect, these studies are to help find other conditions to further characterize the effect for practical use. In this study some mechanisms have been proposed to control the amplitude of actuation of the sample. Control of the actuation of the FSMA sample both linearly with the help of a continuously variable neutral density filter as well periodically with the help of a linear polarizer was achieved. Statistical analysis of the experimental data was also done by applying ANOVA studies on the data to conclusively provide evidence in support of the relationship between the actuation of the sample and the various controlling factors. This study is expected to pave the way to implement this property of the sample in fabricating and operating useful micro-mechanical systems in the near future.

Anisotropic piezoelectric twist actuation of helicopter rotor blades: Aeroelastic analysis and design optimization

NASA Astrophysics Data System (ADS)

Wilkie, William Keats

1997-12-01

An aeroelastic model suitable for control law and preliminary structural design of composite helicopter rotor blades incorporating embedded anisotropic piezoelectric actuator laminae is developed. The aeroelasticity model consists of a linear, nonuniform beam representation of the blade structure, including linear piezoelectric actuation terms, coupled with a nonlinear, finite-state unsteady aerodynamics model. A Galerkin procedure and numerical integration in the time domain are used to obtain a soluti An aeroelastic model suitable for control law and preliminary structural design of composite helicopter rotor blades incorporating embedded anisotropic piezoelectric actuator laminae is developed. The aeroelasticity model consists of a linear, nonuniform beam representation of the blade structure, including linear piezoelectric actuation terms, coupled with a nonlinear, finite-state unsteady aerodynamics model. A Galerkin procedure and numerical integration in the time domain are used to obtain amited additional piezoelectric material mass, it is shown that blade twist actuation approaches which exploit in-plane piezoelectric free-stain anisotropies are capable of producing amplitudes of oscillatory blade twisting sufficient for rotor vibration reduction applications. The second study examines the effectiveness of using embedded piezoelectric actuator laminae to alleviate vibratory loads due to retreating blade stall. A 10 to 15 percent improvement in dynamic stall limited forward flight speed, and a 5 percent improvement in stall limited rotor thrust were numerically demonstrated for the active twist rotor blade relative to a conventional blade design. The active twist blades are also demonstrated to be more susceptible than the conventional blades to dynamic stall induced vibratory loads when not operating with twist actuation. This is the result of designing the active twist blades with low torsional stiffness in order to maximize piezoelectric twist authority. Determining the optimum tradeoff between blade torsional stiffness and piezoelectric twist actuation authority is the subject of the third study. For this investigation, a linearized hovering-flight eigenvalue analysis is developed. Linear optimal control theory is then utilized to develop an optimum active twist blade design in terms of reducing structural energy and control effort cost. The forward flight vibratory loads characteristics of the torsional stiffness optimized active twist blade are then examined using the nonlinear, forward flight aeroelastic analysis. The optimized active twist rotor blade is shown to have improved passive and active vibratory loads characteristics relative to the baseline active twist blades.

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.

Fused Filament Fabrication of Prosthetic Components for Trans-Humeral Upper Limb Prosthetics

NASA Astrophysics Data System (ADS)

Lathers, Steven M.

Presented below is the design and fabrication of prosthetic components consisting of an attachment, tactile sensing, and actuator systems with Fused Filament Fabrication (FFF) technique. The attachment system is a thermoplastic osseointegrated upper limb prosthesis for average adult trans-humeral amputation with mechanical properties greater than upper limb skeletal bone. The prosthetic designed has: a one-step surgical process, large cavities for bone tissue ingrowth, uses a material that has an elastic modulus less than skeletal bone, and can be fabricated on one system. FFF osseointegration screw is an improvement upon the current two-part osseointegrated prosthetics that are composed of a fixture and abutment. The current prosthetic design requires two invasive surgeries for implantation and are made of titanium, which has an elastic modulus greater than bone. An elastic modulus greater than bone causes stress shielding and overtime can cause loosening of the prosthetic. The tactile sensor is a thermoplastic piezo-resistive sensor for daily activities for a prosthetic's feedback system. The tactile sensor is manufactured from a low elastic modulus composite comprising of a compressible thermoplastic elastomer and conductive carbon. Carbon is in graphite form and added in high filler ratios. The printed sensors were compared to sensors that were fabricated in a gravity mold to highlight the difference in FFF sensors to molded sensors. The 3D printed tactile sensor has a thickness and feel similar to human skin, has a simple fabrication technique, can detect forces needed for daily activities, and can be manufactured in to user specific geometries. Lastly, a biomimicking skeletal muscle actuator for prosthetics was developed. The actuator developed is manufactured with Fuse Filament Fabrication using a shape memory polymer composite that has non-linear contractile and passive forces, contractile forces and strains comparable to mammalian skeletal muscle, reaction time under one second, low operating temperature, and has a low mass, volume, and material costs. The actuator improves upon current prosthetic actuators that provide rigid, linear force with high weight, cost, and noise.

A Simplified Model of ARIS for Optimal Controller Design

NASA Technical Reports Server (NTRS)

Beech, Geoffrey S.; Hampton, R. David; Kross, Denny (Technical Monitor)

2001-01-01

Many space-science experiments require active vibration isolation. Boeing's Active Rack Isolation System (ARIS) isolates experiments at the rack (vs. experiment or sub-experiment) level, with multi e experiments per rack. An ARIS-isolated rack typically employs eight actuators and thirteen umbilicals; the umbilicals provide services such as power, data transmission, and cooling. Hampton, et al., used "Kane's method" to develop an analytical, nonlinear, rigid-body model of ARIS that includes full actuator dynamics (inertias). This model, less the umbilicals, was first implemented for simulation by Beech and Hampton; they developed and tested their model using two commercial-off-the-shelf (COTS) software packages. Rupert, et al., added umbilical-transmitted disturbances to this nonlinear model. Because the nonlinear model, even for the untethered system, is both exceedingly complex and "encapsulated" inside these COTS tools, it is largely inaccessible to ARIS controller designers. This paper shows that ISPR rattle-space constraints and small ARIS actuator masses permit considerable model simplification, without significant loss of fidelity. First, for various loading conditions, comparisons are made between the dynamic responses of the nonlinear model (untethered) and a truth model. Then comparisons are made among nonlinear, linearized, and linearized reduced-mass models. It is concluded that these three models all capture the significant system rigid-body dynamics, with the third being preferred due to its relative simplicity.

Robust fault tolerant control based on sliding mode method for uncertain linear systems with quantization.

PubMed

Hao, Li-Ying; Yang, Guang-Hong

2013-09-01

This paper is concerned with the problem of robust fault-tolerant compensation control problem for uncertain linear systems subject to both state and input signal quantization. By incorporating novel matrix full-rank factorization technique with sliding surface design successfully, the total failure of certain actuators can be coped with, under a special actuator redundancy assumption. In order to compensate for quantization errors, an adjustment range of quantization sensitivity for a dynamic uniform quantizer is given through the flexible choices of design parameters. Comparing with the existing results, the derived inequality condition leads to the fault tolerance ability stronger and much wider scope of applicability. With a static adjustment policy of quantization sensitivity, an adaptive sliding mode controller is then designed to maintain the sliding mode, where the gain of the nonlinear unit vector term is updated automatically to compensate for the effects of actuator faults, quantization errors, exogenous disturbances and parameter uncertainties without the need for a fault detection and isolation (FDI) mechanism. Finally, the effectiveness of the proposed design method is illustrated via a model of a rocket fairing structural-acoustic. Copyright © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

Energy efficient fluid powered linear actuator with variable area and concentric chambers

DOEpatents

Lind, Randall F.; Love, Lonnie J.

2016-11-15

Hydraulic actuation systems having concentric chambers, 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.

Single reflector interference spectrometer and drive system therefor

NASA Technical Reports Server (NTRS)

Schindler, R. A. (Inventor)

1974-01-01

In a Fourier interference spectrometer of the doublepass retroreflector type, a single mirror is employed in the path of both split beams of an incoming ray to cause them to double back through separate retroreflectors. Changes in optical path length are achieved by linear displacement of both retroreflectors using a motor driven lead screw on one for large, low frequency changes, a moving-coil actuator on the other for smaller, mid-frequency changes and a piezoelectric actuator on one of these two for small, high frequency changes.

Reduced-order modeling of the flow around a high-lift configuration with unsteady Coanda blowing

NASA Astrophysics Data System (ADS)

Semaan, Richard; Cordier, Laurent; Noack, Bernd; Kumar, Pradeep; Burnazzi, Marco; Tissot, Gilles

2015-11-01

We propose a low-dimensional POD model for the transient and post-transient flow around a high-lift airfoil with unsteady Coanda blowing over the trailing edge. This model comprises the effect of high-frequency modulated blowing which mitigates vortex shedding and increases lift. The structure of the dynamical system is derived from the Navier-Stokes equations with a Galerkin projection and from subsequent dynamic simplifications. The system parameters are determined with a data assimilation (4D-Var) method. The boundary actuation is incorporated into the model with actuation modes following Graham et al. (1999); Kasnakoğlu et al. (2008). As novel enabler, we show that the performance of the POD model significantly benefits from employing additional actuation modes for different frequency components associated with the same actuation input. In addition, linear, weakly nonlinear and fully nonlinear models are considered. The current study suggests that separate actuation modes for different actuation frequencies improve Galerkin model performance, in particular with respect to the important base-flow changes. We acknowledge (1) the Collaborative Research Centre (CRC 880) ``Fundamentals of High Lift of Future Civil Aircraft,'' and 2) the Senior Chair of Excellence ``Closed-loop control of turbulent shear flows using reduced-order models'' (TUCOROM).

Integral Twist Actuation of Helicopter Rotor Blades for Vibration Reduction

NASA Technical Reports Server (NTRS)

Shin, SangJoon; Cesnik, Carlos E. S.

2001-01-01

Active integral twist control for vibration reduction of helicopter rotors during forward flight is investigated. The twist deformation is obtained using embedded anisotropic piezocomposite actuators. An analytical framework is developed to examine integrally-twisted blades and their aeroelastic response during different flight conditions: frequency domain analysis for hover, and time domain analysis for forward flight. Both stem from the same three-dimensional electroelastic beam formulation with geometrical-exactness, and axe coupled with a finite-state dynamic inflow aerodynamics model. A prototype Active Twist Rotor blade was designed with this framework using Active Fiber Composites as the actuator. The ATR prototype blade was successfully tested under non-rotating conditions. Hover testing was conducted to evaluate structural integrity and dynamic response. In both conditions, a very good correlation was obtained against the analysis. Finally, a four-bladed ATR system is built and tested to demonstrate its concept in forward flight. This experiment was conducted at NASA Langley Tansonic Dynamics Tunnel and represents the first-of-a-kind Mach-scaled fully-active-twist rotor system to undergo forward flight test. In parallel, the impact upon the fixed- and rotating-system loads is estimated by the analysis. While discrepancies are found in the amplitude of the loads under actuation, the predicted trend of load variation with respect to its control phase correlates well. It was also shown, both experimentally and numerically, that the ATR blade design has the potential for hub vibratory load reduction of up to 90% using individual blade control actuation. Using the numerical framework, system identification is performed to estimate the harmonic transfer functions. The linear time-periodic system can be represented by a linear time-invariant system under the three modes of blade actuation: collective, longitudinal cyclic, and lateral cyclic. A vibration minimizing controller is designed based on this result, which implements classical disturbance rejection algorithm with some modifications. The controller is simulated numerically, and more than 90% of the 4P hub vibratory load is eliminated. By accomplishing the experimental and analytical steps described in this thesis, the present concept is found to be a viable candidate for future generation low-vibration helicopters. Also, the analytical framework is shown to be very appropriate for exploring active blade designs, aeroelastic behavior prediction, and as simulation tool for closed-loop controllers.

Flux-Feedback Magnetic-Suspension Actuator

NASA Technical Reports Server (NTRS)

Groom, Nelson J.

1990-01-01

Flux-feedback magnetic-suspension actuator provides magnetic suspension and control forces having linear transfer characteristics between force command and force output over large range of gaps. Hall-effect devices used as sensors for electronic feedback circuit controlling currents flowing in electromagnetic windings to maintain flux linking suspended element at substantially constant value independent of changes in length of gap. Technique provides effective method for maintenance of constant flux density in gap and simpler than previous methods. Applications include magnetic actuators for control of shapes and figures of antennas and of precise segmented reflectors, magnetic suspensions in devices for storage of angular momentum and/or kinetic energy, and systems for control, pointing, and isolation of instruments.

Design and characterization of a microelectromechanical system electro-thermal linear motor with interlock mechanism for micro manipulators.

PubMed

Hu, Tengjiang; Zhao, Yulong; Li, Xiuyuan; Zhao, You; Bai, Yingwei

2016-03-01

The design, fabrication, and testing of a novel electro-thermal linear motor for micro manipulators is presented in this paper. The V-shape electro-thermal actuator arrays, micro lever, micro spring, and slider are introduced. In moving operation, the linear motor can move nearly 1 mm displacement with 100 μm each step while keeping the applied voltage as low as 17 V. In holding operation, the motor can stay in one particular position without consuming energy and no creep deformation is found. Actuation force of 12.7 mN indicates the high force generation capability of the device. Experiments of lifetime show that the device can wear over two million cycles of operation. A silicon-on-insulator wafer is introduced to fabricate a high aspect ratio structure and the chip size is 8.5 mm × 8.5 mm × 0.5 mm.

Modelling and control issues of dynamically substructured systems: adaptive forward prediction taken as an example

PubMed Central

Tu, Jia-Ying; Hsiao, Wei-De; Chen, Chih-Ying

2014-01-01

Testing techniques of dynamically substructured systems dissects an entire engineering system into parts. Components can be tested via numerical simulation or physical experiments and run synchronously. Additional actuator systems, which interface numerical and physical parts, are required within the physical substructure. A high-quality controller, which is designed to cancel unwanted dynamics introduced by the actuators, is important in order to synchronize the numerical and physical outputs and ensure successful tests. An adaptive forward prediction (AFP) algorithm based on delay compensation concepts has been proposed to deal with substructuring control issues. Although the settling performance and numerical conditions of the AFP controller are improved using new direct-compensation and singular value decomposition methods, the experimental results show that a linear dynamics-based controller still outperforms the AFP controller. Based on experimental observations, the least-squares fitting technique, effectiveness of the AFP compensation and differences between delay and ordinary differential equations are discussed herein, in order to reflect the fundamental issues of actuator modelling in relevant literature and, more specifically, to show that the actuator and numerical substructure are heterogeneous dynamic components and should not be collectively modelled as a homogeneous delay differential equation. PMID:25104902

Control strategies for systems with limited actuators

NASA Technical Reports Server (NTRS)

Marcopoli, Vincent R.; Phillips, Stephen M.

1994-01-01

This work investigates the effects of actuator saturation in multi-input, multi-output (MIMO) control systems. The adverse system behavior introduced by the saturation nonlinearity is viewed here as resulting from two mechanisms: controller windup - a problem caused by the discrepancy between the limited actuator commands and the corresponding control signals, and directionality - the problem of how to use nonlimited actuators when a limited condition exists. The tracking mode and Hanus methods are two common strategies for dealing with the windup problem. It is seen that while these methods alleviate windup, performance problems remain due to plant directionality. Though high gain conventional antiwindup as well as more general linear methods have the potential to address both windup and directionality, no systematic design method for these schemes has emerged; most approaches used in practice are application driven. An alternative method of addressing the directionality problem is presented which involves the introduction of a control direction preserving nonlinearity to the Hanus antiwindup system. A nonlinearity is subsequently proposed which reduces the conservation inherent in the former direction-preserving approach, improving performance. The concept of multivariable sensitivity is seen to play a key role in the success of the new method.

Discrete control of linear distributed systems with application to the deformable primary mirror of a large orbiting telescope. Ph.D. Thesis - Rhode Island Univ.

NASA Technical Reports Server (NTRS)

Creedon, J. F.

1970-01-01

The results are presented of a detailed study of the discrete control of linear distributed systems with specific application to the design of a practical controller for a plant representative of a telescope primary mirror for an orbiting astronomical observatory. The problem of controlling the distributed plant is treated by employing modal techniques to represent variations in the optical figure. Distortion of the mirror surface, which arises primarily from thermal gradients, is countered by actuators working against a backing structure to apply a corrective force distribution to the controlled surface. Each displacement actuator is in series with a spring attached to the mirror by means of a pad intentionally introduced to restrict the excitation of high-order modes. Control is exerted over a finite number of the most significant modes.

Dynamic Stiffness Transfer Function of an Electromechanical Actuator Using System Identification

NASA Astrophysics Data System (ADS)

Kim, Sang Hwa; Tahk, Min-Jea

2018-04-01

In the aeroelastic analysis of flight vehicles with electromechanical actuators (EMAs), an accurate prediction of flutter requires dynamic stiffness characteristics of the EMA. The dynamic stiffness transfer function of the EMA with brushless direct current (BLDC) motor can be obtained by conducting complicated mathematical calculations of control algorithms and mechanical/electrical nonlinearities using linearization techniques. Thus, system identification approaches using experimental data, as an alternative, have considerable advantages. However, the test setup for system identification is expensive and complex, and experimental procedures for data collection are time-consuming tasks. To obtain the dynamic stiffness transfer function, this paper proposes a linear system identification method that uses information obtained from a reliable dynamic stiffness model with a control algorithm and nonlinearities. The results of this study show that the system identification procedure is compact, and the transfer function is able to describe the dynamic stiffness characteristics of the EMA. In addition, to verify the validity of the system identification method, the simulation results of the dynamic stiffness transfer function and the dynamic stiffness model were compared with the experimental data for various external loads.

Robust stability bounds for multi-delay networked control systems

NASA Astrophysics Data System (ADS)

Seitz, Timothy; Yedavalli, Rama K.; Behbahani, Alireza

2018-04-01

In this paper, the robust stability of a perturbed linear continuous-time system is examined when controlled using a sampled-data networked control system (NCS) framework. Three new robust stability bounds on the time-invariant perturbations to the original continuous-time plant matrix are presented guaranteeing stability for the corresponding discrete closed-loop augmented delay-free system (ADFS) with multiple time-varying sensor and actuator delays. The bounds are differentiated from previous work by accounting for the sampled-data nature of the NCS and for separate communication delays for each sensor and actuator, not a single delay. Therefore, this paper expands the knowledge base in multiple inputs multiple outputs (MIMO) sampled-data time delay systems. Bounds are presented for unstructured, semi-structured, and structured perturbations.

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

NASA Astrophysics Data System (ADS)

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

2010-10-01

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

Power-efficient low-temperature woven coiled fibre actuator for wearable applications.

PubMed

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

2016-11-04

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

Power-efficient low-temperature woven coiled fibre actuator for wearable applications

PubMed Central

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

2016-01-01

A fibre actuator that generates a large strain with high specific power represents a promising strategy to develop novel wearable devices and robotics. We propose a new coiled-fibre actuator based on highly drawn, hard linear low-density polyethylene (LLDPE) fibres. Driven by resistance heating, the actuator can be operated at temperatures as low as 60 °C and uses only 20% of the power consumed by previously coiled fibre actuators when generating 20 MPa of stress at 10% strain. In this temperature range, 1600 W kg−1 of specific work (8 times that of a skeletal muscle) at 69 MPa of tensile stress (230 times that of a skeletal muscle) with a work efficiency of 2% is achieved. The actuator generates strain as high as 23% at 90 °C. Given the low driving temperature, the actuator can be combined with common fabrics or stretchable conductive elastomers without thermal degradation, allowing for easy use in wearable systems. Nanostructural analysis implies that the lamellar crystals in drawn LLDPE fibres are weakly bridged with each other, which allows for easy deformation into compact helical shapes via twisting and the generation of large strain with high work efficiency. PMID:27812014

Power-efficient low-temperature woven coiled fibre actuator for wearable applications

NASA Astrophysics Data System (ADS)

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

2016-11-01

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

Control Allocation with Load Balancing

NASA Technical Reports Server (NTRS)

Bodson, Marc; Frost, Susan A.

2009-01-01

Next generation aircraft with a large number of actuators will require advanced control allocation methods to compute the actuator commands needed to follow desired trajectories while respecting system constraints. Previously, algorithms were proposed to minimize the l1 or l2 norms of the tracking error and of the actuator deflections. The paper discusses the alternative choice of the l(infinity) norm, or sup norm. Minimization of the control effort translates into the minimization of the maximum actuator deflection (min-max optimization). The paper shows how the problem can be solved effectively by converting it into a linear program and solving it using a simplex algorithm. Properties of the algorithm are also investigated through examples. In particular, the min-max criterion results in a type of load balancing, where the load is th desired command and the algorithm balances this load among various actuators. The solution using the l(infinity) norm also results in better robustness to failures and to lower sensitivity to nonlinearities in illustrative examples.

Permanent magnets as biasing mechanism for improving the performance of circular dielectric elastomer out-of-plane actuators

NASA Astrophysics Data System (ADS)

Loew, P.; Rizzello, G.; Seelecke, S.

2017-04-01

Dielectric Elastomers (DE) represent an attractive technology for the realization of mechatronic actuators, due to their lightweight, high energy density, high energy efficiency, scalability, and low noise features. In order to produce a stroke, a DE membrane needs to be pre-loaded with a mechanical biasing mechanism. In our previous works, we compared the stroke achieved with different biasing mechanisms for a circular out-of-plane DE Actuator (DEA), i.e., hanging masses, linear and bi-stable springs. The novel contribution of this paper is the investigation of a biasing design approach based on permanent magnets. The resulting magnet-based actuators are usually more compact than the spring-based ones, allowing to obtain more compact systems. Two design solutions are proposed and compared, namely a first one characterized by a stable actuation, and a second one which permits to achieve a higher stroke, but it is intrinsically unstable. The effectiveness of the novel design solution is assessed by means of several experiments.

78 FR 21149 - Certain Linear Actuators; Notice of Receipt of Complaint; Solicitation of Comments Relating to...

Federal Register 2010, 2011, 2012, 2013, 2014

2013-04-09

... INTERNATIONAL TRADE COMMISSION [Docket No. 2949] Certain Linear Actuators; Notice of Receipt of Complaint; Solicitation of Comments Relating to the Public Interest AGENCY: U.S. International Trade Commission. ACTION: Notice. SUMMARY: Notice is hereby given that the U.S. International Trade Commission has...

Attitude and vibration control of a large flexible space-based antenna

NASA Technical Reports Server (NTRS)

Joshi, S. M.

1982-01-01

Control systems synthesis is considered for controlling the rigid body attitude and elastic motion of a large deployable space-based antenna. Two methods for control systems synthesis are considered. The first method utilizes the stability and robustness properties of the controller consisting of torque actuators and collocated attitude and rate sensors. The second method is based on the linear-quadratic-Gaussian control theory. A combination of the two methods, which results in a two level hierarchical control system, is also briefly discussed. The performance of the controllers is analyzed by computing the variances of pointing errors, feed misalignment errors and surface contour errors in the presence of sensor and actuator noise.

Design of Linear Control System for Wind Turbine Blade Fatigue Testing

NASA Astrophysics Data System (ADS)

Toft, Anders; Roe-Poulsen, Bjarke; Christiansen, Rasmus; Knudsen, Torben

2016-09-01

This paper proposes a linear method for wind turbine blade fatigue testing at Siemens Wind Power. The setup consists of a blade, an actuator (motor and load mass) that acts on the blade with a sinusoidal moment, and a distribution of strain gauges to measure the blade flexure. Based on the frequency of the sinusoidal input, the blade will start oscillating with a given gain, hence the objective of the fatigue test is to make the blade oscillate with a controlled amplitude. The system currently in use is based on frequency control, which involves some non-linearities that make the system difficult to control. To make a linear controller, a different approach has been chosen, namely making a controller which is not regulating on the input frequency, but on the input amplitude. A non-linear mechanical model for the blade and the motor has been constructed. This model has been simplified based on the desired output, namely the amplitude of the blade. Furthermore, the model has been linearised to make it suitable for linear analysis and control design methods. The controller is designed based on a simplified and linearised model, and its gain parameter determined using pole placement. The model variants have been simulated in the MATLAB toolbox Simulink, which shows that the controller design based on the simple model performs adequately with the non-linear model. Moreover, the developed controller solves the robustness issue found in the existent solution and also reduces the needed energy for actuation as it always operates at the blade eigenfrequency.

Bellows sealed plug valve

DOEpatents

Dukas, Jr., Stephen J.

1990-01-01

A bellows sealed plug valve includes a valve body having an inlet passage and an outlet passage, a valve chamber between the inlet and outlet passages. A valve plug has substantially the same shape as the valve chamber and is rotatably disposed therein. A shaft is movable linearly in response to a signal from a valve actuator. A bellows is sealingly disposed between the valve chamber and the valve actuator and means are located between the bellows and the valve plug for converting linear movement of the shaft connected to the valve actuator to rotational movement of the plug. Various means are disclosed including helical thread mechanism, clevis mechanism and rack and pinion mechanism, all for converting linear motion to rotational motion.

Portable Dextrous Force Feedback Master for robot telemanipulation (PDMFF)

NASA Technical Reports Server (NTRS)

Burdea, Grigore C.; Speeter, Thomas H.

1989-01-01

A major drawback of open loop masters is a lack of force feedback, limiting their ability to perform complex tasks such as assembly and repair. Researchers present a simple dextrous force feedback master for computer assisted telemanipulation. The device is compact, portable and can be held in the operator hand, without the need for a special joystick or console. The system is capable of both position feed forward and force feedback, using electronic position sensors and a pneumatic micro-actuator. The level of forces exercised by the pneumatic actuator is such that near rigidity may be attained. Experimental results showing good system linearity and small time lag are given.

Rise Time Reduction of Thermal Actuators Operated in Air and Water through Optimized Pre-Shaped Open-Loop Driving.

PubMed

Larsen, T; Doll, J C; Loizeau, F; Hosseini, N; Peng, A W; Fantner, G; Ricci, A J; Pruitt, B L

2017-01-01

Electrothermal actuators have many advantages compared to other actuators used in Micro-Electro-Mechanical Systems (MEMS). They are simple to design, easy to fabricate and provide large displacements at low voltages. Low voltages enable less stringent passivation requirements for operation in liquid. Despite these advantages, thermal actuation is typically limited to a few kHz bandwidth when using step inputs due to its intrinsic thermal time constant. However, the use of pre-shaped input signals offers a route for reducing the rise time of these actuators by orders of magnitude. We started with an electrothermally actuated cantilever having an initial 10-90% rise time of 85 μs in air and 234 μs in water for a standard open-loop step input. We experimentally characterized the linearity and frequency response of the cantilever when operated in air and water, allowing us to obtain transfer functions for the two cases. We used these transfer functions, along with functions describing desired reduced rise-time system responses, to numerically simulate the required input signals. Using these pre-shaped input signals, we improved the open-loop 10-90% rise time from 85 μs to 3 μs in air and from 234 μs to 5 μs in water, an improvement by a factor of 28 and 47, respectively. Using this simple control strategy for MEMS electrothermal actuators makes them an attractive alternative to other high speed micromechanical actuators such as piezoelectric stacks or electrostatic comb structures which are more complex to design, fabricate, or operate.

Design and application of shape memory actuators

NASA Astrophysics Data System (ADS)

Mertmann, M.; Vergani, G.

2008-05-01

The use of shape memory alloys in actuators allows the development of robust, simple and lightweight elements for application in a multitude of different industries. Over the years, the intermetallic compound Nickel-Titanium (NiTi or Nitinol) together with its ternary and quaternary derivates has gained general acceptance as a standard alloy. Even though as many as 99% of all shape memory actuator applications make use of Nitinol there are certain properties of this alloy system which require further research in order to find improvements and new markets: • Lack of higher transformation temperatures in the available alloys in order to open the field of automotive applications (Mf temperature > 80 °C) • Non-linearity in the electrical resistivity in order to improve the controllability of the actuator, • Wide hysteresis in the temperature-vs.-strain behaviour, which has a signi-ficant effect on both, the dynamics of the actuator and its controllability. Hence, there is a constant strive in the field towards an improvement of the related properties. However, these improvements are not always just alloy composition related. There is also a tremendous potential in the thermomechanical treatment of the material and in the design of the actuator. Significant improvement steps are already possible if the usage of the existent materials is optimized for the projected application and if the actuator system is designed in the most efficient way. This paper provides an overview about existent designs, applications and alloys for use in actuators, as well as examples of new shape memory actuator application with improved performance. It also gives an overview about general design rules and reflects about the strengths of the material and the related opportunities for its application.

Variable volume combustor with nested fuel manifold system

DOEpatents

McConnaughhay, Johnie Franklin; Keener, Christopher Paul; Johnson, Thomas Edward; Ostebee, Heath Michael

2016-09-13

The present application provides a combustor for use with a gas turbine engine. The combustor may include a number of micro-mixer fuel nozzles, a fuel manifold system in communication with the micro-mixer fuel nozzles to deliver a flow of fuel thereto, and a linear actuator to maneuver the micro-mixer fuel nozzles and the fuel manifold system.

Control Law Synthesis for Vertical Fin Buffeting Alleviation Using Strain Actuation

NASA Technical Reports Server (NTRS)

Nitzsche, F.; Zimcik, D. G.; Ryall, T. G.; Moses, R. W.; Henderson, D. A.

1999-01-01

In the present investigation, the results obtained during the ground test of a closed-loop control system conducted on a full-scale fighter to attenuate vertical fin buffeting response using strain actuation are presented. Two groups of actuators consisting of piezoelectric elements distributed over the structure were designed to achieve authority over the first and second modes of the vertical fin. The control laws were synthesized using the Linear Quadratic Gaussian (LQG) method for a time-invariant control system. Three different pairs of sensors including strain gauges and accelerometers at different locations were used to close the feedback loop. The results demonstrated that measurable reductions in the root-mean-square (RMS) values of the fin dynamic response identified by the strain transducer at the critical point for fatigue at the root were achieved under the most severe buffet condition. For less severe buffet conditions, reductions of up to 58% were achieved.

A surgical parallel continuum manipulator with a cable-driven grasper.

PubMed

Orekhov, Andrew L; Bryson, Caroline E; Till, John; Chung, Scotty; Rucker, D Caleb

2015-01-01

In this paper, we present the design, construction, and control of a six-degree-of-freedom (DOF), 12 mm diameter, parallel continuum manipulator with a 2-DOF, cable-driven grasper. This work is a proof-of-concept first step towards miniaturization of this type of manipulator design to provide increased dexterity and stability in confined-space surgical applications, particularly for endoscopic procedures. Our robotic system consists of six superelastic NiTi (Nitinol) tubes in a standard Stewart-Gough configuration and an end effector with 180 degree motion of its two jaws. Two Kevlar cables pass through the centers of the tube legs to actuate the end effector. A computationally efficient inverse kinematics model provides low-level control inputs to ten independent linear actuators, which drive the Stewart-Gough platform and end-effector actuation cables. We demonstrate the performance and feasibility of this design by conducting open-loop range-of-motion tests for our system.

An Optical Actuation System and Curvature Sensor for a MR-compatible Active Needle

PubMed Central

Ryu, Seok Chang; Quek, Zhan Fan; Renaud, Pierre; Black, Richard J.; Daniel, Bruce L.; Cutkosky, Mark R.

2015-01-01

A side optical actuation method is presented for a slender MR-compatible active needle. The needle includes an active region with a shape memory alloy (SMA) wire actuator, where the wire generates a contraction force when optically heated by a laser delivered though optical fibers, producing needle tip bending. A prototype, with multiple side heating spots, demonstrates twice as fast an initial response compared to fiber tip heating when 0.8 W of optical power is applied. A single-ended optical sensor with a gold reflector is also presented to measure the curvature as a function of optical transmission loss. Preliminary tests with the sensor prototype demonstrate approximately linear response and a repeatable signal, independent of the bending history. PMID:26509099

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

NASA Astrophysics Data System (ADS)

Spaggiari, Andrea; Spinella, Igor; Dragoni, Eugenio

2011-07-01

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

Control of stationary crossflow modes in swept Hiemenz flows with dielectric barrier discharge plasma actuators

NASA Astrophysics Data System (ADS)

Wang, Zhefu; Wang, Liang; Fu, Song

2017-09-01

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

Adaptive Optics System with Deformable Composite Mirror and High Speed, Ultra-Compact Electronics

NASA Astrophysics Data System (ADS)

Chen, Peter C.; Knowles, G. J.; Shea, B. G.

2006-06-01

We report development of a novel adaptive optics system for optical astronomy. Key components are very thin Deformable Mirrors (DM) made of fiber reinforced polymer resins, subminiature PMN-PT actuators, and low power, high bandwidth electronics drive system with compact packaging and minimal wiring. By using specific formulations of fibers, resins, and laminate construction, we are able to fabricate mirror face sheets that are thin (< 2mm), have smooth surfaces and excellent optical shape. The mirrors are not astigmatic and do not develop surface irregularities when cooled. The actuators are small footprint multilayer PMN-PT ceramic devices with large stroke (2- 20 microns), high linearity, low hysteresis, low power, and flat frequency response to >2 KHz. By utilizing QorTek’s proprietary synthetic impendence power supply technology, all the power, control, and signal extraction for many hundreds to 1000s of actuators and sensors can be implemented on a single matrix controller printed circuit board co-mounted with the DM. The matrix controller, in turn requires only a single serial bus interface, thereby obviating the need for massive wiring harnesses. The technology can be scaled up to multi-meter aperture DMs with >100K actuators.

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

NASA Astrophysics Data System (ADS)

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

2018-05-01

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

Small-scale rotor test rig capabilities for testing vibration alleviation algorithms

NASA Technical Reports Server (NTRS)

Jacklin, Stephen A.; Leyland, Jane Anne

1987-01-01

A test was conducted to assess the capabilities of a small scale rotor test rig for implementing higher harmonic control and stability augmentation algorithms. The test rig uses three high speed actuators to excite the swashplate over a range of frequencies. The actuator position signals were monitored to measure the response amplitudes at several frequencies. The ratio of response amplitude to excitation amplitude was plotted as a function of frequency. In addition to actuator performance, acceleration from six accelerometers placed on the test rig was monitored to determine whether a linear relationship exists between the harmonics of N/Rev control input and the least square error (LSE) identification technique was used to identify local and global transfer matrices for two rotor speeds at two batch sizes each. It was determined that the multicyclic control computer system interfaced very well with the rotor system and kept track of the input accelerometer signals and their phase angles. However, the current high speed actuators were found to be incapable of providing sufficient control authority at the higher excitation frequencies.

Electromagnetic driving units for complex microrobotic systems

NASA Astrophysics Data System (ADS)

Michel, Frank; Ehrfeld, Wolfgang; Berg, Udo; Degen, Reinhard; Schmitz, Felix

1998-10-01

Electromagnetic actuators play an important role in macroscopic robotic systems. In combination with motion transformers, like reducing gear units, angular gears or spindle-screw drives, electromagnetic motors in large product lines ensure the rotational or linear motion of robot driving units and grippers while electromagnets drive valves or part conveyors. In this paper micro actuators and miniaturized motion transformers are introduced which allow a similar development in microrobotics. An electromagnetic motor and a planetary gear box, both with a diameter of 1.9 mm, are already commercially available from the cooperation partner of IMM, the company Dr. Fritz Faulhaber GmbH in Schonaich, Germany. In addition, a motor with a diameter of 2.4 mm is in development. The motors successfully drive an angular gear and a belt drive. A linear stage with a motion range of 7 mm and an overall size as small as 5 X 3.5 X 24 mm3 has been realized involving the motor, a stationary spur gear with zero backlash and a spindle-screw drive. By the use of these commercially available elements complex microrobots can be built up cost-efficiently and rapidly. Furthermore, a batch process has been developed to produce the coils of micro actuator arrays using lithographic techniques with SU-8 resin. In applying these components, the modular construction of complex microrobotic systems becomes feasible.

The 18th Aerospace Mechanisms Symposium

NASA Technical Reports Server (NTRS)

1984-01-01

Topics concerning aerospace mechanisms, their functional performance, and design specifications are presented. Discussed subjects include the design and development of release mechanisms, actuators, linear driver/rate controllers, antenna and appendage deployment systems, position control systems, and tracking mechanisms for antennas and solar arrays. Engine design, spaceborne experiments, and large space structure technology are also examined.

Micro Linear Pump with Electromagnetic Actuator

NASA Astrophysics Data System (ADS)

Suzumori, Koichi; Furusawa, Hiroaki; Kanda, Takefumi; Yamada, Yoshiaki; Nagata, Takashi

In recent years, research and development of the micro-fluid systems have been activated in the field of chemical technology and biotechnology. Micro-fluid systems are realized by micromachine technology and MEMS technology. Micro pump is an essential element for miniaturization of chemical analysis reaction systems. The aim of this research is development of a micro linear pump which will be built into micro-fluid systems. This pump aims to take a sample of very-small-quantity of liquids. Taking a sample of very-small-quantity of liquids reduce the amount used and waste fluid of a reagent. Full length and diameter of this pump are 32.5mm and 6mm respectively. The features of this pump are (1) the pump is built with actuator, (2) the gap of 7μm between piston and cylinder is achieved through fine machining process, and (3) micro check-valves of 2mm diameter made of stainless-steel film are fabricated and integrated. In this paper, the structure and the characteristics of this pump were shown. And the characteristics after improvement of micro check-valves were shown.

Shape Memory Alloy Actuator Design: CASMART Collaborative Best Practices

NASA Technical Reports Server (NTRS)

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

2011-01-01

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

Sliding Mode Control Applied to Reconfigurable Flight Control Design

NASA Technical Reports Server (NTRS)

Hess, R. A.; Wells, S. R.; Bacon, Barton (Technical Monitor)

2002-01-01

Sliding mode control is applied to the design of a flight control system capable of operating with limited bandwidth actuators and in the presence of significant damage to the airframe and/or control effector actuators. Although inherently robust, sliding mode control algorithms have been hampered by their sensitivity to the effects of parasitic unmodeled dynamics, such as those associated with actuators and structural modes. It is known that asymptotic observers can alleviate this sensitivity while still allowing the system to exhibit significant robustness. This approach is demonstrated. The selection of the sliding manifold as well as the interpretation of the linear design that results after introduction of a boundary layer is accomplished in the frequency domain. The design technique is exercised on a pitch-axis controller for a simple short-period model of the High Angle of Attack F-18 vehicle via computer simulation. Stability and performance is compared to that of a system incorporating a controller designed by classical loop-shaping techniques.

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.

Finite Energy and Bounded Actuator Attacks on Cyber-Physical Systems

DOE Office of Scientific and Technical Information (OSTI.GOV)

Djouadi, Seddik M; Melin, Alexander M; Ferragut, Erik M

As control system networks are being connected to enterprise level networks for remote monitoring, operation, and system-wide performance optimization, these same connections are providing vulnerabilities that can be exploited by malicious actors for attack, financial gain, and theft of intellectual property. Much effort in cyber-physical system (CPS) protection has focused on protecting the borders of the system through traditional information security techniques. Less effort has been applied to the protection of cyber-physical systems from intelligent attacks launched after an attacker has defeated the information security protections to gain access to the control system. In this paper, attacks on actuator signalsmore » are analyzed from a system theoretic context. The threat surface is classified into finite energy and bounded attacks. These two broad classes encompass a large range of potential attacks. The effect of theses attacks on a linear quadratic (LQ) control are analyzed, and the optimal actuator attacks for both finite and infinite horizon LQ control are derived, therefore the worst case attack signals are obtained. The closed-loop system under the optimal attack signals is given and a numerical example illustrating the effect of an optimal bounded attack is provided.« less

Tilt/Tip/Piston Manipulator with Base-Mounted Actuators

NASA Technical Reports Server (NTRS)

Tahmasebi, Farhad

2006-01-01

A proposed three-degree-of-freedom (tilt/tip/piston) manipulator, suitable for aligning an optical or mechanical component, would offer several advantages over prior such manipulators: Unlike in some other manipulators, no actuator would support the weight of another actuator: All of the actuators would be mounted on a base. Hence, there would be less manipulated weight. The basic geometry of the manipulator would afford mechanical advantage: that is, actuator motions would be larger than the motions they produce in the manipulated object. Mechanical advantage inherently increases the accuracy and resolution of manipulation. Unlike in some other manipulators, it would not be necessary to route power and/or data lines through manipulator joints. The proposed manipulator (see figure) would include three prismatic actuators (T1N1, T2N2, and T3N3) mounted on the base and operating in the same plane. Examples of suitable prismatic actuators include lead-screw mechanisms, linear hydraulic motors, piezoelectric linear drives, inchworm-movement linear stepping motors, and linear flexure drives. The actuators would control the lengths of links R1T1, R2T2, and R3T3. Three spherical joints (P1, P2, and P3) would be located at the corners of an equilateral triangle of side length q on the platform holding the object to be manipulated. Three inextensible limbs (R1P1, R2P2, and R3P3) having length r would connect the spherical joints on the platform to revolute joints (R1, R2, and R3) at the ends of the actuator-controlled links R1T1, R2T2, and R3T3. By varying the lengths of these links, one could control the tilt, tip, and piston coordinates of the platform. Closed-form equations for direct or forward kinematics of the manipulator (given the lengths of the variable links, find the tilt, tip, and piston coordinates) have been derived. The equations of inverse kinematics (find the variable link lengths needed to obtain the desired tilt, tip, and piston coordinates) have also been derived.

Linear fully dry polymer actuators

NASA Astrophysics Data System (ADS)

De Rossi, Danilo; Mazzoldi, Alberto

1999-05-01

In the last period, the interest in the development of devices that emulate the properties of the 'par excellence' biological actuator, the human muscle, is considerably grown. The recent advances in the field of conducting polymers open new interesting prospects in this direction: from this point of view polyaniline (PANi), since it is easily produced in fiber form, represents an interesting material. In this conference we report the development of a linear actuator prototype that makes use of PANi fiber. All fabrication steps (fiber extrusion, solid polymer electrolyte preparation, compound realization) and experimental set-up for the electromechanical characterization are described. Quantitative measurements of isotonic length changes and isometric stress generation during electrochemical stimulation are reported. An overall assessment of PANi fibers actuative properties in wet and dry conditions is reported and possible future developments are proposed. Finally, continuum and lumped parameter models formulated to describe passive and active contractile properties of conducting polymer actuators are briefly outlined.

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.

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.

Direct drive field actuator motors

DOEpatents

Grahn, Allen R.

1998-01-01

A positive-drive field actuator motor including a stator carrying at least one field actuator which changes in dimension responsive to application of an energy field, and at least one drive shoe movable by the dimensional changes of the field actuator to contact and move a rotor element with respect to the stator. Various embodiments of the motor are disclosed, and the rotor element may be moved linearly or arcuately.

Releasable High-Mechanical-Advantage Linear Actuator

NASA Technical Reports Server (NTRS)

Young, Gordon H.

1994-01-01

Proposed linear actuator includes ball-screw mechanism made to engage or disengage piston as needed. Requires low power to maintain release and no power to maintain engagement. Pins sliding radially in solenoids in yoke engage or disengage slot in piston. With help of optoelectronic feedback, yoke made to follow free piston during disengagement so always in position to "grab" piston.

Resettable binary latch mechanism for use with paraffin linear motors

NASA Technical Reports Server (NTRS)

Maus, Daryl; Tibbitts, Scott

1991-01-01

A new resettable Binary Latch Mechanism was developed utilizing a paraffin actuator as the motor. This linear actuator alternately latches between extended and retracted positions, maintaining either position with zero power consumption. The design evolution and kinematics of the latch mechanism are presented, as well as the development problems and lessons that were learned.

Climbing robot. [caterpillar design

NASA Technical Reports Server (NTRS)

Kerley, James J. (Inventor); May, Edward L. (Inventor); Ecklund, Wayne D. (Inventor)

1993-01-01

A mobile robot for traversing any surface consisting of a number of interconnected segments, each interconnected segment having an upper 'U' frame member, a lower 'U' frame member, a compliant joint between the upper 'U' frame member and the lower 'U' frame member, a number of linear actuators between the two frame members acting to provide relative displacement between the frame members, a foot attached to the lower 'U' frame member for adherence of the segment to the surface, an inter-segment attachment attached to the upper 'U' frame member for interconnecting the segments, a power source connected to the linear actuator, and a computer/controller for independently controlling each linear actuator in each interconnected segment such that the mobile robot moves in a caterpillar like fashion.

Actuation of atomic force microscopy microcantilevers using contact acoustic nonlinearities

DOE Office of Scientific and Technical Information (OSTI.GOV)

Torello, D.; Degertekin, F. Levent, E-mail: levent.degertekin@me.gatech.edu

2013-11-15

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

A novel stiffness control method for series elastic actuator

NASA Astrophysics Data System (ADS)

Lin, Guangmo; Zhao, Xingang; Han, Jianda

2017-01-01

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

Actuation and transduction of resonant vibrations in GaAs/AlGaAs-based nanoelectromechanical systems containing two-dimensional electron gas

DOE Office of Scientific and Technical Information (OSTI.GOV)

Shevyrin, A. A., E-mail: shevandrey@isp.nsc.ru; Pogosov, A. G.; Bakarov, A. K.

2015-05-04

Driven vibrations of a nanoelectromechanical system based on GaAs/AlGaAs heterostructure containing two-dimensional electron gas are experimentally investigated. The system represents a conductive cantilever with the free end surrounded by a side gate. We show that out-of-plane flexural vibrations of the cantilever are driven when alternating signal biased by a dc voltage is applied to the in-plane side gate. We demonstrate that these vibrations can be on-chip linearly transduced into a low-frequency electrical signal using the heterodyne down-mixing method. The obtained data indicate that the dominant physical mechanism of the vibrations actuation is capacitive interaction between the cantilever and the gate.

High Performance Piezoelectric Actuators and Wings for Nano Air Vehicles

DTIC Science & Technology

2012-08-26

we designed and fabricated the LionFly, a flapping wing prototype actuated by a PZT -5H bimorph actuator. Several LionFly prototypes were fabricated...in the literature, using PZT thin film actuators directly coupled to a 2.5 mm SiO2/Si3N4/T i-Au wing that produces large flapping angle at resonance...for larger scale mechanisms [17, 9]. For PAVs, linear electromagnetic ac- tuation [21] and bulk PZT bimorph actuators [8], and thin film PZT unimorph

Sensor-integrated polymer actuators for closed-loop drug delivery system

NASA Astrophysics Data System (ADS)

Xu, Han; Wang, Chunlei; Kulinsky, Lawrence; Zoval, Jim; Madou, Marc

2006-03-01

This work presents manufacturing and testing of a closed-loop drug delivery system where drug release is achieved by an electrochemical actuation of an array of polymeric valves on a set of drug reservoirs. The valves are based on bi-layer structures made of polypyrrole/gold in the shape of a flap that is hinged on one side of a valve seat. Drugs stored in the underlying chambers are released by bending the bi-layer flaps back with a small applied bias. These polymeric valves simultaneously function as both drug release components and biological/chemical sensors responding to a specific biological or environmental stimulus. The sensors may send signals to the control module to realize closed-loop control of the drug release. In this study a glucose sensor has been integrated with the polymeric actuators through immobilization of glucose oxidase(GOx) within polypyrrole(PPy) valves. Sensitivities per unit area of the integrated glucose sensor have been measured and compared before and after the actuation of the sensor/actuator PPy/DBS/GOx film. Other sensing parameters such as linear range and response time were discussed as well. Using an array of these sensor/actuator cells, the amount of released drug, e.g. insulin, can be precisely controlled according to the surrounding glucose concentration detected by the glucose sensor. Activation of these reservoirs can be triggered either by the signal from the sensor, or by the signal from the operator. This approach also serves as the initial step to use the proposed system as an implantable drug delivery platform in the future.

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.

Active stabilization to prevent surge in centrifugal compression systems

NASA Technical Reports Server (NTRS)

Epstein, Alan H.; Greitzer, Edward M.; Simon, Jon S.; Valavani, Lena

1993-01-01

This report documents an experimental and analytical study of the active stabilization of surge in a centrifugal engine. The aims of the research were to extend the operating range of a compressor as far as possible and to establish the theoretical framework for the active stabilization of surge from both an aerodynamic stability and a control theoretic perspective. In particular, much attention was paid to understanding the physical limitations of active stabilization and how they are influenced by control system design parameters. Previously developed linear models of actively stabilized compressors were extended to include such nonlinear phenomena as bounded actuation, bandwidth limits, and robustness criteria. This model was then used to systematically quantify the influence of sensor-actuator selection on system performance. Five different actuation schemes were considered along with four different sensors. Sensor-actuator choice was shown to have a profound effect on the performance of the stabilized compressor. The optimum choice was not unique, but rather shown to be a strong function of some of the non-dimensional parameters which characterize the compression system dynamics. Specifically, the utility of the concepts were shown to depend on the system compliance to inertia ratio ('B' parameter) and the local slope of the compressor speedline. In general, the most effective arrangements are ones in which the actuator is most closely coupled to the compressor, such as a close-coupled bleed valve inlet jet, rather than elsewhere in the flow train, such as a fuel flow modulator. The analytical model was used to explore the influence of control system bandwidth on control effectiveness. The relevant reference frequency was shown to be the compression system's Helmholtz frequency rather than the surge frequency. The analysis shows that control bandwidths of three to ten times the Helmholtz frequency are required for larger increases in the compressor flow range. This has important implications for implementation in gas turbine engines since the Helmholtz frequencies can be over 100 Hz, making actuator design extremely challenging.

Direct-drive field actuator motors

DOEpatents

Grahn, Allen R.

1995-01-01

A high-torque, low speed, positive-drive field actuator motor including a stator carrying at least one field actuator which changes in dimension responsive to application of an energy field, and at least one drive shoe movable by the dimensional changes of the field actuator to contact and move a rotor element with respect to the stator. Various embodiments of the motor are disclosed, and the rotor element may be moved linearly or arcuately.

Miniature laser ignited bellows motor

NASA Technical Reports Server (NTRS)

Renfro, Steven L.; Beckman, Tom M.

1994-01-01

A miniature optically ignited actuation device has been demonstrated using a laser diode as an ignition source. This pyrotechnic driven motor provides between 4 and 6 lbs of linear force across a 0.090 inch diameter surface. The physical envelope of the device is 1/2 inch long and 1/8 inch diameter. This unique application of optical energy can be used as a mechanical link in optical arming systems or other applications where low shock actuation is desired and space is limited. An analysis was performed to determine pyrotechnic materials suitable to actuate a bellows device constructed of aluminum or stainless steel. The aluminum bellows was chosen for further development and several candidate pyrotechnics were evaluated. The velocity profile and delivered force were quantified using an non-intrusive optical motion sensor.

Accurate electrostatic and van der Waals pull-in prediction for fully clamped nano/micro-beams using linear universal graphs of pull-in instability

NASA Astrophysics Data System (ADS)

Tahani, Masoud; Askari, Amir R.

2014-09-01

In spite of the fact that pull-in instability of electrically actuated nano/micro-beams has been investigated by many researchers to date, no explicit formula has been presented yet which can predict pull-in voltage based on a geometrically non-linear and distributed parameter model. The objective of present paper is to introduce a simple and accurate formula to predict this value for a fully clamped electrostatically actuated nano/micro-beam. To this end, a non-linear Euler-Bernoulli beam model is employed, which accounts for the axial residual stress, geometric non-linearity of mid-plane stretching, distributed electrostatic force and the van der Waals (vdW) attraction. The non-linear boundary value governing equation of equilibrium is non-dimensionalized and solved iteratively through single-term Galerkin based reduced order model (ROM). The solutions are validated thorough direct comparison with experimental and other existing results reported in previous studies. Pull-in instability under electrical and vdW loads are also investigated using universal graphs. Based on the results of these graphs, non-dimensional pull-in and vdW parameters, which are defined in the text, vary linearly versus the other dimensionless parameters of the problem. Using this fact, some linear equations are presented to predict pull-in voltage, the maximum allowable length, the so-called detachment length, and the minimum allowable gap for a nano/micro-system. These linear equations are also reduced to a couple of universal pull-in formulas for systems with small initial gap. The accuracy of the universal pull-in formulas are also validated by comparing its results with available experimental and some previous geometric linear and closed-form findings published in the literature.

Lightweight Exoskeletons with Controllable Actuators

NASA Technical Reports Server (NTRS)

Bar-Cohen, Yoseph; Mavrodis, Constantinos; Melli-Huber, Juan; Fisch, Avi (Alan)

2004-01-01

A proposed class of lightweight exoskeletal electromechanical systems would include electrically controllable actuators that would generate torques and forces that, depending on specific applications, would resist and/or assist wearers movements. The proposed systems would be successors to relatively heavy, bulky, and less capable human-strength-amplifying exoskeletal electromechanical systems that have been subjects of research during the past four decades. The proposed systems could be useful in diverse applications in which there are needs for systems that could be donned or doffed easily, that would exert little effect when idle, and that could be activated on demand: examples of such applications include (1) providing controlled movement and/or resistance to movement for physical exercise and (2) augmenting wearers strengths in the performance of military, law-enforcement, and industrial tasks. An exoskeleton according to the proposal would include adjustable lightweight graphite/epoxy struts and would be attached to the wearer's body by belts made of hook-and-pile material. At selected rotary and linear joints, the exoskeleton would be fitted, variously, with lightweight, low-power-consumption rotary and linear brakes, clutches, and motors. The exoskeleton would also be equipped with electronic circuitry for monitoring, control, and possibly communication with external electronic circuits that would perform additional monitoring and control functions.

Wing box transonic-flutter suppression using piezoelectric self-sensing actuators attached to skin

NASA Astrophysics Data System (ADS)

Otiefy, R. A. H.; Negm, H. M.

2010-12-01

The main objective of this research is to study the capability of piezoelectric (PZT) self-sensing actuators to suppress the transonic wing box flutter, which is a flow-structure interaction phenomenon. The unsteady general frequency modified transonic small disturbance (TSD) equation is used to model the transonic flow about the wing. The wing box structure and piezoelectric actuators are modeled using the equivalent plate method, which is based on the first order shear deformation plate theory (FSDPT). The piezoelectric actuators are bonded to the skin. The optimal electromechanical coupling conditions between the piezoelectric actuators and the wing are collected from previous work. Three main different control strategies, a linear quadratic Gaussian (LQG) which combines the linear quadratic regulator (LQR) with the Kalman filter estimator (KFE), an optimal static output feedback (SOF), and a classic feedback controller (CFC), are studied and compared. The optimum actuator and sensor locations are determined using the norm of feedback control gains (NFCG) and norm of Kalman filter estimator gains (NKFEG) respectively. A genetic algorithm (GA) optimization technique is used to calculate the controller and estimator parameters to achieve a target response.

Subsystem design in aircraft power distribution systems using optimization

NASA Astrophysics Data System (ADS)

Chandrasekaran, Sriram

2000-10-01

The research reported in this dissertation focuses on the development of optimization tools for the design of subsystems in a modern aircraft power distribution system. The baseline power distribution system is built around a 270V DC bus. One of the distinguishing features of this power distribution system is the presence of regenerative power from the electrically driven flight control actuators and structurally integrated smart actuators back to the DC bus. The key electrical components of the power distribution system are bidirectional switching power converters, which convert, control and condition electrical power between the sources and the loads. The dissertation is divided into three parts. Part I deals with the formulation of an optimization problem for a sample system consisting of a regulated DC-DC buck converter preceded by an input filter. The individual subsystems are optimized first followed by the integrated optimization of the sample system. It is shown that the integrated optimization provides better results than that obtained by integrating the individually optimized systems. Part II presents a detailed study of piezoelectric actuators. This study includes modeling, optimization of the drive amplifier and the development of a current control law for piezoelectric actuators coupled to a simple mechanical structure. Linear and nonlinear methods to study subsystem interaction and stability are studied in Part III. A multivariable impedance ratio criterion applicable to three phase systems is proposed. Bifurcation methods are used to obtain global stability characteristics of interconnected systems. The application of a nonlinear design methodology, widely used in power systems, to incrementally improve the robustness of a system to Hopf bifurcation instability is discussed.

Synthesis Methods for Robust Passification and Control

NASA Technical Reports Server (NTRS)

Kelkar, Atul G.; Joshi, Suresh M. (Technical Monitor)

2000-01-01

The research effort under this cooperative agreement has been essentially the continuation of the work from previous grants. The ongoing work has primarily focused on developing passivity-based control techniques for Linear Time-Invariant (LTI) systems. During this period, there has been a significant progress made in the area of passivity-based control of LTI systems and some preliminary results have also been obtained for nonlinear systems, as well. The prior work has addressed optimal control design for inherently passive as well as non- passive linear systems. For exploiting the robustness characteristics of passivity-based controllers the passification methodology was developed for LTI systems that are not inherently passive. Various methods of passification were first proposed in and further developed. The robustness of passification was addressed for multi-input multi-output (MIMO) systems for certain classes of uncertainties using frequency-domain methods. For MIMO systems, a state-space approach using Linear Matrix Inequality (LMI)-based formulation was presented, for passification of non-passive LTI systems. An LMI-based robust passification technique was presented for systems with redundant actuators and sensors. The redundancy in actuators and sensors was used effectively for robust passification using the LMI formulation. The passification was designed to be robust to an interval-type uncertainties in system parameters. The passification techniques were used to design a robust controller for Benchmark Active Control Technology wing under parametric uncertainties. The results on passive nonlinear systems, however, are very limited to date. Our recent work in this area was presented, wherein some stability results were obtained for passive nonlinear systems that are affine in control.

Printed Antennas Made Reconfigurable by Use of MEMS Switches

NASA Technical Reports Server (NTRS)

Simons, Rainee N.

2005-01-01

A class of reconfigurable microwave antennas now undergoing development comprise fairly conventional printed-circuit feed elements and radiating patches integrated with novel switches containing actuators of the microelectromechanical systems (MEMS) type. In comparison with solid-state electronic control devices incorporated into some prior printed microwave antennas, the MEMS-based switches in these antennas impose lower insertion losses and consume less power. Because the radio-frequency responses of the MEMS switches are more nearly linear, they introduce less signal distortion. In addition, construction and operation are simplified because only a single DC bias line is needed to control each MEMS actuator.

LQR Control of Shell Vibrations Via Piezoceramic Actuators

NASA Technical Reports Server (NTRS)

delRosario, R. C. H.; Smith, R. C.

1997-01-01

A model-based Linear Quadratic Regulator (LQR) method for controlling vibrations in cylindrical shells is presented. Surface-mounted piezo-ceramic patches are employed as actuators which leads to unbounded control input operators. Modified Donnell-Mushtari shell equations incorporating strong or Kelvin-Voigt damping are used to model the system. The model is then abstractly formulated in terms of sesquilinear forms. This provides a framework amenable for proving model well-posedness and convergence of LQR gains using analytic semigroup results combined with LQR theory for unbounded input operators. Finally, numerical examples demonstrating the effectiveness of the method are presented.

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.

Direct-drive field actuator motors

DOEpatents

Grahn, A.R.

1995-07-11

A high-torque, low speed, positive-drive field actuator motor is disclosed including a stator carrying at least one field actuator which changes in dimension responsive to application of an energy field, and at least one drive shoe movable by the dimensional changes of the field actuator to contact and move a rotor element with respect to the stator. Various embodiments of the motor are disclosed, and the rotor element may be moved linearly or arcuately. 37 figs.

Applications of Non-linearities in RF MEMS Switches and Resonators

NASA Astrophysics Data System (ADS)

Vummidi Murali, Krishna Prasad

The 21st century is emerging into an era of wireless ubiquity. To support this trend, the RF (Radio Frequency) front end must be capable of processing a range of wireless signals (cellular phone, data connectivity, broadcast TV, GPS positioning, etc.) spanning a total bandwidth of nearly 6 GHz. This warrants the need for multi-band/multi-mode radio architectures. For such architectures to satisfy the constraints on size, battery life, functionality and cost, the radio front-end must be made reconfigurable. RF-MEMS (RF Micro-Electro-Mechanical Systems) are seen as an enabling technology for such reconfigurable radios. RF-MEMS mainly include micromechanical switches (used in phase shifters, switched capacitor banks, impedance tuners etc.) and micromechanical resonators (used in tunable filters, oscillators, reference clocks etc.). MEMS technology also has the potential to be directly integrated into CMOS (Complementary metal-oxide semiconductor) ICs (Integrated Circuits) leading to further potential reductions of cost and size. However, RF-MEMS face challenges that must be addressed before they can gain widespread commercial acceptance. Relatively low switching speed, power handling, and high-voltage drive are some of the key issues in MEMS switches. Phase noise influenced by non-linearities, need for temperature compensation (especially Si based resonators), large start-up times, and aging are the key issues in Si MEMS Resonators. In this work potential solutions are proposed to address some of these key issues, specifically the reduction of high voltage drives in switches and the reduction of phase noise in MEMS resonators for timing applications. MEMS devices that are electrostatically actuated exhibit significant non-linearities. The origins of the non-linearities are both electrical (electrostatic actuation) and mechanical (dimensions and material properties). The influence of spring non-linearities (cubic and quadratic) on the performance of switches and resonators are studied. Gold electroplated fixed-fixed beams were fabricated to test the phenomenon of dynamic (or resonant) pull-in in shunt switches. The dynamic pull-in phenomenon was also tested on commercially fabricated lateral switches. It is shown that the resonant pull-in technique reduces the overall voltage required to actuate the switch. There is an additional reduction of total actuation voltage possible via applying an AC actuation signal at the correct non-linear resonant frequency. The demonstrated best case savings from operating at the non-linear resonance is 50% (for the lateral switch) and 60% (for the vertical switch) as compared to 25% and 40% respectively using a fixed frequency approach. However, the timing response for resonant pull-in has been experimentally shown to be slower than the static actuation. To reduce the switching time, a shifted-frequency method is proposed where the excitation frequency is shifted up or down by a discrete amount deltaO after a brief hold time. It was theoretically shown that the shifted-frequency method enables a minimum realizable switching time comparable to the static switching time for a given set of actuation frequencies. The influence of VDC on the effective non-linearities of a fixed-fixed beam is also studied. Based on the dimensions of the resonator and the type of resonance there is a certain VDC,Lin where the response is near linear (S ≈ 0). In the near-linear domain, the dynamic pull-in is the only upper bound to the amplitude of vibrations, and hence the amplitude of output current, thereby maximizing the power handling capacity of the resonator. Apart from maximizing the output current, it is essential to reduce the amplitude and phase variations of the displacement response which are due to noise mixing into frequency of interest, and are eventually manifested as output phase noise due to capacitive current nonlinearity. Two major aliasing schemes were analyzed and it was shown that the capacitive force non-linearity is the major source of mixing that causes the up-conversion of 1/f frequency into signal sidebands. The resonator's periodic response (displacement) is defined by a set of two first-order nonlinear ordinary differential equations that describe the modulation of amplitude and phase of the response. Frequency response curves of amplitude and frequency are determined from these modulation equations. The zero slope point on the amplitude resonance curve is the peak of the resonance curve where the phase (gammadc) of the response is +/-pi/2. For a strongly non-linear system, the resonance curves are skewed based on the amount of total non-linearity S. For systems that are strongly non-linear, the best region to operate the resonator is the fixed point that correspond to infinite slope (gammadc = +/-2pi/3) in the frequency response of the system. The best case phase noise response was analytically developed for such a fixed point. Theoretically at this fixed point, phase noise will have contributions only from 1/ fnoise and not from 1/f2 and 1/ f3. The resonators phase can be set by controlling the rest of the phase in the loop such that the total phase around the loop is zero or 2pi. In addition, this work has also developed an analytical model for a lateral MEMS switch fabricated in a commercial foundry that has the potential to be processed as MEMS on CMOS. This model accounts for trapezoidal cross sections of the electrodes and springs and also models electrostatic fringing as a function of the moving gap. The analytical model matches closely with the Finite Element (FEA) model.

Control of constraint forces and trajectories in a rich sensory and actuation environment.

PubMed

Hemami, Hooshang; Dariush, Behzad

2010-12-01

A simple control strategy is proposed and applied to a class of non-linear systems that have abundant sensory and actuation channels as in living systems. The main objective is the independent control of constrained trajectories of motion, and control of the corresponding constraint forces. The peripheral controller is a proportional, derivative and integral (PID) controller. A central controller produces, via pattern generators, reference signals that are the desired constrained position and velocity trajectories, and the desired constraint forces. The basic tenet of the this hybrid control strategy is the use of two mechanisms: 1. linear state and force feedback, and 2. non-linear constraint velocity feedback - sliding mode feedback. The first mechanism can be envisioned as a high gain feedback systems. The high gain attribute imitates the agonist-antagonist co-activation in natural systems. The strategy is applied to the control of the force and trajectory of a two-segment thigh-leg planar biped leg with a mass-less foot cranking a pedal that is analogous to a bicycle pedal. Five computational experiments are presented to show the effectiveness of the strategy and the performance of the controller. The findings of this paper are applicable to the design of orthoses and prostheses to supplement functional electrical stimulation for support purposes in the spinally injured cases. Copyright © 2010 Elsevier Inc. All rights reserved.

Development of a 3D parallel mechanism robot arm with three vertical-axial pneumatic actuators combined with a stereo vision system.

PubMed

Chiang, Mao-Hsiung; Lin, Hao-Ting

2011-01-01

This study aimed to develop a novel 3D parallel mechanism robot driven by three vertical-axial pneumatic actuators with a stereo vision system for path tracking control. The mechanical system and the control system are the primary novel parts for developing a 3D parallel mechanism robot. In the mechanical system, a 3D parallel mechanism robot contains three serial chains, a fixed base, a movable platform and a pneumatic servo system. The parallel mechanism are designed and analyzed first for realizing a 3D motion in the X-Y-Z coordinate system of the robot's end-effector. The inverse kinematics and the forward kinematics of the parallel mechanism robot are investigated by using the Denavit-Hartenberg notation (D-H notation) coordinate system. The pneumatic actuators in the three vertical motion axes are modeled. In the control system, the Fourier series-based adaptive sliding-mode controller with H(∞) tracking performance is used to design the path tracking controllers of the three vertical servo pneumatic actuators for realizing 3D path tracking control of the end-effector. Three optical linear scales are used to measure the position of the three pneumatic actuators. The 3D position of the end-effector is then calculated from the measuring position of the three pneumatic actuators by means of the kinematics. However, the calculated 3D position of the end-effector cannot consider the manufacturing and assembly tolerance of the joints and the parallel mechanism so that errors between the actual position and the calculated 3D position of the end-effector exist. In order to improve this situation, sensor collaboration is developed in this paper. A stereo vision system is used to collaborate with the three position sensors of the pneumatic actuators. The stereo vision system combining two CCD serves to measure the actual 3D position of the end-effector and calibrate the error between the actual and the calculated 3D position of the end-effector. Furthermore, to verify the feasibility of the proposed parallel mechanism robot driven by three vertical pneumatic servo actuators, a full-scale test rig of the proposed parallel mechanism pneumatic robot is set up. Thus, simulations and experiments for different complex 3D motion profiles of the robot end-effector can be successfully achieved. The desired, the actual and the calculated 3D position of the end-effector can be compared in the complex 3D motion control.

Development of a 3D Parallel Mechanism Robot Arm with Three Vertical-Axial Pneumatic Actuators Combined with a Stereo Vision System

PubMed Central

Chiang, Mao-Hsiung; Lin, Hao-Ting

2011-01-01

This study aimed to develop a novel 3D parallel mechanism robot driven by three vertical-axial pneumatic actuators with a stereo vision system for path tracking control. The mechanical system and the control system are the primary novel parts for developing a 3D parallel mechanism robot. In the mechanical system, a 3D parallel mechanism robot contains three serial chains, a fixed base, a movable platform and a pneumatic servo system. The parallel mechanism are designed and analyzed first for realizing a 3D motion in the X-Y-Z coordinate system of the robot’s end-effector. The inverse kinematics and the forward kinematics of the parallel mechanism robot are investigated by using the Denavit-Hartenberg notation (D-H notation) coordinate system. The pneumatic actuators in the three vertical motion axes are modeled. In the control system, the Fourier series-based adaptive sliding-mode controller with H∞ tracking performance is used to design the path tracking controllers of the three vertical servo pneumatic actuators for realizing 3D path tracking control of the end-effector. Three optical linear scales are used to measure the position of the three pneumatic actuators. The 3D position of the end-effector is then calculated from the measuring position of the three pneumatic actuators by means of the kinematics. However, the calculated 3D position of the end-effector cannot consider the manufacturing and assembly tolerance of the joints and the parallel mechanism so that errors between the actual position and the calculated 3D position of the end-effector exist. In order to improve this situation, sensor collaboration is developed in this paper. A stereo vision system is used to collaborate with the three position sensors of the pneumatic actuators. The stereo vision system combining two CCD serves to measure the actual 3D position of the end-effector and calibrate the error between the actual and the calculated 3D position of the end-effector. Furthermore, to verify the feasibility of the proposed parallel mechanism robot driven by three vertical pneumatic servo actuators, a full-scale test rig of the proposed parallel mechanism pneumatic robot is set up. Thus, simulations and experiments for different complex 3D motion profiles of the robot end-effector can be successfully achieved. The desired, the actual and the calculated 3D position of the end-effector can be compared in the complex 3D motion control. PMID:22247676

Anti-sway control of tethered satellite systems using attitude control of the main satellite

NASA Astrophysics Data System (ADS)

Yousefian, Peyman; Salarieh, Hassan

2015-06-01

In this study a new method is introduced to suppress libration of a tethered satellite system (TSS). It benefits from coupling between satellites and tether libration dynamics. The control concept uses the main satellite attitude maneuvers to suppress librational motion of the tether, and the main satellite's actuators for attitude control are used as the only actuation in the system. The study considers planar motion of a two body TSS system in a circular orbit and it is assumed that the tether's motion will not change it. Governing dynamic equations of motion are derived using the extended Lagrange method. Controllability of the system around the equilibrium state is studied and a linear LQG controller is designed to regulate libration of the system. Tether tension and satellite attitude are assumed as only measurable outputs of the system. The Extended Kalman Filter (EKF) is used to estimate states of the system to be used as feedback to the controller. The designed controller and observer are implemented to the nonlinear plant and simulations demonstrate that the controller lead to reduction of the tether libration propoerly. By the way, because the controller is linear, it is applicable only at low amplitudes in the vicinity of equilibrium point. To reach global stability, a nonlinear controller is demanded.

Embedded Carbide-derived Carbon (CDC) particles in polypyrrole (PPy) for linear actuator

NASA Astrophysics Data System (ADS)

Zondaka, Zane; Valner, Robert; Aabloo, Alvo; Tamm, Tarmo; Kiefer, Rudolf

2016-04-01

Conducting polymer linear actuators, for example sodium dodecylbenzenesulfonate (NaDBS) doped polypyrrole (PPy/DBS), have shown moderate strain and stress. The goal of this work was to increase the obtainable strain and stress by adding additional active material to PPy/DBS. In recent year's carbide-derived carbon (CDC)-based materials have been applied in actuators; however, the obtained displacement and actuation speed has been low comparing to conducting polymer based actuators. In the present work, a CDC-PPy hybrid was synthesized electrochemically and polyoxometalate (POM) - phosphotungstic acid - was used to attach charge to CDC particles. The CDC-POM served in the presence of NaDBS as an additional electrolyte. Cyclic voltammetry and chronopotentiometric electrochemomechanical deformation (ECMD) measurements were performed in Lithium bis(trifluoromethanesulfonyl)- imide (LiTFSI) aqueous electrolyte. The ECMD measurements revealed that the hybrid CDC-PPy material exhibited higher force and strain in comparison to PPy/DBS films. The new material was investigated by scanning electron microscopy (SEM) to evaluate CDC particle embedding in the polymer network.

Development and Test of Robotically Assisted Extravehicular Activity Gloves

NASA Technical Reports Server (NTRS)

Rogers, Jonathan M.; Peters, Benjamin J.; Laske, Evan A.; McBryan, Emily R.

2017-01-01

Over the past two years, the High Performance EVA Glove (HPEG) project under NASA's Space Technology Mission Directorate (STMD) funded an effort to develop an electromechanically-assisted space suit glove. The project was a collaboration between the Johnson Space Center's Software, Robotics, and Simulation Division and the Crew and Thermal Systems division. The project sought to combine finger actuator technology developed for Robonaut 2 with the softgoods from the ILC Phase VI EVA glove. The Space Suit RoboGlove (SSRG) uses a system of three linear actuators to pull synthetic tendons attached to the glove's fingers to augment flexion of the user's fingers. To detect the user's inputs, the system utilizes a combination of string potentiometers along the back of the fingers and force sensitive resistors integrated into the fingertips of the glove cover layer. This paper discusses the development process from initial concepts through two major phases of prototypes, and the results of initial human testing. Initial work on the project focused on creating a functioning proof of concept, designing the softgoods integration, and demonstrating augmented grip strength with the actuators. The second year of the project focused on upgrading the actuators, sensors, and software with the overall goal of creating a system that moves with the user's fingers in order to reduce fatigue associated with the operation of a pressurized glove system. This paper also discusses considerations for a flight system based on this prototype development and address where further work is required to mature the technology.

Modelling and control of a nonlinear magnetostrictive actuator system

NASA Astrophysics Data System (ADS)

Ramli, M. H. M.; Majeed, A. P. P. Abdul; Anuar, M. A. M.; Mohamed, Z.

2018-04-01

This paper explores the implementation of a feedforward control method to a nonlinear control system, in particular, Magnetostrictive Actuators (MA) that has excellent properties of energy conversion between the mechanical and magnetic form through magnetostriction effects which could be used in actuating and sensing application. MA is known to exhibit hysteresis behaviour and it is rate dependent (the level of hysteresis depends closely on the rate of input excitation frequency). This is, nonetheless, an undesirable behaviour and has to be eliminated in realising high precision application. The MA is modelled by a phenomenological modelling approach via Prandtl-Ishlinskii (P-I) operator to characterise the hysteresis nonlinearities. A feedforward control strategy is designed and implemented to linearize and eliminate the hysteresis by model inversion. The results show that the P-I operator has the capability to model the hysteretic nonlinearity of MA with an acceptable accuracy. Furthermore, the proposed control scheme has demonstrated to be effective in providing superior trajectory tracking.

Quadratic Programming for Allocating Control Effort

NASA Technical Reports Server (NTRS)

Singh, Gurkirpal

2005-01-01

A computer program calculates an optimal allocation of control effort in a system that includes redundant control actuators. The program implements an iterative (but otherwise single-stage) algorithm of the quadratic-programming type. In general, in the quadratic-programming problem, one seeks the values of a set of variables that minimize a quadratic cost function, subject to a set of linear equality and inequality constraints. In this program, the cost function combines control effort (typically quantified in terms of energy or fuel consumed) and control residuals (differences between commanded and sensed values of variables to be controlled). In comparison with prior control-allocation software, this program offers approximately equal accuracy but much greater computational efficiency. In addition, this program offers flexibility, robustness to actuation failures, and a capability for selective enforcement of control requirements. The computational efficiency of this program makes it suitable for such complex, real-time applications as controlling redundant aircraft actuators or redundant spacecraft thrusters. The program is written in the C language for execution in a UNIX operating system.

Antiwindup analysis and design approaches for MIMO systems

NASA Technical Reports Server (NTRS)

Marcopoli, Vincent R.; Phillips, Stephen M.

1994-01-01

Performance degradation of multiple-input multiple-output (MIMO) control systems having limited actuators is often handled by augmenting the controller with an antiwindup mechanism, which attempts to maintain system performance when limits are encountered. The goals of this paper are: (1) To develop a method to analyze antiwindup systems to determine precisely what stability and performance degradation is incurred under limited conditions. It is shown that by reformulating limited actuator commands as resulting from multiplicative perturbations to the corresponding controller requests, mu-analysis tools can be utilized to obtain quantitative measures of stability and performance degradation. (2) To propose a linear, time invariant (LTI) criterion on which to base the antiwindup design. These analysis and design methods are illustrated through the evaluation of two competing antiwindup schemes augmenting the controller of a Short Take-Off and Vertical Landing (STOVL) aircraft in transition flight.

Antiwindup analysis and design approaches for MIMO systems

NASA Technical Reports Server (NTRS)

Marcopoli, Vincent R.; Phillips, Stephen M.

1993-01-01

Performance degradation of multiple-input multiple-output (MIMO) control systems having limited actuators is often handled by augmenting the controller with an antiwindup mechanism, which attempts to maintain system performance when limits are encountered. The goals of this paper are: 1) to develop a method to analyze antiwindup systems to determine precisely what stability and performance degradation is incurred under limited conditions. It is shown that by reformulating limited actuator commands as resulting from multiplicative perturbations to the corresponding controller requests, mu-analysis tools can be utilized to obtain quantitative measures of stability and performance degradation. 2) To propose a linear, time invariant (LTI) criterion on which to base the antiwindup design. These analysis and design methods are illustrated through the evaluation of two competing antiwindup schemes augmenting the controller of a Short Take-Off and Vertical Landing (STOVL) aircraft in transition flight.

Design, characterization, and control of the NASA three degree of freedom reaction compensation platform

NASA Technical Reports Server (NTRS)

Birkhimer, Craig; Newman, Wyatt; Choi, Benjamin; Lawrence, Charles

1994-01-01

Increasing research is being done into industrial uses for the microgravity environment aboard orbiting space vehicles. However, there is some concern over the effects of reaction forces produced by moving objects, especially motors, robotic actuators, and astronauts. Reaction forces produced by the movement of these objects may manifest themselves as undesirable accelerations in the space vehicle making the vehicle unusable for microgravity applications. It is desirable to provide compensation for such forces using active means. This paper presents the design and experimental evaluation of the NASA three degree of freedom reaction compensation platform, a system designed to be a testbed for the feasibility of active attenuation of reaction forces caused by moving objects in a microgravity environment. Unique 'linear motors,' which convert electrical current directly into rectilinear force, are used in the platform design. The linear motors induce accelerations of the displacer inertias. These accelerations create reaction forces that may be controlled to counteract disturbance forces introduced to the platform. The stated project goal is to reduce reaction forces by 90 percent, or -20 dB. Description of the system hardware, characterization of the actuators and the composite system, and design of the software safety system and control software are included.

Soft actuators and soft actuating devices

DOEpatents

Yang, Dian; Whitesides, George M.

2017-10-17

A soft buckling linear actuator is described, including: a plurality of substantially parallel bucklable, elastic structural components each having its longest dimension along a first axis; and a plurality of secondary structural components each disposed between and bridging two adjacent bucklable, elastic structural components; wherein every two adjacent bucklable, elastic structural components and the secondary structural components in-between define a layer comprising a plurality of cells each capable of being connected with a fluid inflation or deflation source; the secondary structural components from two adjacent layers are not aligned along a second axis perpendicular to the first axis; and the secondary structural components are configured not to buckle, the bucklable, elastic structural components are configured to buckle along the second axis to generate a linear force, upon the inflation or deflation of the cells. Methods of actuation using the same are also described.

Design of an all-attitude flight control system to execute commanded bank angles and angles of attack

NASA Technical Reports Server (NTRS)

Burgin, G. H.; Eggleston, D. M.

1976-01-01

A flight control system for use in air-to-air combat simulation was designed. The input to the flight control system are commanded bank angle and angle of attack, the output are commands to the control surface actuators such that the commanded values will be achieved in near minimum time and sideslip is controlled to remain small. For the longitudinal direction, a conventional linear control system with gains scheduled as a function of dynamic pressure is employed. For the lateral direction, a novel control system, consisting of a linear portion for small bank angle errors and a bang-bang control system for large errors and error rates is employed.

A gimbaled low noise momentum wheel

NASA Technical Reports Server (NTRS)

Bichler, U.; Eckardt, T.

1993-01-01

The bus actuators are the heart and at the same time the Achilles' heel of accurate spacecraft stabilization systems, because both their performance and their perturbations can have a deciding influence on the achievable pointing accuracy of the mission. The main task of the attitude actuators, which are mostly wheels, is the generation of useful torques with sufficiently high bandwidth, resolution and accuracy. This is because the bandwidth of the whole attitude control loop and its disturbance rejection capability is dependent upon these factors. These useful torques shall be provided, without - as far as possible - parasitic noise like unbalance forces and torques and harmonics. This is because such variable frequency perturbations excite structural resonances which in turn disturb the operation of sensors and scientific instruments. High accuracy spacecraft will further require bus actuators for the three linear degrees of freedom (DOF) to damp structural oscillations excited by various sources. These actuators have to cover the dynamic range of these disturbances. Another interesting feature, which is not necessarily related to low noise performance, is a gimballing capability which enables, in a certain angular range, a three axis attitude control with only one wheel. The herein presented Teldix MWX, a five degree of freedom Magnetic Bearing Momentum Wheel, incorporates all the above required features. It is ideally suited to support, as a gyroscopic actuator in the attitude control system, all High Pointing Accuracy and Vibration Sensitive space missions.

Preliminary results on noncollocated torque control of space robot actuators

NASA Technical Reports Server (NTRS)

Tilley, Scott W.; Francis, Colin M.; Emerick, Ken; Hollars, Michael G.

1989-01-01

In the Space Station era, more operations will be performed robotically in space in the areas of servicing, assembly, and experiment tending among others. These robots may have various sets of requirements for accuracy, speed, and force generation, but there will be design constraints such as size, mass, and power dissipation limits. For actuation, a leading motor candidate is a dc brushless type, and there are numerous potential drive trains each with its own advantages and disadvantages. This experiment uses a harmonic drive and addresses some inherent limitations, namely its backdriveability and low frequency structural resonances. These effects are controlled and diminished by instrumenting the actuator system with a torque transducer on the output shaft. This noncollocated loop is closed to ensure that the commanded torque is accurately delivered to the manipulator link. The actuator system is modelled and its essential parameters identified. The nonlinear model for simulations will include inertias, gearing, stiction, flexibility, and the effects of output load variations. A linear model is extracted and used for designing the noncollocated torque and position feedback loops. These loops are simulated with the structural frequency encountered in the testbed system. Simulation results are given for various commands in position. The use of torque feedback is demonstrated to yield superior performance in settling time and positioning accuracy. An experimental setup being finished consists of a bench mounted motor and harmonic drive actuator system. A torque transducer and two position encoders, each with sufficient resolution and bandwidth, will provide sensory information. Parameters of the physical system are being identified and matched to analytical predictions. Initial feedback control laws will be incorporated in the bench test equipment and various experiments run to validate the designs. The status of these experiments is given.

Multi-parameter optimization of piezoelectric actuators for multi-mode active vibration control of cylindrical shells

NASA Astrophysics Data System (ADS)

Hu, K. M.; Li, Hua

2018-07-01

A novel technique for the multi-parameter optimization of distributed piezoelectric actuators is presented in this paper. The proposed method is designed to improve the performance of multi-mode vibration control in cylindrical shells. The optimization parameters of actuator patch configuration include position, size, and tilt angle. The modal control force of tilted orthotropic piezoelectric actuators is derived and the multi-parameter cylindrical shell optimization model is established. The linear quadratic energy index is employed as the optimization criterion. A geometric constraint is proposed to prevent overlap between tilted actuators, which is plugged into a genetic algorithm to search the optimal configuration parameters. A simply-supported closed cylindrical shell with two actuators serves as a case study. The vibration control efficiencies of various parameter sets are evaluated via frequency response and transient response simulations. The results show that the linear quadratic energy indexes of position and size optimization decreased by 14.0% compared to position optimization; those of position and tilt angle optimization decreased by 16.8%; and those of position, size, and tilt angle optimization decreased by 25.9%. It indicates that, adding configuration optimization parameters is an efficient approach to improving the vibration control performance of piezoelectric actuators on shells.

MIMO Sliding Mode Control for a Tailless Fighter Aircraft, An Alternative to Reconfigurable Architectures

NASA Technical Reports Server (NTRS)

Wells, S. R.; Hess, R. A.

2002-01-01

A frequency-domain procedure for the design of sliding mode controllers for multi-input, multi-output (MIMO) systems is presented. The methodology accommodates the effects of parasitic dynamics such as those introduced by unmodeled actuators through the introduction of multiple asymptotic observers and model reference hedging. The design procedure includes a frequency domain approach to specify the sliding manifold, the observer eigenvalues, and the hedge model. The procedure is applied to the development of a flight control system for a linear model of the Innovative Control Effector (ICE) fighter aircraft. The stability and performance robustness of the resulting design is demonstrated through the introduction of significant degradation in the control effector actuators and variation in vehicle dynamics.

Advances in shutter drive technology to enhance man-portable infrared cameras

NASA Astrophysics Data System (ADS)

Durfee, David

2012-06-01

With an emphasis on highest reliability, infrared (IR) imagers have traditionally used simplest-possible shutters and field-proven technology. Most commonly, single-step rotary or linear magnetic actuators have been used with good success. However, several newer shutter drive technologies offer benefits in size and power reduction, enabling man-portable imagers that are more compact, lighter, and more durable. This paper will discuss improvements in shutter and shutter drive technology, which enable smaller and more power-efficient imagers. Topics will transition from single-step magnetic actuators to multi-stepping magnetic drives, latching vs. balanced systems for blade position shock-resistance, motor and geared motor drives, and associated stepper driver electronics. It will highlight performance tradeoffs pertinent to man-portable military systems.

Output Tracking for Systems with Non-Hyperbolic and Near Non-Hyperbolic Internal Dynamics: Helicopter Hover Control

NASA Technical Reports Server (NTRS)

Devasia, Santosh

1996-01-01

A technique to achieve output tracking for nonminimum phase linear systems with non-hyperbolic and near non-hyperbolic internal dynamics is presented. This approach integrates stable inversion techniques, that achieve exact-tracking, with approximation techniques, that modify the internal dynamics to achieve desirable performance. Such modification of the internal dynamics is used (1) to remove non-hyperbolicity which an obstruction to applying stable inversion techniques and (2) to reduce large pre-actuation time needed to apply stable inversion for near non-hyperbolic cases. The method is applied to an example helicopter hover control problem with near non-hyperbolic internal dynamic for illustrating the trade-off between exact tracking and reduction of pre-actuation time.

Testing of Twin Linear Aerospike XRS-2200 Engine

NASA Technical Reports Server (NTRS)

2001-01-01

The test of twin Linear Aerospike XRS-2200 engines, originally built for the X-33 program, was performed on August 6, 2001 at NASA's Sternis Space Center, Mississippi. The engines were fired for the planned 90 seconds and reached a planned maximum power of 85 percent. NASA's Second Generation Reusable Launch Vehicle Program , also known as the Space Launch Initiative (SLI), is making advances in propulsion technology with this third and final successful engine hot fire, designed to test electro-mechanical actuators. Information learned from this hot fire test series about new electro-mechanical actuator technology, which controls the flow of propellants in rocket engines, could provide key advancements for the propulsion systems for future spacecraft. The Second Generation Reusable Launch Vehicle Program, led by NASA's Marshall Space Flight Center in Huntsville, Alabama, is a technology development program designed to increase safety and reliability while reducing costs for space travel. The X-33 program was cancelled in March 2001.

The fully actuated traffic control problem solved by global optimization and complementarity

NASA Astrophysics Data System (ADS)

Ribeiro, Isabel M.; de Lurdes de Oliveira Simões, Maria

2016-02-01

Global optimization and complementarity are used to determine the signal timing for fully actuated traffic control, regarding effective green and red times on each cycle. The average values of these parameters can be used to estimate the control delay of vehicles. In this article, a two-phase queuing system for a signalized intersection is outlined, based on the principle of minimization of the total waiting time for the vehicles. The underlying model results in a linear program with linear complementarity constraints, solved by a sequential complementarity algorithm. Departure rates of vehicles during green and yellow periods were treated as deterministic, while arrival rates of vehicles were assumed to follow a Poisson distribution. Several traffic scenarios were created and solved. The numerical results reveal that it is possible to use global optimization and complementarity over a reasonable number of cycles and determine with efficiency effective green and red times for a signalized intersection.

Encountered-Type Haptic Interface for Representation of Shape and Rigidity of 3D Virtual Objects.

PubMed

Takizawa, Naoki; Yano, Hiroaki; Iwata, Hiroo; Oshiro, Yukio; Ohkohchi, Nobuhiro

2017-01-01

This paper describes the development of an encountered-type haptic interface that can generate the physical characteristics, such as shape and rigidity, of three-dimensional (3D) virtual objects using an array of newly developed non-expandable balloons. To alter the rigidity of each non-expandable balloon, the volume of air in it is controlled through a linear actuator and a pressure sensor based on Hooke's law. Furthermore, to change the volume of each balloon, its exposed surface area is controlled by using another linear actuator with a trumpet-shaped tube. A position control mechanism is constructed to display virtual objects using the balloons. The 3D position of each balloon is controlled using a flexible tube and a string. The performance of the system is tested and the results confirm the effectiveness of the proposed principle and interface.

Design, development, and validation of a segment support actuator for the prototype segmented mirror telescope

NASA Astrophysics Data System (ADS)

Deshmukh, Prasanna Gajanan; Mandal, Amaresh; Parihar, Padmakar S.; Nayak, Dayananda; Mishra, Deepta Sundar

2018-01-01

Segmented mirror telescopes (SMT) are built using several small hexagonal mirrors positioned and aligned by the three actuators and six edge sensors per segment to maintain the shape of the primary mirror. The actuators are responsible for maintaining and tracking the mirror segments to the desired position, in the presence of external disturbances introduced by wind, vibration, gravity, and temperature. The present paper describes our effort to develop a soft actuator and the actuator controller for prototype SMT at Indian Institute of Astrophysics, Bangalore. The actuator designed, developed, and validated is a soft actuator based on the voice coil motor and flexural elements. It is designed for the range of travel of ±1.5 mm and the force range of 25 N along with an offloading mechanism to reduce the power consumption. A precision controller using a programmable system on chip (PSoC 5Lp) and a customized drive board has also been developed for this actuator. The close loop proportional-integral-derivative (PID) controller implemented in the PSoC gets position feedback from a high-resolution linear optical encoder. The optimum PID gains are derived using relay tuning method. In the laboratory, we have conducted several experiments to test the performance of the prototype soft actuator as well as the controller. We could achieve 5.73- and 10.15-nm RMS position errors in the steady state as well as tracking with a constant speed of 350 nm/s, respectively. We also present the outcome of various performance tests carried out when off-loader is in action as well as the actuator is subjected to dynamic wind loading.

Robustness Analysis of Integrated LPV-FDI Filters and LTI-FTC System for a Transport Aircraft

NASA Technical Reports Server (NTRS)

Khong, Thuan H.; Shin, Jong-Yeob

2007-01-01

This paper proposes an analysis framework for robustness analysis of a nonlinear dynamics system that can be represented by a polynomial linear parameter varying (PLPV) system with constant bounded uncertainty. The proposed analysis framework contains three key tools: 1) a function substitution method which can convert a nonlinear system in polynomial form into a PLPV system, 2) a matrix-based linear fractional transformation (LFT) modeling approach, which can convert a PLPV system into an LFT system with the delta block that includes key uncertainty and scheduling parameters, 3) micro-analysis, which is a well known robust analysis tool for linear systems. The proposed analysis framework is applied to evaluating the performance of the LPV-fault detection and isolation (FDI) filters of the closed-loop system of a transport aircraft in the presence of unmodeled actuator dynamics and sensor gain uncertainty. The robustness analysis results are compared with nonlinear time simulations.

Dynamics and Control of Tethered Antennas/Reflectors in Orbit

DTIC Science & Technology

1992-02-01

reflector system. The optimal linear quadratic Gaussian (LQG) digital con- trol of the orbiting tethered antenna/reflector system is analyzed. The...flexibility of both the antenna and the tether are included in this high order system model. With eight point actuators optimally positioned together with...able to maintain satisfactory pointing accuracy for low and moderate altitude orbits under the influence of solar pressure. For the higher altitudes a

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.

Feedback Linearization in a Six Degree-of-Freedom MAG-LEV Stage

NASA Technical Reports Server (NTRS)

Ludwick, Stephen J.; Trumper, David L.; Holmes, Michael L.

1996-01-01

A six degree-of-freedom electromagnetically suspended motion control stage (the Angstrom Stage) has been designed and constructed for use in short-travel, high-resolution motion control applications. It achieves better than 0.5 nm resolution over a 100 micron range of travel. The stage consists of a single moving element (the platen) floating in an oil filled chamber. The oil is crucial to the stage's operation since it forms squeeze film dampers between the platen and the frame. Twelve electromagnetic actuators provide the forces necessary to suspend and servo the platen, and six capacitance probes measure its position relative to the frame. The system is controlled using a digital signal processing board residing in a '486 based PC. This digital controller implements a feedback linearization algorithm in real-time to account for nonlinearities in both the magnetic actuators and the fluid film dampers. The feedback linearization technique reduces a highly nonlinear plant with coupling between the degrees of freedom into one that is linear, decoupled, and setpoint independent. The key to this procedure is a detailed plant model. The operation of the feedback linearization procedure is transparent to the outer loop of the controller, and so a proportional controller is sufficient for normal operation. We envision applications of this stage in scanned probe microscopy and for integrated circuit measurement.

Designing components using smartMOVE electroactive polymer technology

NASA Astrophysics Data System (ADS)

Rosenthal, Marcus; Weaber, Chris; Polyakov, Ilya; Zarrabi, Al; Gise, Peter

2008-03-01

Designing components using SmartMOVE TM electroactive polymer technology requires an understanding of the basic operation principles and the necessary design tools for integration into actuator, sensor and energy generation applications. Artificial Muscle, Inc. is collaborating with OEMs to develop customized solutions for their applications using smartMOVE. SmartMOVE is an advanced and elegant way to obtain almost any kind of movement using dielectric elastomer electroactive polymers. Integration of this technology offers the unique capability to create highly precise and customized motion for devices and systems that require actuation. Applications of SmartMOVE include linear actuators for medical, consumer and industrial applications, such as pumps, valves, optical or haptic devices. This paper will present design guidelines for selecting a smartMOVE actuator design to match the stroke, force, power, size, speed, environmental and reliability requirements for a range of applications. Power supply and controller design and selection will also be introduced. An overview of some of the most versatile configuration options will be presented with performance comparisons. A case example will include the selection, optimization, and performance overview of a smartMOVE actuator for the cell phone camera auto-focus and proportional valve applications.

Analysis and application of a velocity command motor as a reaction mass actuator

NASA Technical Reports Server (NTRS)

Sulla, Jeffrey L.; Juang, Jer-Nan; Horta, Lucas G.

1990-01-01

A commercially available linear stepper motor is applied as a reaction mass (RM) actuator. With the actuator operating in the (RM) relative-velocity command mode, open-loop and closed-loop testing is performed to determine operational limits. With the actuator mounted on a simple beam structure, root strain, RM acceleration, or beam acceleration is used in the feedback loop to augment the structural damping. The RM relative position is also used as feedback to ensure that the RM remains centered.

Design and model for the giant magnetostrictive actuator used on an electronic controlled injector

NASA Astrophysics Data System (ADS)

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

2017-05-01

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

Analysis technique for controlling system wavefront error with active/adaptive optics

NASA Astrophysics Data System (ADS)

Genberg, Victor L.; Michels, Gregory J.

2017-08-01

The ultimate goal of an active mirror system is to control system level wavefront error (WFE). In the past, the use of this technique was limited by the difficulty of obtaining a linear optics model. In this paper, an automated method for controlling system level WFE using a linear optics model is presented. An error estimate is included in the analysis output for both surface error disturbance fitting and actuator influence function fitting. To control adaptive optics, the technique has been extended to write system WFE in state space matrix form. The technique is demonstrated by example with SigFit, a commercially available tool integrating mechanical analysis with optical analysis.

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.

Thermo-Electro-Mechanical Analysis of a Curved Functionally Graded Piezoelectric Actuator with Sandwich Structure.

PubMed

Yan, Zhi; Zaman, Mostafa; Jiang, Liying

2011-12-12

In this work, the problem of a curved functionally graded piezoelectric (FGP) actuator with sandwich structure under electrical and thermal loads is investigated. The middle layer in the sandwich structure is functionally graded with the piezoelectric coefficient g 31 varying continuously along the radial direction of the curved actuator. Based on the theory of linear piezoelectricity, analytical solutions are obtained by using Airy stress function to examine the effects of material gradient and heat conduction on the performance of the curved actuator. It is found that the material gradient and thermal load have significant influence on the electroelastic fields and the mechanical response of the curved FGP actuator. Without the sacrifice of actuation deflection, smaller internal stresses are generated by using the sandwich actuator with functionally graded piezoelectric layer instead of the conventional bimorph actuator. This work is very helpful for the design and application of curved piezoelectric actuators under thermal environment.

Micromachined electrostatic vertical actuator

DOE Office of Scientific and Technical Information (OSTI.GOV)

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

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 inmore » 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.« less

Micromachined electrostatic vertical actuator

DOE Office of Scientific and Technical Information (OSTI.GOV)

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

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 inmore » 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.« less

A design concept of parallel elasticity extracted from biological muscles for engineered actuators.

PubMed

Chen, Jie; Jin, Hongzhe; Iida, Fumiya; Zhao, Jie

2016-08-23

Series elastic actuation that takes inspiration from biological muscle-tendon units has been extensively studied and used to address the challenges (e.g. energy efficiency, robustness) existing in purely stiff robots. However, there also exists another form of passive property in biological actuation, parallel elasticity within muscles themselves, and our knowledge of it is limited: for example, there is still no general design strategy for the elasticity profile. When we look at nature, on the other hand, there seems a universal agreement in biological systems: experimental evidence has suggested that a concave-upward elasticity behaviour is exhibited within the muscles of animals. Seeking to draw possible design clues for elasticity in parallel with actuators, we use a simplified joint model to investigate the mechanisms behind this biologically universal preference of muscles. Actuation of the model is identified from general biological joints and further reduced with a specific focus on muscle elasticity aspects, for the sake of easy implementation. By examining various elasticity scenarios, one without elasticity and three with elasticity of different profiles, we find that parallel elasticity generally exerts contradictory influences on energy efficiency and disturbance rejection, due to the mechanical impedance shift thus caused. The trade-off analysis between them also reveals that concave parallel elasticity is able to achieve a more advantageous balance than linear and convex ones. It is expected that the results could contribute to our further understanding of muscle elasticity and provide a theoretical guideline on how to properly design parallel elasticity behaviours for engineering systems such as artificial actuators and robotic joints.

An analysis of a nonlinear instability in the implementation of a VTOL control system

NASA Technical Reports Server (NTRS)

Weber, J. M.

1982-01-01

The contributions to nonlinear behavior and unstable response of the model following yaw control system of a VTOL aircraft during hover were determined. The system was designed as a state rate feedback implicit model follower that provided yaw rate command/heading hold capability and used combined full authority parallel and limited authority series servo actuators to generate an input to the yaw reaction control system of the aircraft. Both linear and nonlinear system models, as well as describing function linearization techniques were used to determine the influence on the control system instability of input magnitude and bandwidth, series servo authority, and system bandwidth. Results of the analysis describe stability boundaries as a function of these system design characteristics.

Practical controller design for ultra-precision positioning of stages with a pneumatic artificial muscle actuator

NASA Astrophysics Data System (ADS)

Tang, T. F.; Chong, S. H.

2017-06-01

This paper presents a practical controller design method for ultra-precision positioning of pneumatic artificial muscle actuator stages. Pneumatic artificial muscle (PAM) actuators are safe to use and have numerous advantages which have brought these actuators to wide applications. However, PAM exhibits strong non-linear characteristics, and these limitations lead to low controllability and limit its application. In practice, the non-linear characteristics of PAM mechanism are difficult to be precisely modeled, and time consuming to model them accurately. The purpose of the present study is to clarify a practical controller design method that emphasizes a simple design procedure that does not acquire plants parameters modeling, and yet is able to demonstrate ultra-precision positioning performance for a PAM driven stage. The practical control approach adopts continuous motion nominal characteristic trajectory following (CM NCTF) control as the feedback controller. The constructed PAM driven stage is in low damping characteristic and causes severe residual vibration that deteriorates motion accuracy of the system. Therefore, the idea to increase the damping characteristic by having an acceleration feedback compensation to the plant has been proposed. The effectiveness of the proposed controller was verified experimentally and compared with a classical PI controller in point-to-point motion. The experiment results proved that the CM NCTF controller demonstrates better positioning performance in smaller motion error than the PI controller. Overall, the CM NCTF controller has successfully to reduce motion error to 3µm, which is 88.7% smaller than the PI controller.

Microfabricated microengine for use as a mechanical drive and power source in the microdomain and fabrication process

DOEpatents

Garcia, Ernest J.; Sniegowski, Jeffry J.

1997-01-01

A microengine uses two synchronized linear actuators as a power source and converts oscillatory motion from the actuators into rotational motion via direct linkage connection to an output gear or wheel. The microengine provides output in the form of a continuously rotating output gear that is capable of delivering drive torque to a micromechanism. The microengine can be operated at varying speeds and its motion can be reversed. Linear actuators are synchronized in order to provide linear oscillatory motion to the linkage means in the X and Y directions according to a desired position, rotational direction and speed of said mechanical output means. The output gear has gear teeth on its outer perimeter for directly contacting a micromechanism requiring mechanical power. The gear is retained by a retaining means which allows said gear to rotate freely. The microengine is microfabricated of polysilicon on one wafer using surface micromachining batch fabrication.

Nonlinear damping for vibration isolation of microsystems using shear thickening fluid

NASA Astrophysics Data System (ADS)

Iyer, S. S.; Vedad-Ghavami, R.; Lee, H.; Liger, M.; Kavehpour, H. P.; Candler, R. N.

2013-06-01

This work reports the measurement and analysis of nonlinear damping of micro-scale actuators immersed in shear thickening fluids (STFs). A power-law damping term is added to the linear second-order model to account for the shear-dependent viscosity of the fluid. This nonlinear model is substantiated by measurements of oscillatory motion of a torsional microactuator. At high actuation forces, the vibration velocity amplitude saturates. The model accurately predicts the nonlinear damping characteristics of the STF using a power-law index extracted from independent rheology experiments. This result reveals the potential to use STFs as adaptive, passive dampers for vibration isolation of microelectromechanical systems.

Impedance-controlled ultrasound probe

NASA Astrophysics Data System (ADS)

Gilbertson, Matthew W.; Anthony, Brian W.

2011-03-01

An actuated hand-held impedance-controlled ultrasound probe has been developed. The controller maintains a prescribed contact state (force and velocity) between the probe and a patient's body. The device will enhance the diagnostic capability of free-hand elastography and swept-force compound imaging, and also make it easier for a technician to acquire repeatable (i.e. directly comparable) images over time. The mechanical system consists of an ultrasound probe, ball-screw-driven linear actuator, and a force/torque sensor. The feedback controller commands the motor to rotate the ball-screw to translate the ultrasound probe in order to maintain a desired contact force. It was found that users of the device, with the control system engaged, maintain a constant contact force with 15 times less variation than without the controller engaged. The system was used to determine the elastic properties of soft tissue.

Test Platform for Advanced Digital Control of Brushless DC Motors (MSFC Center Director's Discretionary Fund)

NASA Technical Reports Server (NTRS)

Gwaltney, D. A.

2002-01-01

A FY 2001 Center Director's Discretionary Fund task to develop a test platform for the development, implementation. and evaluation of adaptive and other advanced control techniques for brushless DC (BLDC) motor-driven mechanisms is described. Important applications for BLDC motor-driven mechanisms are the translation of specimens in microgravity experiments and electromechanical actuation of nozzle and fuel valves in propulsion systems. Motor-driven aerocontrol surfaces are also being utilized in developmental X vehicles. The experimental test platform employs a linear translation stage that is mounted vertically and driven by a BLDC motor. Control approaches are implemented on a digital signal processor-based controller for real-time, closed-loop control of the stage carriage position. The goal of the effort is to explore the application of advanced control approaches that can enhance the performance of a motor-driven actuator over the performance obtained using linear control approaches with fixed gains. Adaptive controllers utilizing an exact model knowledge controller and a self-tuning controller are implemented and the control system performance is illustrated through the presentation of experimental results.

Adaptive optics system performance approximations for atmospheric turbulence correction

NASA Astrophysics Data System (ADS)

Tyson, Robert K.

1990-10-01

Analysis of adaptive optics system behavior often can be reduced to a few approximations and scaling laws. For atmospheric turbulence correction, the deformable mirror (DM) fitting error is most often used to determine a priori the interactuator spacing and the total number of correction zones required. This paper examines the mirror fitting error in terms of its most commonly used exponential form. The explicit constant in the error term is dependent on deformable mirror influence function shape and actuator geometry. The method of least squares fitting of discrete influence functions to the turbulent wavefront is compared to the linear spatial filtering approximation of system performance. It is found that the spatial filtering method overstimates the correctability of the adaptive optics system by a small amount. By evaluating fitting error for a number of DM configurations, actuator geometries, and influence functions, fitting error constants verify some earlier investigations.

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

PubMed Central

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

2012-01-01

This paper proposes a distributed system for analysis and monitoring (DSAM) of vibrations and acoustic noise, which consists of an array of intelligent modules, sensor modules, communication bus and a host PC acting as data center. The main advantages of the DSAM are its modularity, scalability, and flexibility for use of different type of sensors/transducers, with analog or digital outputs, and for signals of different nature. Its final cost is also significantly lower than other available commercial solutions. The system is reconfigurable, can operate either with synchronous or asynchronous modes, with programmable sampling frequencies, 8-bit or 12-bit resolution and a memory buffer of 15 kbyte. It allows real-time data-acquisition for signals of different nature, in applications that require a large number of sensors, thus it is suited for monitoring of vibrations in Linear Switched Reluctance Actuators (LSRAs). The acquired data allows the full characterization of the LSRA in terms of its response to vibrations of structural origins, and the vibrations and acoustic noise emitted under normal operation. The DSAM can also be used for electrical machine condition monitoring, machine fault diagnosis, structural characterization and monitoring, among other applications. PMID:22969364

Electrical servo actuator bracket. [fuel control valves on jet engines

NASA Technical Reports Server (NTRS)

Sawyer, R. V. (Inventor)

1981-01-01

An electrical servo actuator is mounted on a support arm which is allowed to pivot on a bolt through a fixed mounting bracket. The actuator is pivotally connected to the end of the support arm by a bolt which has an extension allowed to pass through a slot in the fixed mounting bracket. An actuator rod extends from the servo actuator to a crank arm which turns a control shaft. A short linear thrust of the rod pivots the crank arm through about 90 for full-on control with the rod contracted into the servo actuator, and full-off control when the rod is extended from the actuator. A spring moves the servo actuator and actuator rod toward the control crank arm once the actuator rod is fully extended in the full-off position. This assures the turning of the control shaft to a full-off position. A stop bolt and slot are provided to limit pivot motion. Once fully extended, the spring pivots the motion.

Tracking Control of Hysteretic Piezoelectric Actuator using Adaptive Rate-Dependent Controller.

PubMed

Tan, U-Xuan; Latt, Win Tun; Widjaja, Ferdinan; Shee, Cheng Yap; Riviere, Cameron N; Ang, Wei Tech

2009-03-16

With the increasing popularity of actuators involving smart materials like piezoelectric, control of such materials becomes important. The existence of the inherent hysteretic behavior hinders the tracking accuracy of the actuators. To make matters worse, the hysteretic behavior changes with rate. One of the suggested ways is to have a feedforward controller to linearize the relationship between the input and output. Thus, the hysteretic behavior of the actuator must first be modeled by sensing the relationship between the input voltage and output displacement. Unfortunately, the hysteretic behavior is dependent on individual actuator and also environmental conditions like temperature. It is troublesome and costly to model the hysteresis regularly. In addition, the hysteretic behavior of the actuators also changes with age. Most literature model the actuator using a cascade of rate-independent hysteresis operators and a dynamical system. However, the inertial dynamics of the structure is not the only contributing factor. A complete model will be complex. Thus, based on the studies done on the phenomenological hysteretic behavior with rate, this paper proposes an adaptive rate-dependent feedforward controller with Prandtl-Ishlinskii (PI) hysteresis operators for piezoelectric actuators. This adaptive controller is achieved by adapting the coefficients to manipulate the weights of the play operators. Actual experiments are conducted to demonstrate the effectiveness of the adaptive controller. The main contribution of this paper is its ability to perform tracking control of non-periodic motion and is illustrated with the tracking control ability of a couple of different non-periodic waveforms which were created by passing random numbers through a low pass filter with a cutoff frequency of 20Hz.

Soft Pneumatic Actuator Fascicles for High Force and Reliability

PubMed Central

Robertson, Matthew A.; Sadeghi, Hamed; Florez, Juan Manuel

2017-01-01

Abstract Soft pneumatic actuators (SPAs) are found in mobile robots, assistive wearable devices, and rehabilitative technologies. While soft actuators have been one of the most crucial elements of technology leading the development of the soft robotics field, they fall short of force output and bandwidth requirements for many tasks. In addition, other general problems remain open, including robustness, controllability, and repeatability. The SPA-pack architecture presented here aims to satisfy these standards of reliability crucial to the field of soft robotics, while also improving the basic performance capabilities of SPAs by borrowing advantages leveraged ubiquitously in biology; namely, the structured parallel arrangement of lower power actuators to form the basis of a larger and more powerful actuator module. An SPA-pack module consisting of a number of smaller SPAs will be studied using an analytical model and physical prototype. Experimental measurements show an SPA pack to generate over 112 N linear force, while the model indicates the benefit of parallel actuator grouping over a geometrically equivalent single SPA scale as an increasing function of the number of individual actuators in the group. For a module of four actuators, a 23% increase in force production over a volumetrically equivalent single SPA is predicted and validated, while further gains appear possible up to 50%. These findings affirm the advantage of utilizing a fascicle structure for high-performance soft robotic applications over existing monolithic SPA designs. An example of high-performance soft robotic platform will be presented to demonstrate the capability of SPA-pack modules in a complete and functional system. PMID:28289573

Soft Pneumatic Actuator Fascicles for High Force and Reliability.

PubMed

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

2017-03-01

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

Piezoelectric actuator uses sequentially-excited multiple elements: A concept

NASA Technical Reports Server (NTRS)

Sabelman, E. E.

1972-01-01

Utilizing arrays of sequentially-excited piezoelectric elements to provide motion in a nonmagnetic motor provide built-in redundancy and long life required for deployment or actuation of devices on spacecraft. Linear-motion motor devices can also be fabricated.

Design of a radio telescope surface segment actuator based on a form-closed eccentric cam

NASA Astrophysics Data System (ADS)

Smith, David R.

2014-07-01

As radio telescopes have reached larger diameters and higher frequencies, it is typically not possible to meet their surface accuracy specifications using passive homology-based designs. The most common solution to this problem in the current generation of large, high-frequency radio telescopes is to employ a system of linear actuators to correct the surface shape of the primary reflector. The exact specifications of active surface actuators vary with the telescope. However, they have many common features, some of which drive their design. In general, these actuators must provide precise and repeatable positioning under significant loads during operation and they must withstand even higher loads for survival conditions. For general safety, they typically must hold position in the event of a power failure and must incorporate position limits, whether electrical, mechanical, or both. Because the number of actuators is generally high for large active surfaces (hundreds or even thousands of actuators), they must also be reliable and of reasonable individual cost. Finally, for maximum flexibility in their installation, they must be compact. This paper presents a concept for an active surface actuator based on a form-closed eccentric cam (kinematically, a Scotch Yoke mechanism). Such a design is limited in stroke, but offers potential advantages in terms of manufacture, compactness, measurement, and survival loading. The paper demonstrates that some of the expected advantages cannot be practically realized, due to dimensions that are driven by survival loading conditions. As a result, this concept is likely to offer an advantage over conventional screw-type actuators only for cases where actuator runaway and stall are the driving considerations.

Feedback tracking control for dynamic morphing of piezocomposite actuated flexible wings

NASA Astrophysics Data System (ADS)

Wang, Xiaoming; Zhou, Wenya; Wu, Zhigang

2018-03-01

Aerodynamic properties of flexible wings can be improved via shape morphing using piezocomposite materials. Dynamic shape control of flexible wings is investigated in this study by considering the interactions between structural dynamics, unsteady aerodynamics and piezo-actuations. A novel antisymmetric angle-ply bimorph configuration of piezocomposite actuators is presented to realize coupled bending-torsional shape control. The active aeroelastic model is derived using finite element method and Theodorsen unsteady aerodynamic loads. A time-varying linear quadratic Gaussian (LQG) tracking control system is designed to enhance aerodynamic lift with pre-defined trajectories. Proof-of-concept simulations of static and dynamic shape control are presented for a scaled high-aspect-ratio wing model. Vibrations of the wing and fluctuations in aerodynamic forces are caused by using the static voltages directly in dynamic shape control. The lift response has tracked the trajectories well with favorable dynamic morphing performance via feedback tracking control.

A Hydraulic Blowdown Servo System For Launch Vehicle

NASA Astrophysics Data System (ADS)

Chen, Anping; Deng, Tao

2016-07-01

This paper introduced a hydraulic blowdown servo system developed for a solid launch vehicle of the family of Chinese Long March Vehicles. It's the thrust vector control (TVC) system for the first stage. This system is a cold gas blowdown hydraulic servo system and consist of gas vessel, hydraulic reservoir, servo actuator, digital control unit (DCU), electric explosion valve, and pressure regulator etc. A brief description of the main assemblies and characteristics follows. a) Gas vessel is a resin/carbon fiber composite over wrapped pressure vessel with a titanium liner, The volume of the vessel is about 30 liters. b) Hydraulic reservoir is a titanium alloy piston type reservoir with a magnetostrictive sensor as the fluid level indicator. The volume of the reservoir is about 30 liters. c) Servo actuator is a equal area linear piston actuator with a 2-stage low null leakage servo valve and a linear variable differential transducer (LVDT) feedback the piston position, Its stall force is about 120kN. d) Digital control unit (DCU) is a compact digital controller based on digital signal processor (DSP), and deployed dual redundant 1553B digital busses to communicate with the on board computer. e) Electric explosion valve is a normally closed valve to confine the high pressure helium gas. f) Pressure regulator is a spring-loaded poppet pressure valve, and regulates the gas pressure from about 60MPa to about 24MPa. g) The whole system is mounted in the aft skirt of the vehicle. h) This system delivers approximately 40kW hydraulic power, by contrast, the total mass is less than 190kg. the power mass ratio is about 0.21. Have finished the development and the system test. Bench and motor static firing tests verified that all of the performances have met the design requirements. This servo system is complaint to use of the solid launch vehicle.

From Fault-Diagnosis and Performance Recovery of a Controlled System to Chaotic Secure Communication

NASA Astrophysics Data System (ADS)

Hsu, Wen-Teng; Tsai, Jason Sheng-Hong; Guo, Fang-Cheng; Guo, Shu-Mei; Shieh, Leang-San

Chaotic systems are often applied to encryption on secure communication, but they may not provide high-degree security. In order to improve the security of communication, chaotic systems may need to add other secure signals, but this may cause the system to diverge. In this paper, we redesign a communication scheme that could create secure communication with additional secure signals, and the proposed scheme could keep system convergence. First, we introduce the universal state-space adaptive observer-based fault diagnosis/estimator and the high-performance tracker for the sampled-data linear time-varying system with unanticipated decay factors in actuators/system states. Besides, robustness, convergence in the mean, and tracking ability are given in this paper. A residual generation scheme and a mechanism for auto-tuning switched gain is also presented, so that the introduced methodology is applicable for the fault detection and diagnosis (FDD) for actuator and state faults to yield a high tracking performance recovery. The evolutionary programming-based adaptive observer is then applied to the problem of secure communication. Whenever the tracker induces a large control input which might not conform to the input constraint of some physical systems, the proposed modified linear quadratic optimal tracker (LQT) can effectively restrict the control input within the specified constraint interval, under the acceptable tracking performance. The effectiveness of the proposed design methodology is illustrated through tracking control simulation examples.

Piezoceramic Actuator Placement for Acoustic Control of Panels

NASA Technical Reports Server (NTRS)

Bevan, Jeffrey S.; Turner, Travis L. (Technical Monitor)

2001-01-01

Optimum placement of multiple traditional piezoceramic actuators is determined for active structural acoustic control of flat panels. The structural acoustic response is determined using acoustic radiation filters and structural surface vibration characteristics. Linear Quadratic Regulator (LQR) control is utilized to determine the optimum state feedback gain for active structural acoustic control. The optimum actuator location is determined by minimizing the structural acoustic radiated noise using a modified genetic algorithm. Experimental tests are conducted and compared to analytical results. Anisotropic piezoceramic actuators exhibits enhanced performance when compared to traditional isotropic piezoceramic actuators. As a result of the inherent isotropy, these advanced actuators develop strain along the principal material axis. The orientation of anisotropic actuators is investigated on the effect of structural vibration and acoustic control of curved and flat panels. A fully coupled shallow shell finite element formulation is developed to include anisotropic piezoceramic actuators for shell structures.

Piezoceramic Actuator Placement for Acoustic Control of Panels

NASA Technical Reports Server (NTRS)

Bevan, Jeffrey S.

2000-01-01

Optimum placement of multiple traditional piezoceramic actuators is determined for active structural acoustic control of flat panels. The structural acoustic response is determined using acoustic radiation filters and structural surface vibration characteristics. Linear Quadratic Regulator (LQR) control is utilized to determine the optimum state feedback gain for active structural acoustic control. The optimum actuator location is determined by minimizing the structural acoustic radiated noise using a modified genetic algorithm. Experimental tests are conducted and compared to analytical results. Anisotropic piezoceramic actuators exhibit enhanced performance when compared to traditional isotropic piezoceramic actuators. As a result of the inherent isotropy, these advanced actuators develop strain along the principal material axis. The orientation of anisotropic actuators is investigated on the effect of structural vibration and acoustic control of curved and flat panels. A fully coupled shallow shell finite element formulation is developed to include anisotropic piezoceramic actuators for shell structures.

Extended state observer based robust adaptive control on SE(3) for coupled spacecraft tracking maneuver with actuator saturation and misalignment

NASA Astrophysics Data System (ADS)

Zhang, Jianqiao; Ye, Dong; Sun, Zhaowei; Liu, Chuang

2018-02-01

This paper presents a robust adaptive controller integrated with an extended state observer (ESO) to solve coupled spacecraft tracking maneuver in the presence of model uncertainties, external disturbances, actuator uncertainties including magnitude deviation and misalignment, and even actuator saturation. More specifically, employing the exponential coordinates on the Lie group SE(3) to describe configuration tracking errors, the coupled six-degrees-of-freedom (6-DOF) dynamics are developed for spacecraft relative motion, in which a generic fully actuated thruster distribution is considered and the lumped disturbances are reconstructed by using anti-windup technique. Then, a novel ESO, developed via second order sliding mode (SOSM) technique and adding linear correction terms to improve the performance, is designed firstly to estimate the disturbances in finite time. Based on the estimated information, an adaptive fast terminal sliding mode (AFTSM) controller is developed to guarantee the almost global asymptotic stability of the resulting closed-loop system such that the trajectory can be tracked with all the aforementioned drawbacks addressed simultaneously. Finally, the effectiveness of the controller is illustrated through numerical examples.

Fiber-Reinforced Origamic Robotic Actuator.

PubMed

Yi, Juan; Chen, Xiaojiao; Song, Chaoyang; Wang, Zheng

2018-02-01

A novel pneumatic soft linear actuator Fiber-reinforced Origamic Robotic Actuator (FORA) is proposed with significant improvements on the popular McKibben-type actuators, offering nearly doubled motion range, substantially improved force profile, and significantly lower actuation pressure. The desirable feature set is made possible by a novel soft origamic chamber that expands radially while contracts axially when pressurized. Combining this new origamic chamber with a reinforcing fiber mesh, FORA generates very high traction force (over 150N) and very large contractile motion (over 50%) at very low input pressure (100 kPa). We developed quasi-static analytical models both to characterize the motion and forces and as guidelines for actuator design. Fabrication of FORA mostly involves consumer-grade three-dimensional (3D) printing. We provide a detailed list of materials and dimensions. Fabricated FORAs were tested on a dedicated platform against commercially available pneumatic artificial muscles from Shadow and Festo to showcase its superior performances and validate the analytical models with very good agreements. Finally, a robotic joint was developed driven by two antagonistic FORAs, to showcase the benefits of the performance improvements. With its simple structure, fully characterized mechanism, easy fabrication procedure, and highly desirable performance, FORA could be easily customized to application requirements and fabricated by anyone with access to a 3D printer. This will pave the way to the wider adaptation and application of soft robotic systems.

System design of the annular suspension and pointing system /ASPS/

NASA Technical Reports Server (NTRS)

Cunningham, D. C.; Gismondi, T. P.; Wilson, G. W.

1978-01-01

This paper presents the control system design for the Annular Suspension and Pointing System. Actuator sizing and configuration of the system are explained, and the control laws developed for linearizing and compensating the magnetic bearings, roll induction motor and gimbal torquers are given. Decoupling, feedforward and error compensation for the vernier and gimbal controllers is developed. The algorithm for computing the strapdown attitude reference is derived, and the allowable sampling rates, time delays and quantization of control signals are specified.

Misfire tolerant combustion-powered actuation

DOEpatents

Spletzer, Barry L.; Fischer, Gary J.; Marron, Lisa C.; Kuehl, Michael A.

2001-01-01

The present invention provides a combustion-powered actuator that is suitable for intermittent actuation, that is suitable for use with atmospheric pressure carburetion, and that requires little electrical energy input. The present invention uses energy from expansion of pressurized fuel to effectively purge a combustion chamber, and to achieve atmospheric pressure carburetion. Each purge-fill-power cycle can be independent, allowing the actuator to readily tolerate misfires. The present invention is suitable for use with linear and rotary operation combustion chambers, and is suitable for use in a wide variety of applications.

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

NASA Astrophysics Data System (ADS)

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

2015-12-01

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

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.

Control of non-linear actuator of artificial muscles for the use in low-cost robotics prosthetics limbs

NASA Astrophysics Data System (ADS)

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

2017-10-01

Currently, the methods of actuating robotic-based prosthetic limbs are moving away from bulky actuators to more fluid materials such as artificial muscles. The main disadvantages of these artificial muscles are their high cost of manufacturing, low-force generation, cumbersome and complex controls. A recent discovery into using super coiled polymer (SCP) proved to have low manufacturing costs, high force generation, compact and simple controls. Nevertheless, the non-linear controls still exists due to the nature of heat-based actuation, which is hysteresis. This makes position control difficult. Using electrically conductive devices allows for very quick heating, but not quick cooling. This research tries to solve the problem by using peltier devices, which can effectively heat and cool the SCP, hence giving way to a more precise control. The peltier device does not actively introduce more energy to a volume of space, which the coiled heating does; instead, it acts as a heat pump. Experiments were conducted to test the feasibility of using peltier as an actuating method on different diameters of nylon fishing strings. Based on these experiments, the performance characteristics of the strings were plotted, which could be used to control the actuation of the string efficiently in the future.

RCS/Linear Discrete Actuator Study

DTIC Science & Technology

1988-08-01

up to 200 deg/sec. To eliminate loss of accuracy, the Contraves readout will be used to deter- mine the hub angle of the AFAL structure in place of...Flexible Mode Weights .......................... 127 11.6.2 Additional Terminal-Phase Thruster Constraints ................ 129 12 Implementation of On-Off...approach was chosen for the space shuttle remote manipulator system. However, a large penalty may result in overall system weight and 2 ! II I1 Ii

Thermo-Electro-Mechanical Analysis of a Curved Functionally Graded Piezoelectric Actuator with Sandwich Structure

PubMed Central

Yan, Zhi; Zaman, Mostafa; Jiang, Liying

2011-01-01

In this work, the problem of a curved functionally graded piezoelectric (FGP) actuator with sandwich structure under electrical and thermal loads is investigated. The middle layer in the sandwich structure is functionally graded with the piezoelectric coefficient g31 varying continuously along the radial direction of the curved actuator. Based on the theory of linear piezoelectricity, analytical solutions are obtained by using Airy stress function to examine the effects of material gradient and heat conduction on the performance of the curved actuator. It is found that the material gradient and thermal load have significant influence on the electroelastic fields and the mechanical response of the curved FGP actuator. Without the sacrifice of actuation deflection, smaller internal stresses are generated by using the sandwich actuator with functionally graded piezoelectric layer instead of the conventional bimorph actuator. This work is very helpful for the design and application of curved piezoelectric actuators under thermal environment. PMID:28824130

Thermal expansion as a precision actuator

NASA Astrophysics Data System (ADS)

Miller, Chris; Montgomery, David; Black, Martin; Schnetler, Hermine

2016-07-01

The UK ATC has developed a novel thermal actuator design as part of an OPTICON project focusing on the development of a Freeform Active Mirror Element (FAME). The actuator uses the well understood concept of thermal expansion to generate the required force and displacement. As heat is applied to the actuator material it expands linearly. A resistance temperature device (RTD) is embedded in the centre of the actuator and is used both as a heater and a sensor. The RTD temperature is controlled electronically by injecting a varying amount of current into the device whilst measuring the voltage across it. Temperature control of the RTD has been achieved to within 0.01°C. A 3D printed version of the actuator is currently being used at the ATC to deform a mirror but it has several advantages that may make it suitable to other applications. The actuator is cheap to produce whilst obtaining a high accuracy and repeatability. The actuator design would be suitable for applications requiring large numbers of actuators with high precision.

Closed-loop control of a core free rolled EAP actuator

NASA Astrophysics Data System (ADS)

Sarban, Rahimullah; Oubaek, Jakob; Jones, Richard W.

2009-03-01

Tubular dielectric electro-active polymer actuators, also referred as tubular InLastors, have many possible applications. One of the most obvious is as a positioning push-type device. This work examines the feedback closed-loop control of a core-free tubular InLastor fabricated from sheets of PolyPowerTM, an EAP material developed by Danfoss PolyPower A/S, which uses a silicone elastomer in conjunction with smart compliant electrode technology. This is part of an ongoing study to develop a precision positioning feedback control system for this device. Initially proportional and integral (PI) control is considered to provide position control of the tubular InLastor. Control of the tubular Inlastors require more than conventional control, used for linear actuators, because the InLastors display highly nonlinear static voltage-strain and voltage-force characteristics as well as dynamic hysteresis and time-dependent strain behavior. In an attempt to overcome the nonlinear static voltage-strain characteristics of the Inlastors and for improving the dynamic performance of the controlled device, a gain scheduling algorithm is then integrated into the PI controlled system.

Onboard Nonlinear Engine Sensor and Component Fault Diagnosis and Isolation Scheme

NASA Technical Reports Server (NTRS)

Tang, Liang; DeCastro, Jonathan A.; Zhang, Xiaodong

2011-01-01

A method detects and isolates in-flight sensor, actuator, and component faults for advanced propulsion systems. In sharp contrast to many conventional methods, which deal with either sensor fault or component fault, but not both, this method considers sensor fault, actuator fault, and component fault under one systemic and unified framework. The proposed solution consists of two main components: a bank of real-time, nonlinear adaptive fault diagnostic estimators for residual generation, and a residual evaluation module that includes adaptive thresholds and a Transferable Belief Model (TBM)-based residual evaluation scheme. By employing a nonlinear adaptive learning architecture, the developed approach is capable of directly dealing with nonlinear engine models and nonlinear faults without the need of linearization. Software modules have been developed and evaluated with the NASA C-MAPSS engine model. Several typical engine-fault modes, including a subset of sensor/actuator/components faults, were tested with a mild transient operation scenario. The simulation results demonstrated that the algorithm was able to successfully detect and isolate all simulated faults as long as the fault magnitudes were larger than the minimum detectable/isolable sizes, and no misdiagnosis occurred

Robust Stability and Control of Multi-Body Ground Vehicles with Uncertain Dynamics and Failures

DTIC Science & Technology

2010-01-01

and N. Zhang, 2008. “Robust stability control of vehicle rollover subject to actuator time delay”. Proc. IMechE Part I: J. of systems and control ...Dynamic Systems and Control Conference, Boston, MA, Sept 2010 R.K. Yedavalli,”Robust Stability of Linear Interval Parameter Matrix Family Problem...for control coupled output regulation for a class of systems is presented. In section 2.1.7, the control design algorithm developed in section

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

NASA Technical Reports Server (NTRS)

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

2000-01-01

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

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

Resource Balancing Control Allocation

NASA Technical Reports Server (NTRS)

Frost, Susan A.; Bodson, Marc

2010-01-01

Next generation aircraft with a large number of actuators will require advanced control allocation methods to compute the actuator commands needed to follow desired trajectories while respecting system constraints. Previously, algorithms were proposed to minimize the l1 or l2 norms of the tracking error and of the control effort. The paper discusses the alternative choice of using the l1 norm for minimization of the tracking error and a normalized l(infinity) norm, or sup norm, for minimization of the control effort. The algorithm computes the norm of the actuator deflections scaled by the actuator limits. Minimization of the control effort then translates into the minimization of the maximum actuator deflection as a percentage of its range of motion. The paper shows how the problem can be solved effectively by converting it into a linear program and solving it using a simplex algorithm. Properties of the algorithm are investigated through examples. In particular, the min-max criterion results in a type of resource balancing, where the resources are the control surfaces and the algorithm balances these resources to achieve the desired command. A study of the sensitivity of the algorithms to the data is presented, which shows that the normalized l(infinity) algorithm has the lowest sensitivity, although high sensitivities are observed whenever the limits of performance are reached.

Design and Stability of an On-Orbit Attitude Control System Using Reaction Control Thrusters

NASA Technical Reports Server (NTRS)

Hall, Robert A.; Hough, Steven; Orphee, Carolina; Clements, Keith

2015-01-01

Principles for the design and stability of a spacecraft on-orbit attitude control system employing on-off Reaction Control System (RCS) thrusters is presented. Both the vehicle dynamics and the control system actuators are inherently nonlinear, hence traditional linear control system design approaches are not directly applicable. This paper has three main aspects: It summarizes key RCS control System design principles from the Space Shuttle and Space Station programs, it demonstrates a new approach to develop a linear model of a phase plane control system using describing functions, and applies each of these to the initial development of the NASA's next generation of upper stage vehicles. Topics addressed include thruster hardware specifications, phase plane design and stability, jet selection approaches, filter design metrics, and automaneuver logic.

Geometry optimization of linear and annular plasma synthetic jet actuators

NASA Astrophysics Data System (ADS)

Neretti, G.; Seri, P.; Taglioli, M.; Shaw, A.; Iza, F.; Borghi, C. A.

2017-01-01

The electrohydrodynamic (EHD) interaction induced in atmospheric air pressure by a surface dielectric barrier discharge (DBD) actuator has been experimentally investigated. Plasma synthetic jet actuators (PSJAs) are DBD actuators able to induce an air stream perpendicular to the actuator surface. These devices can be used in the field of aerodynamics to prevent or induce flow separation, modify the laminar to turbulent transition inside the boundary layer, and stabilize or mix air flows. They can also be used to enhance indirect plasma treatment effects, increasing the reactive species delivery rate onto surfaces and liquids. This can play a major role in plasma processing and chemical kinetics modelling, where often only diffusive mechanisms are considered. This paper reports on the importance that different electrode geometries can have on the performance of different PSJAs. A series of DBD aerodynamic actuators designed to produce perpendicular jets has been fabricated on two-layer printed circuit boards (PCBs). Both linear and annular geometries were considered, testing different upper electrode distances in the linear case and different diameters in the annular one. An AC voltage supplied at a peak of 11.5 kV and a frequency of 5 kHz was used. Lower electrodes were connected to the ground and buried in epoxy resin to avoid undesired plasma generation on the lower actuator surface. Voltage and current measurements were carried out to evaluate the active power delivered to the discharges. Schlieren imaging allowed the induced jets to be visualized and gave an estimate of their evolution and geometry. Pitot tube measurements were performed to obtain the velocity profiles of the PSJAs and to estimate the mechanical power delivered to the fluid. The optimal values of the inter-electrode distance and diameter were found in order to maximize jet velocity, mechanical power or efficiency. Annular geometries were found to achieve the best performance.

Effect of plasma actuator control parameters on a transitional flow

NASA Astrophysics Data System (ADS)

Das Gupta, Arnob; Roy, Subrata

2018-04-01

This study uses a wall-resolved implicit large eddy simulation to investigate the effects of different surface dielectric barrier discharge actuator parameters such as the geometry of the electrodes, frequency, amplitude of actuation and thermal effect. The actuator is used as a tripping device on a zero-pressure gradient laminar boundary layer flow. It is shown that the standard linear actuator creates structures like the Tollmien-Schlichting wave transition. The circular serpentine, square serpentine and spanwise actuators have subharmonic sinuous streak breakdown and behave like oblique wave transition scenario. The spanwise and square actuators cause comparably faster transition to turbulence. The square actuator adds energy into the higher spanwise wavenumber modes resulting in a faster transition compared to the circular actuator. When the Strouhal number of actuation is varied, the transition does not occur for a value below 0.292. Higher frequencies with same amplitude of actuation lead to faster transition. Small changes (<4%) in the amplitude of actuation can have a significant impact on the transition location which suggests that an optimal combination of frequency and amplitude exists for highest control authority. The thermal bumps approximating the actuator heating only shows localized effects on the later stages of transition for temperatures up to 373 K and can be ignored for standard actuators operating in subsonic regimes.

Adaptive Control Allocation in the Presence of Actuator Failures

NASA Technical Reports Server (NTRS)

Liu, Yu; Crespo, Luis G.

2010-01-01

In this paper, a novel adaptive control allocation framework is proposed. In the adaptive control allocation structure, cooperative actuators are grouped and treated as an equivalent control effector. A state feedback adaptive control signal is designed for the equivalent effector and allocated to the member actuators adaptively. Two adaptive control allocation algorithms are proposed, which guarantee closed-loop stability and asymptotic state tracking in the presence of uncertain loss of effectiveness and constant-magnitude actuator failures. The proposed algorithms can be shown to reduce the controller complexity with proper grouping of the actuators. The proposed adaptive control allocation schemes are applied to two linearized aircraft models, and the simulation results demonstrate the performance of the proposed algorithms.

Higher harmonic control analysis for vibration reduction of helicopter rotor systems

NASA Technical Reports Server (NTRS)

Nguyen, Khanh Q.

1994-01-01

An advanced higher harmonic control (HHC) analysis has been developed and applied to investigate its effect on vibration reduction levels, blade and control system fatigue loads, rotor performance, and power requirements of servo-actuators. The analysis is based on a finite element method in space and time. A nonlinear time domain unsteady aerodynamic model, based on the indicial response formulation, is used to calculate the airloads. The rotor induced inflow is computed using a free wake model. The vehicle trim controls and blade steady responses are solved as one coupled solution using a modified Newton method. A linear frequency-domain quasi-steady transfer matrix is used to relate the harmonics of the vibratory hub loads to the harmonics of the HHC inputs. Optimal HHC is calculated from the minimization of the vibratory hub loads expressed in term of a quadratic performance index. Predicted vibratory hub shears are correlated with wind tunnel data. The fixed-gain HHC controller suppresses completely the vibratory hub shears for most of steady or quasi-steady flight conditions. HHC actuator amplitudes and power increase significantly at high forward speeds (above 100 knots). Due to the applied HHC, the blade torsional stresses and control loads are increased substantially. For flight conditions where the blades are stalled considerably, the HHC input-output model is quite nonlinear. For such cases, the adaptive-gain controller is effective in suppressing vibratory hub loads, even though HHC may actually increase stall areas on the rotor disk. The fixed-gain controller performs poorly for such flight conditions. Comparison study of different rotor systems indicates that a soft-inplane hingeless rotor requires less actuator power at high speeds (above 130 knots) than an articulated rotor, and a stiff-inplane hingeless rotor generally requires more actuator power than an articulated or a soft-inplane hingeless rotor. Parametric studies for a hingeless rotor operating in a transition flight regime and for an articulated rotor operating at the level-flight boundary (high speed and high thrust conditions) indicate that blade parameters including flap, lag, torsion stiffness distributions, linear pretwist, chordwise offset of center-of-mass from elastic axis and chordwise offset of elastic axis from aerodynamic center can be selected to minimize the actuator power requirements for HHC.

Linear Motor With Air Slide

NASA Technical Reports Server (NTRS)

Johnson, Bruce G.; Gerver, Michael J.; Hawkey, Timothy J.; Fenn, Ralph C.

1993-01-01

Improved linear actuator comprises air slide and linear electric motor. Unit exhibits low friction, low backlash, and more nearly even acceleration. Used in machinery in which positions, velocities, and accelerations must be carefully controlled and/or vibrations must be suppressed.

Miniaturization of Planar Horn Motors

NASA Technical Reports Server (NTRS)

Sherrit, Stewart; Ostlund, Patrick N.; Chang, Zensheu; Bao, Xiaoqi; Bar-Cohen, Yoseph; Widholm, Scott E.; Badescu, Mircea

2012-01-01

There is a great need for compact, efficient motors for driving various mechanisms including robots or mobility platforms. A study is currently underway to develop a new type of piezoelectric actuators with significantly more strength, low mass, small footprint, and efficiency. The actuators/motors utilize piezoelectric actuated horns which have a very high power density and high electromechanical conversion efficiency. The horns are fabricated using our recently developed novel pre-stress flexures that make them thermally stable and increases their coupling efficiency. The monolithic design and integrated flexures that pre-stresses the piezoelectric stack eliminates the use of stress bolt. This design allows embedding solid-state motors and actuators in any structure so that the only macroscopically moving parts are the rotor or the linear translator. The developed actuator uses a stack/horn actuation and has a Barth motor configuration, which potentially generates very large torque and speeds that do not require gearing. Finite element modeling and design tools were investigated to determine the requirements and operation parameters and the results were used to design and fabricate a motor. This new design offers a highly promising actuation mechanism that can potentially be miniaturized and integrated into systems and structures. It can be configured in many shapes to operate as multi-degrees of freedom and multi-dimensional motors/actuators including unidirectional, bidirectional, 2D and 3D. In this manuscript, we are reporting the experimental measurements from a bench top design and the results from the efforts to miniaturize the design using 2x2x2 mm piezoelectric stacks integrated into thin plates that are of the order of3 x 3x 0.2 cm.

A hybrid robust fault tolerant control based on adaptive joint unscented Kalman filter.

PubMed

Shabbouei Hagh, Yashar; Mohammadi Asl, Reza; Cocquempot, Vincent

2017-01-01

In this paper, a new hybrid robust fault tolerant control scheme is proposed. A robust H ∞ control law is used in non-faulty situation, while a Non-Singular Terminal Sliding Mode (NTSM) controller is activated as soon as an actuator fault is detected. Since a linear robust controller is designed, the system is first linearized through the feedback linearization method. To switch from one controller to the other, a fuzzy based switching system is used. An Adaptive Joint Unscented Kalman Filter (AJUKF) is used for fault detection and diagnosis. The proposed method is based on the simultaneous estimation of the system states and parameters. In order to show the efficiency of the proposed scheme, a simulated 3-DOF robotic manipulator is used. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Active balance system and vibration balanced machine

NASA Technical Reports Server (NTRS)

White, Maurice A. (Inventor); Qiu, Songgang (Inventor); Augenblick, John E. (Inventor); Peterson, Allen A. (Inventor)

2005-01-01

An active balance system is provided for counterbalancing vibrations of an axially reciprocating machine. The balance system includes a support member, a flexure assembly, a counterbalance mass, and a linear motor or an actuator. The support member is configured for attachment to the machine. The flexure assembly includes at least one flat spring having connections along a central portion and an outer peripheral portion. One of the central portion and the outer peripheral portion is fixedly mounted to the support member. The counterbalance mass is fixedly carried by the flexure assembly along another of the central portion and the outer peripheral portion. The linear motor has one of a stator and a mover fixedly mounted to the support member and another of the stator and the mover fixedly mounted to the counterbalance mass. The linear motor is operative to axially reciprocate the counterbalance mass.

Investigation of electrically conducting yarns for use in textile actuators

NASA Astrophysics Data System (ADS)

Martinez, Jose G.; Richter, Klaus; Persson, Nils-Krister; Jager, Edwin W. H.

2018-07-01

Textile actuators are an emerging technology to develop biomimetic actuators with synergetic actuation. They are composed of a passive fabric coated with an electroactive polymer providing with mechanical motion. Here we used different conducting yarns (polyamide + carbon, silicon + carbon, polyamide + silver coated, cellulose + carbon, polyester + 2 × INOX 50 μm, polyester + 2 × Cu/Sn and polyester + gold coated) to develop such textile actuators. It was possible to coat them through direct electrochemical methods, which should provide with an easier and more cost-effective fabrication process. The conductivity and the electrochemical properties of the yarns were sufficient to allow the electropolymerization of the conducting polymer polypyrrole on the yarns. The electropolymerization was carried out and both the linear and angular the actuation of the yarns was investigated. These yarns may be incorporated into textile actuators for assistive prosthetic devices easier and cheaper to get and at the same time with good mechanical performance are envisaged.

Comparison of different soft grippers for lunch box packaging.

PubMed

Wang, Zhongkui; Zhu, Mingzhu; Kawamura, Sadao; Hirai, Shinichi

2017-01-01

Automating the lunch box packaging is a challenging task due to the high deformability and large individual differences in shape and physical property of food materials. Soft robotic grippers showed potentials to perform such tasks. In this paper, we presented four pneumatic soft actuators made of different materials and different fabrication methods and compared their performances through a series of tests. We found that the actuators fabricated by 3D printing showed better linearity and less individual differences, but showed low durability compared to actuators fabricated by traditional casting process. Robotic grippers were assembled using the soft actuators, and grasping tests were performed on soft paper containers filled with food materials. Results suggested that grippers with softer actuators required lower air pressure to lift up the same weight and generated less deformation on the soft container. The actuator made of casting process with Dragon Skin 10 material lifted the most weight among different actuators.

A Fourier Transform Spectrometer Based on an Electrothermal MEMS Mirror with Improved Linear Scan Range

PubMed Central

Wang, Wei; Chen, Jiapin; Zivkovic, Aleksandar. S.; Xie, Huikai

2016-01-01

A Fourier transform spectrometer (FTS) that incorporates a closed-loop controlled, electrothermally actuated microelectromechanical systems (MEMS) micromirror is proposed and experimentally verified. The scan range and the tilting angle of the mirror plate are the two critical parameters for MEMS-based FTS. In this work, the MEMS mirror with a footprint of 4.3 mm × 3.1 mm is based on a modified lateral-shift-free (LSF) bimorph actuator design with large piston and reduced tilting. Combined with a position-sensitive device (PSD) for tilt angle sensing, the feedback controlled MEMS mirror generates a 430 µm stable linear piston scan with the mirror plate tilting angle less than ±0.002°. The usable piston scan range is increased to 78% of the MEMS mirror’s full scan capability, and a spectral resolution of 0.55 nm at 531.9 nm wavelength, has been achieved. It is a significant improvement compared to the prior work. PMID:27690047

Active fault tolerant control based on interval type-2 fuzzy sliding mode controller and non linear adaptive observer for 3-DOF laboratory helicopter.

PubMed

Zeghlache, Samir; Benslimane, Tarak; Bouguerra, Abderrahmen

2017-11-01

In this paper, a robust controller for a three degree of freedom (3 DOF) helicopter control is proposed in presence of actuator and sensor faults. For this purpose, Interval type-2 fuzzy logic control approach (IT2FLC) and sliding mode control (SMC) technique are used to design a controller, named active fault tolerant interval type-2 Fuzzy Sliding mode controller (AFTIT2FSMC) based on non-linear adaptive observer to estimate and detect the system faults for each subsystem of the 3-DOF helicopter. The proposed control scheme allows avoiding difficult modeling, attenuating the chattering effect of the SMC, reducing the rules number of the fuzzy controller. Exponential stability of the closed loop is guaranteed by using the Lyapunov method. The simulation results show that the AFTIT2FSMC can greatly alleviate the chattering effect, providing good tracking performance, even in presence of actuator and sensor faults. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Closed-form solutions for linear regulator-design of mechanical systems including optimal weighting matrix selection

NASA Technical Reports Server (NTRS)

Hanks, Brantley R.; Skelton, Robert E.

1991-01-01

This paper addresses the restriction of Linear Quadratic Regulator (LQR) solutions to the algebraic Riccati Equation to design spaces which can be implemented as passive structural members and/or dampers. A general closed-form solution to the optimal free-decay control problem is presented which is tailored for structural-mechanical systems. The solution includes, as subsets, special cases such as the Rayleigh Dissipation Function and total energy. Weighting matrix selection is a constrained choice among several parameters to obtain desired physical relationships. The closed-form solution is also applicable to active control design for systems where perfect, collocated actuator-sensor pairs exist. Some examples of simple spring mass systems are shown to illustrate key points.

Microfabricated microengine for use as a mechanical drive and power source in the microdomain and fabrication process

DOEpatents

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

1997-05-20

A microengine uses two synchronized linear actuators as a power source and converts oscillatory motion from the actuators into rotational motion via direct linkage connection to an output gear or wheel. The microengine provides output in the form of a continuously rotating output gear that is capable of delivering drive torque to a micromechanism. The microengine can be operated at varying speeds and its motion can be reversed. Linear actuators are synchronized in order to provide linear oscillatory motion to the linkage means in the X and Y directions according to a desired position, rotational direction and speed of said mechanical output means. The output gear has gear teeth on its outer perimeter for directly contacting a micromechanism requiring mechanical power. The gear is retained by a retaining means which allows said gear to rotate freely. The microengine is microfabricated of polysilicon on one wafer using surface micromachining batch fabrication. 30 figs.

Fault detection for singular switched linear systems with multiple time-varying delay in finite frequency domain

NASA Astrophysics Data System (ADS)

Zhai, Ding; Lu, Anyang; Li, Jinghao; Zhang, Qingling

2016-10-01

This paper deals with the problem of the fault detection (FD) for continuous-time singular switched linear systems with multiple time-varying delay. In this paper, the actuator fault is considered. Besides, the systems faults and unknown disturbances are assumed in known frequency domains. Some finite frequency performance indices are initially introduced to design the switched FD filters which ensure that the filtering augmented systems under switching signal with average dwell time are exponentially admissible and guarantee the fault input sensitivity and disturbance robustness. By developing generalised Kalman-Yakubovic-Popov lemma and using Parseval's theorem and Fourier transform, finite frequency delay-dependent sufficient conditions for the existence of such a filter which can guarantee the finite-frequency H- and H∞ performance are derived and formulated in terms of linear matrix inequalities. Four examples are provided to illustrate the effectiveness of the proposed finite frequency method.

Model-based wavefront sensorless adaptive optics system for large aberrations and extended objects.

PubMed

Yang, Huizhen; Soloviev, Oleg; Verhaegen, Michel

2015-09-21

A model-based wavefront sensorless (WFSless) adaptive optics (AO) system with a 61-element deformable mirror is simulated to correct the imaging of a turbulence-degraded extended object. A fast closed-loop control algorithm, which is based on the linear relation between the mean square of the aberration gradients and the second moment of the image intensity distribution, is used to generate the control signals for the actuators of the deformable mirror (DM). The restoration capability and the convergence rate of the AO system are investigated with different turbulence strength wave-front aberrations. Simulation results show the model-based WFSless AO system can restore those images degraded by different turbulence strengths successfully and obtain the correction very close to the achievable capability of the given DM. Compared with the ideal correction of 61-element DM, the averaged relative error of RMS value is 6%. The convergence rate of AO system is independent of the turbulence strength and only depends on the number of actuators of DM.

Design of a Long-Stroke Noncontact Electromagnetic Actuator for Active Vibration Isolation

NASA Technical Reports Server (NTRS)

Banerjee, Bibhuti; Allaire, Paul E.

1996-01-01

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

Design and Stability of an On-Orbit Attitude Control System Using Reaction Control Thrusters

NASA Technical Reports Server (NTRS)

Hall, Robert A.; Hough, Steven; Orphee, Carolina; Clements, Keith

2016-01-01

Basic principles for the design and stability of a spacecraft on-orbit attitude control system employing on-off Reaction Control System (RCS) thrusters are presented. Both vehicle dynamics and the control system actuators are inherently nonlinear, hence traditional linear control system design approaches are not directly applicable. This paper has two main aspects: It summarizes key RCS design principles from earlier NASA vehicles, notably the Space Shuttle and Space Station programs, and introduces advances in the linear modelling and analyses of a phase plane control system derived in the initial development of the NASA's next upper stage vehicle, the Exploration Upper Stage (EUS). Topics include thruster hardware specifications, phase plane design and stability, jet selection approaches, filter design metrics, and RCS rotational maneuver logic.

Control Software for Piezo Stepping Actuators

NASA Technical Reports Server (NTRS)

Shields, Joel F.

2013-01-01

A control system has been developed for the Space Interferometer Mission (SIM) piezo stepping actuator. Piezo stepping actuators are novel because they offer extreme dynamic range (centimeter stroke with nanometer resolution) with power, thermal, mass, and volume advantages over existing motorized actuation technology. These advantages come with the added benefit of greatly reduced complexity in the support electronics. The piezo stepping actuator consists of three fully redundant sets of piezoelectric transducers (PZTs), two sets of brake PZTs, and one set of extension PZTs. These PZTs are used to grasp and move a runner attached to the optic to be moved. By proper cycling of the two brake and extension PZTs, both forward and backward moves of the runner can be achieved. Each brake can be configured for either a power-on or power-off state. For SIM, the brakes and gate of the mechanism are configured in such a manner that, at the end of the step, the actuator is in a parked or power-off state. The control software uses asynchronous sampling of an optical encoder to monitor the position of the runner. These samples are timed to coincide with the end of the previous move, which may consist of a variable number of steps. This sampling technique linearizes the device by avoiding input saturation of the actuator and makes latencies of the plant vanish. The software also estimates, in real time, the scale factor of the device and a disturbance caused by cycling of the brakes. These estimates are used to actively cancel the brake disturbance. The control system also includes feedback and feedforward elements that regulate the position of the runner to a given reference position. Convergence time for smalland medium-sized reference positions (less than 200 microns) to within 10 nanometers can be achieved in under 10 seconds. Convergence times for large moves (greater than 1 millimeter) are limited by the step rate.

Real time health monitoring and control system methodology for flexible space structures

NASA Astrophysics Data System (ADS)

Jayaram, Sanjay

This dissertation is concerned with the Near Real-time Autonomous Health Monitoring of Flexible Space Structures. The dynamics of multi-body flexible systems is uncertain due to factors such as high non-linearity, consideration of higher modal frequencies, high dimensionality, multiple inputs and outputs, operational constraints, as well as unexpected failures of sensors and/or actuators. Hence a systematic framework of developing a high fidelity, dynamic model of a flexible structural system needs to be understood. The fault detection mechanism that will be an integrated part of an autonomous health monitoring system comprises the detection of abnormalities in the sensors and/or actuators and correcting these detected faults (if possible). Applying the robust control law and the robust measures that are capable of detecting and recovering/replacing the actuators rectifies the actuator faults. The fault tolerant concept applied to the sensors will be in the form of an Extended Kalman Filter (EKF). The EKF is going to weigh the information coming from multiple sensors (redundant sensors used to measure the same information) and automatically identify the faulty sensors and weigh the best estimate from the remaining sensors. The mechanization is comprised of instrumenting flexible deployable panels (solar array) with multiple angular position and rate sensors connected to the data acquisition system. The sensors will give position and rate information of the solar panel in all three axes (i.e. roll, pitch and yaw). The position data corresponds to the steady state response and the rate data will give better insight on the transient response of the system. This is a critical factor for real-time autonomous health monitoring. MATLAB (and/or C++) software will be used for high fidelity modeling and fault tolerant mechanism.

Linear Test Bed. Volume 2: Test Bed No. 2. [linear aerospike test bed for thrust vector control

NASA Technical Reports Server (NTRS)

1974-01-01

Test bed No. 2 consists of 10 combustors welded in banks of 5 to 2 symmetrical tubular nozzle assemblies, an upper stationary thrust frame, a lower thrust frame which can be hinged, a power package, a triaxial combustion wave ignition system, a pneumatic control system, pneumatically actuated propellant valves, a purge and drain system, and an electrical control system. The power package consists of the Mark 29-F fuel turbopump, the Mark 29-0 oxidizer turbopump, a gas generator assembly, and propellant ducting. The system, designated as a linear aerospike system, was designed to demonstrate the feasibility of the concept and to explore technology related to thrust vector control, thrust vector optimization, improved sequencing and control, and advanced ignition systems. The propellants are liquid oxygen/liquid hydrogen. The system was designed to operate at 1200-psia chamber pressure at an engine mixture ratio of 5.5. With 10 combustors, the sea level thrust is 95,000 pounds.

Documentation and Control of Flow Separation on a Low Pressure Turbine Linear Cascade of Pak-B Blades Using Plasma Actuators

NASA Technical Reports Server (NTRS)

Corke, Thomas c.; Thomas, FLint, O.; Huang, Junhui

2007-01-01

This work involved the documentation and control of flow separation that occurs over low pressure turbine (LPT) blades at low Reynolds numbers. A specially constructed linear cascade was utilized to study the flow field over a generic LPT cascade consisting of Pratt & Whitney "Pak-B" shaped blades. Flow visualization, surface pressure measurements, LDV measurements, and hot-wire anemometry were conducted to examine the flow fields with and without separation control. Experimental conditions were chosen to give a range of chord Reynolds numbers (based on axial chord and inlet velocity) from 10,000 to 100,000, and a range of freestream turbulence intensities from u'/U(infinity) = 0.08 to 2.85 percent. The blade pressure distributions were measured and used to identify the region of separation that depends on Reynolds number and the turbulence intensity. Separation control was performed using dielectric barrier discharge (DBD) plasma actuators. Both steady and unsteady actuation were implemented and found to work well. The comparison between the steady and unsteady actuators showed that the unsteady actuators worked better than the steady ones. For the steady actuators, it was found that the separated region is significantly reduced. For the unsteady actuators, where the signal was pulsed, the separation was eliminated. The total pressure losses (a low Reynolds number) was reduced by approximately a factor of two. It was also found that lowest plasma duty cycle (10 percent in this work) was as effective as the highest plasma duty cycle (50 percent in this work). The mechanisms of the steady and unsteady plasma actuators were studied. It was suggested by the experimental results that the mechanism for the steady actuators is turbulence tripping, while the mechanism for the unsteady actuators is to generate a train of spanwise structures that promote mixing.

A multilayered-cylindrical piezoelectric shear actuator operating in shear (d15) mode

NASA Astrophysics Data System (ADS)

Gao, Xiangyu; Xin, Xudong; Wu, Jingen; Chu, Zhaoqiang; Dong, Shuxiang

2018-04-01

In this work, a multilayered-cylindrical piezoelectric shear actuator (MCPSA) operating in the d15 shear mode was presented for precision actuation under a large mechanical load. The actuator was made of Pb(Zr,Ti)O3 (PZT-51) piezoelectric ceramic rings, which were concentrically assembled together in electrically parallel connection with alternately positive and negative polarizations along the axial direction. Experimental results show that the acquired displacement amplitude at the center of the actuator along the axial direction is around 6.5 μm under the 1 Hz applied voltage of 400 Vpp/mm, and it stayed stably under a mechanical load up to 18 N, which is 7 times larger than that of the previously reported d15 shear actuator. The proposed actuator also shows good displacement linearity with a high resolution of 0.1 μm in responding to a step voltage, indicating its great potential for precision actuation under a large mechanical load.

Inertia-Controlled Twinning in Ni-Mn-Ga Actuators: A Discrete Twin-Boundary Dynamics Study

NASA Astrophysics Data System (ADS)

Faran, Eilon; Riccardi, Leonardo; Shilo, Doron

2017-09-01

A discrete twin-boundary modeling approach is applied for simulating the dynamic magnetomechanical response of a Ni-Mn-Ga actuator over a wide frequency range. The model is based on experimentally measured kinetic relation of individual twin boundaries and takes into account inertial forces due to acceleration of the actuator's mass. The calculated results show good agreement with experimental measurements performed on a specially designed Ni-Mn-Ga linear spring-mass actuator. In addition, the simulation reveals several new effects that have not been considered before and can be applied to the design of improved actuators. It is identified that the demagnetization effect plays a role of an "effective spring" and results in a resonance-type response. The effects of the actuator's mass and the twin-boundary density on the resonance response and the actuator performance are explored numerically. In particular, it is shown that mass-inertia poses an inherent upper limit over the actuator's bandwidth, which is approximately constant and equals to about 200 Hz.

Mechanical performance of PPy helix tube microactuator

NASA Astrophysics Data System (ADS)

Bahrami Samani, Mehrdad; Spinks, Geoffrey M.; Cook, Christopher

2004-02-01

Conducting polymer actuators with favourable properties such as linearity, high power density and compliance are of increasing demand in micro applications. These materials generate forces over two times larger than produced by mammalian skeletal muscles. They operate to convert electro chemical energy to mechanical stress and strain. On the other hand, the application of conducting polymers is limited by the lack of a full description of the relation between four essential parameters: stress, strain, voltage and current. In this paper, polypyrrole helix tube micro actuator mechanical characteristics are investigated. The electrolyte is propylene carbonate and the dopant is TBA. PF6. The experiments are both in isotonic and isometric conditions and the input parameters are both electrical and mechanical. A dual mode force and length control and potentiostat / galvanostat are utilized for this purpose. Ultimately, the viscoelastic behaviour of the actuator is presented in this paper by a standard stress relaxation test. The effect of electrical stimulus on mechanical parameters is also explored by cyclic voltametry at different scan rates to obtain the best understanding of the actuation mechanism. The results demonstrate that the linear viscoelastic model, which performed well on conducting polymer film actuators, has to be modified to explain the mechanical behaviour of PPy helix tube fibre micro actuators. Secondly, the changes in mechanical properties of PPy need to be considered when modelling electromechanical behaviour.

Precision Linear Actuators for the Spherical Primary Optical Telescope Demonstration Mirror

NASA Technical Reports Server (NTRS)

Budinoff, Jason; Pfenning, David

2006-01-01

The Spherical Primary Optical Telescope (SPOT) is an ongoing research effort at Goddard Space Flight Center developing wavefront sensing and control architectures for future space telescopes. The 03.5-m SPOT telescope primary mirror is comprise9 of six 0.86-m hexagonal mirror segments arranged in a single ring, with the central segment missing. The mirror segments are designed for laboratory use and are not lightweighted to reduce cost. Each primary mirror segment is actuated and has tip, tilt, and piston rigid-body motions. Additionally, the radius of curvature of each mirror segment may be varied mechanically. To provide these degrees of freedom, the SPOT mirror segment assembly requires linear actuators capable of

Near real-time analysis of extrinsic Fabry-Perot interferometric sensors under damped vibration using artificial neural networks

NASA Astrophysics Data System (ADS)

Dua, Rohit; Watkins, Steve E.

2009-03-01

Strain analysis due to vibration can provide insight into structural health. An Extrinsic Fabry-Perot Interferometric (EFPI) sensor under vibrational strain generates a non-linear modulated output. Advanced signal processing techniques, to extract important information such as absolute strain, are required to demodulate this non-linear output. Past research has employed Artificial Neural Networks (ANN) and Fast Fourier Transforms (FFT) to demodulate the EFPI sensor for limited conditions. These demodulation systems could only handle variations in absolute value of strain and frequency of actuation during a vibration event. This project uses an ANN approach to extend the demodulation system to include the variation in the damping coefficient of the actuating vibration, in a near real-time vibration scenario. A computer simulation provides training and testing data for the theoretical output of the EFPI sensor to demonstrate the approaches. FFT needed to be performed on a window of the EFPI output data. A small window of observation is obtained, while maintaining low absolute-strain prediction errors, heuristically. Results are obtained and compared from employing different ANN architectures including multi-layered feedforward ANN trained using Backpropagation Neural Network (BPNN), and Generalized Regression Neural Networks (GRNN). A two-layered algorithm fusion system is developed and tested that yields better results.

? PID output-feedback control under event-triggered protocol

NASA Astrophysics Data System (ADS)

Zhao, Di; Wang, Zidong; Ding, Derui; Wei, Guoliang; Alsaadi, Fuad E.

2018-07-01

This paper is concerned with the ? proportional-integral-derivative (PID) output-feedback control problem for a class of linear discrete-time systems under event-triggered protocols. The controller and the actuators are connected through a communication network of limited bandwidth, and an event-triggered communication mechanism is adopted to decide when a certain control signal should be transmitted to the respective actuator. Furthermore, a novel PID output-feedback controller is designed where the accumulative sum-loop (the counterpart to the integral-loop in the continues-time setting) operates on a limited time-window with hope to mitigate the effect from the past measurement data. The main objective of the problem under consideration is to design a desired PID controller such that the closed-loop system is exponentially stable and the prescribed ? disturbance rejection attenuation level is guaranteed under event-triggered protocols. By means of the Lyapunov stability theory combined with the orthogonal decomposition, sufficient conditions are established under which the addressed PID controller design problem is recast into a linear convex optimization one that can be easily solved via available software packages. Finally, a simulation example is exploited to illustrate the usefulness and effectiveness of the established control scheme.

Thermal noise and optomechanical features in the emission of a membrane-coupled compound cavity laser diode.

PubMed

Baldacci, Lorenzo; Pitanti, Alessandro; Masini, Luca; Arcangeli, Andrea; Colangelo, Francesco; Navarro-Urrios, Daniel; Tredicucci, Alessandro

2016-08-19

We demonstrate the use of a compound optical cavity as linear displacement detector, by measuring the thermal motion of a silicon nitride suspended membrane acting as the external mirror of a near-infrared Littrow laser diode. Fluctuations in the laser optical power induced by the membrane vibrations are collected by a photodiode integrated within the laser, and then measured with a spectrum analyzer. The dynamics of the membrane driven by a piezoelectric actuator is investigated as a function of air pressure and actuator displacement in a homodyne configuration. The high Q-factor (~3.4 · 10(4) at 8.3 · 10(-3) mbar) of the fundamental mechanical mode at ~73 kHz guarantees a detection sensitivity high enough for direct measurement of thermal motion at room temperature (~87 pm RMS). The compound cavity system here introduced can be employed as a table-top, cost-effective linear displacement detector for cavity optomechanics. Furthermore, thanks to the strong optical nonlinearities of the laser compound cavity, these systems open new perspectives in the study of non-Markovian quantum properties at the mesoscale.

Thermal noise and optomechanical features in the emission of a membrane-coupled compound cavity laser diode

PubMed Central

Baldacci, Lorenzo; Pitanti, Alessandro; Masini, Luca; Arcangeli, Andrea; Colangelo, Francesco; Navarro-Urrios, Daniel; Tredicucci, Alessandro

2016-01-01

We demonstrate the use of a compound optical cavity as linear displacement detector, by measuring the thermal motion of a silicon nitride suspended membrane acting as the external mirror of a near-infrared Littrow laser diode. Fluctuations in the laser optical power induced by the membrane vibrations are collected by a photodiode integrated within the laser, and then measured with a spectrum analyzer. The dynamics of the membrane driven by a piezoelectric actuator is investigated as a function of air pressure and actuator displacement in a homodyne configuration. The high Q-factor (~3.4 · 104 at 8.3 · 10−3 mbar) of the fundamental mechanical mode at ~73 kHz guarantees a detection sensitivity high enough for direct measurement of thermal motion at room temperature (~87 pm RMS). The compound cavity system here introduced can be employed as a table-top, cost-effective linear displacement detector for cavity optomechanics. Furthermore, thanks to the strong optical nonlinearities of the laser compound cavity, these systems open new perspectives in the study of non-Markovian quantum properties at the mesoscale. PMID:27538586

Robust Hinfinity position control synthesis of an electro-hydraulic servo system.

PubMed

Milić, Vladimir; Situm, Zeljko; Essert, Mario

2010-10-01

This paper focuses on the use of the techniques based on linear matrix inequalities for robust H(infinity) position control synthesis of an electro-hydraulic servo system. A nonlinear dynamic model of the hydraulic cylindrical actuator with a proportional valve has been developed. For the purpose of the feedback control an uncertain linearized mathematical model of the system has been derived. The structured (parametric) perturbations in the electro-hydraulic coefficients are taken into account. H(infinity) controller extended with an integral action is proposed. To estimate internal states of the electro-hydraulic servo system an observer is designed. Developed control algorithms have been tested experimentally in the laboratory model of an electro-hydraulic servo system. Copyright © 2010 ISA. Published by Elsevier Ltd. All rights reserved.

Dynamic profile of a prototype pivoted proof-mass actuator. [damping the vibration of large space structures

NASA Technical Reports Server (NTRS)

Miller, D. W.

1981-01-01

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

Dielectric Elastomers for Fluidic and Biomedical Applications

NASA Astrophysics Data System (ADS)

McCoul, David James

Dielectric elastomers have demonstrated tremendous potential as high-strain electromechanical transducers for a myriad of novel applications across all engineering disciplines. Because their soft, viscoelastic mechanical properties are similar to those of living tissues, dielectric elastomers have garnered a strong foothold in a plethora of biomedical and biomimetic applications. Dielectric elastomers consist of a sheet of stretched rubber, or elastomer, coated on both sides with compliant electrode materials; application of a voltage generates an electrostatic pressure that deforms the elastomer. They can function as soft generators, sensors, or actuators, and this last function is the focus of this dissertation. Many design configurations are possible, such as stacks, minimum energy structures, interpenetrating polymer networks, shape memory dielectric elastomers, and others; dielectric elastomers are already being applied to many fields of biomedicine. The first part of the original research presented in this dissertation details a PDMS microfluidic system paired with a dielectric elastomer stack actuator of anisotropically prestrained VHB(TM) 4910 (3M(TM)) and single-walled carbon nanotubes. These electroactive microfluidic devices demonstrated active increases in microchannel width when 3 and 4 kV were applied. Fluorescence microscopy also indicated an accompanying increase in channel depth with actuation. The cross-sectional area strains at 3 and 4 kV were approximately 2.9% and 7.4%, respectively. The device was then interfaced with a syringe pump, and the pressure was measured upstream. Linear pressure-flow plots were developed, which showed decreasing fluidic resistance with actuation, from 0.192 psi/(microL/min) at 0 kV, to 0.160 and 0.157 psi/(microL/min) at 3 and 4 kV, respectively. This corresponds to an ~18% drop in fluidic resistance at 4 kV. Active de-clogging was tested in situ with the device by introducing ~50 microm diameter PDMS microbeads and other smaller particulate debris into the system. After a channel blockage was confirmed, three actuation attempts successfully cleared the blockage. Further tests indicated that the device were biocompatible with HeLa cells at 3 kV. To our knowledge this is the first pairing of dielectric elastomers with microfluidics in a non-electroosmotic context. Applications may include adaptive microfilters, micro-peristaltic pumps, and reduced-complexity lab-on-a-chip devices. Dielectric elastomers can also be adapted to manipulate fluidic systems on a larger scale. The second part of the dissertation research reports 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 2,000 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. The final part of the dissertation presents a novel dielectric elastomer band with integrated rigid elements for the treatment of chronic acid reflux disorders. This dielectric elastomer ring actuator consists of a two-layer stack of prestretched VHB(TM) 4905 with SWCNT electrodes. Its transverse prestretch was maintained by selective rigidification of the VHB(TM) using a UV-curable, solution-processable polymer network. The actuator exhibited a maximum vertical (circumferential) actuation strain of 25% at 3.4 kV in an 24.5 g weighted isotonic setup. It also exhibited the required passive force of 0.25 N and showed a maximum force drop of 0.11 N at 3.32 kV during isometric tests at 4.5 cm. Modeling was performed to determine the prestretches necessary to achieve maximum strain while simultaneously exerting the force of 0.25 N, which corresponds to a required pinching pressure of 3.35 kPa. Modeling also determined the spacing between and number of rigid elements required. The theoretical model curves were adjusted to account for the passive rigid elements, as well as for the addition of margins; the resulting plots agrees well with experiment. The performance of the DE band is comparable to that of living muscle, and this is the first application of dielectric elastomer actuators in the design of a medical implant for the treatment of gastrointestinal disorders. Related applications that could result from this technology are very low-profile linear peristaltic pumps, artificial intestines, an artificial urethra, and artificial blood vessels.

Lead screw linear actuator

NASA Technical Reports Server (NTRS)

Perkins, Gerald S. (Inventor)

1980-01-01

A linear actuator which can apply high forces is described, which includes a reciprocating rod having a threaded portion engaged by a nut that is directly coupled to the rotor of an electric motor. The nut is connected to the rotor in a manner that minimizes loading on the rotor, by the use of a coupling that transmits torque to the nut but permits it to shift axially and radially with respect to the rotor. The nut has a threaded hydrostatic bearing for engaging the threaded rod portion, with an oilcarrying groove in the nut being interrupted.

Inverse kinematics of a dual linear actuator pitch/roll heliostat

NASA Astrophysics Data System (ADS)

Freeman, Joshua; Shankar, Balakrishnan; Sundaram, Ganesh

2017-06-01

This work presents a simple, computationally efficient inverse kinematics solution for a pitch/roll heliostat using two linear actuators. The heliostat design and kinematics have been developed, modeled and tested using computer simulation software. A physical heliostat prototype was fabricated to validate the theoretical computations and data. Pitch/roll heliostats have numerous advantages including reduced cost potential and reduced space requirements, with a primary disadvantage being the significantly more complicated kinematics, which are solved here. Novel methods are applied to simplify the inverse kinematics problem which could be applied to other similar problems.

Control Augmented Structural Synthesis

NASA Technical Reports Server (NTRS)

Lust, Robert V.; Schmit, Lucien A.

1988-01-01

A methodology for control augmented structural synthesis is proposed for a class of structures which can be modeled as an assemblage of frame and/or truss elements. It is assumed that both the plant (structure) and the active control system dynamics can be adequately represented with a linear model. The structural sizing variables, active control system feedback gains and nonstructural lumped masses are treated simultaneously as independent design variables. Design constraints are imposed on static and dynamic displacements, static stresses, actuator forces and natural frequencies to ensure acceptable system behavior. Multiple static and dynamic loading conditions are considered. Side constraints imposed on the design variables protect against the generation of unrealizable designs. While the proposed approach is fundamentally more general, here the methodology is developed and demonstrated for the case where: (1) the dynamic loading is harmonic and thus the steady state response is of primary interest; (2) direct output feedback is used for the control system model; and (3) the actuators and sensors are collocated.

Cryogenic Scan Mechanism for Fourier Transform Spectrometer

NASA Technical Reports Server (NTRS)

Brasunas, John C.; Francis, John L.

2011-01-01

A compact and lightweight mechanism has been developed to accurately move a Fourier transform spectrometer (FTS) scan mirror (a cube corner) in a near-linear fashion with near constant speed at cryogenic temperatures. This innovation includes a slide mechanism to restrict motion to one dimension, an actuator to drive the motion, and a linear velocity transducer (LVT) to measure the speed. The cube corner mirror is double-passed in one arm of the FTS; double-passing is required to compensate for optical beam shear resulting from tilting of the moving cube corner. The slide, actuator, and LVT are off-the-shelf components that are capable of cryogenic vacuum operation. The actuator drives the slide for the required travel of 2.5 cm. The LVT measures translation speed. A proportional feedback loop compares the LVT voltage with the set voltage (speed) to derive an error signal to drive the actuator and achieve near constant speed. When the end of the scan is reached, a personal computer reverses the set voltage. The actuator and LVT have no moving parts in contact, and have magnetic properties consistent with cryogenic operation. The unlubricated slide restricts motion to linear travel, using crossed roller bearings consistent with 100-million- stroke operation. The mechanism tilts several arc seconds during transport of the FTS mirror, which would compromise optical fringe efficiency when using a flat mirror. Consequently, a cube corner mirror is used, which converts a tilt into a shear. The sheared beam strikes (at normal incidence) a flat mirror at the end of the FTS arm with the moving mechanism, thereby returning upon itself and compensating for the shear

Electrically controllable twisted-coiled artificial muscle actuators using surface-modified polyester fibers

NASA Astrophysics Data System (ADS)

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

2017-03-01

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

A Reconfigurable Pneumatic Bending Actuator with Replaceable Inflation Modules.

PubMed

Natividad, Rainier; Del Rosario, Manuel; Chen, Peter C Y; Yeow, Chen-Hua

2018-06-01

A fully reconfigurable, pneumatic bending actuator is fabricated by implementing the concept of modularity to soft robotics. The actuator features independent, removable, fabric inflation modules that are attached to a common flexible but non-inflating plastic spine. The fabric modules are individually fabricated by heat sealing a thermoplastic polyurethane-coated nylon fabric, whereas the spine is manufactured through fused deposition modeling 3D printing; the components can be assembled and dismantled without the aid of any external tools. The replacement of specific modules along the array facilitates the reconfiguration of the actuator's bending trajectory and torque output; likewise, the combination of inflation modules with dissimilar geometries translates to several different trajectories on a single spine and allows the actuator to bend into assorted, unique structures. A detailed description of the actuator's design is thoroughly presented. We explored how reconfiguration of the actuator's modular geometry affected both the steady state and the dynamic characteristics of the actuator. The torque output of the actuator is proportional to the magnitude of the pressure applied. The actuator was excited by sinusoidal and square pressure inputs, and a second-order linear fit was performed. There were no perceived changes in its performance even after 100,000 inflation and deflation cycles.

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.

Additional Drive Circuitry for Piezoelectric Screw Motors

NASA Technical Reports Server (NTRS)

Smythe, Robert; Palmer, Dean; Gursel, Yekta; Reder, Leonard; Savedra, Raymond

2004-01-01

Modules of additional drive circuitry have been developed to enhance the functionality of a family of commercially available positioning motors (Picomotor . or equivalent) that provide linear motion controllable, in principle, to within increments .30 nm. A motor of this type includes a piezoelectric actuator that turns a screw. Unlike traditional piezoelectrically actuated mechanisms, a motor of this type does not rely on the piezoelectric transducer to hold position: the screw does not turn except when the drive signal is applied to the actuator.

Hopping robot

DOEpatents

Spletzer, Barry L.; Fischer, Gary J.; Marron, Lisa C.; Martinez, Michael A.; Kuehl, Michael A.; Feddema, John T.

2001-01-01

The present invention provides a hopping robot that includes a misfire tolerant linear actuator suitable for long trips, low energy steering and control, reliable low energy righting, miniature low energy fuel control. The present invention provides a robot with hopping mobility, capable of traversing obstacles significant in size relative to the robot and capable of operation on unpredictable terrain over long range. The present invention further provides a hopping robot with misfire-tolerant combustion actuation, and with combustion actuation suitable for use in oxygen-poor environments.

On-off nonlinear active control of floor vibrations

NASA Astrophysics Data System (ADS)

Díaz, Iván M.; Reynolds, Paul

2010-08-01

Human-induced floor vibrations can be mitigated by means of active control via an electromagnetic proof-mass actuator. Previous researchers have developed a system for floor vibration comprising linear velocity feedback control (LVFC) with a command limiter (saturation in the command signal to avoid actuator overloading). The performance of this control is highly dependent on the linear gain utilised, which has to be designed for a particular excitation and might not be optimum for other excitations. This work explores the use of on-off nonlinear velocity feedback control (NLVFC) as the natural evolution of LVFC when high gains and/or significant vibration level are present together with saturation in the control law. Firstly, the describing function tool is employed to analyse the stability properties of: (1) LVFC with saturation, (2) on-off NLVFC with a dead zone and (3) on-off NLVFC with a switching-off function. Particular emphasis is paid to the resulting limit cycle behaviour and the design of appropriate dead zone and switching-off levels to avoid it. Secondly, experimental trials using the three control laws are conducted on a laboratory test floor. The results corroborate the analytical stability predictions. The pros of on-off NLVFC are that no gain has to be chosen and maximum actuator energy is delivered to cancel the vibration. In contrast, the requirement to select a dead zone or switching-off function provides a drawback in its application.

Robust H(∞) positional control of 2-DOF robotic arm driven by electro-hydraulic servo system.

PubMed

Guo, Qing; Yu, Tian; Jiang, Dan

2015-11-01

In this paper an H∞ positional feedback controller is developed to improve the robust performance under structural and parametric uncertainty disturbance in electro-hydraulic servo system (EHSS). The robust control model is described as the linear state-space equation by upper linear fractional transformation. According to the solution of H∞ sub-optimal control problem, the robust controller is designed and simplified to lower order linear model which is easily realized in EHSS. The simulation and experimental results can validate the robustness of this proposed method. The comparison result with PI control shows that the robust controller is suitable for this EHSS under the critical condition where the desired system bandwidth is higher and the external load of the hydraulic actuator is closed to its limited capability. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Active vibration and balance system for closed cycle thermodynamic machines

NASA Technical Reports Server (NTRS)

Augenblick, John E. (Inventor); Peterson, Allen A. (Inventor); White, Maurice A. (Inventor); Qiu, Songgang (Inventor)

2004-01-01

An active balance system is provided for counterbalancing vibrations of an axially reciprocating machine. The balance system includes a support member, a flexure assembly, a counterbalance mass, and a linear motor or an actuator. The support member is configured for attachment to the machine. The flexure assembly includes at least one flat spring having connections along a central portion and an outer peripheral portion. One of the central portion and the outer peripheral portion is fixedly mounted to the support member. The counterbalance mass is fixedly carried by the flexure assembly along another of the central portion and the outer peripheral portion. The linear motor has one of a stator and a mover fixedly mounted to the support member and another of the stator and the mover fixedly mounted to the counterbalance mass. The linear motor is operative to axially reciprocate the counterbalance mass. A method is also provided.

A motionless actuation system for magnetic shape memory devices

NASA Astrophysics Data System (ADS)

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

2017-10-01

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

Initial Work Toward a Robotically Assisted EVA Glove

NASA Technical Reports Server (NTRS)

Rogers, J.; Peters, B.; McBryan, E.; Laske, E.

2016-01-01

The Space Suit RoboGlove is a device designed to provide additional grasp strength or endurance for an EVA crew member since gloved hand performance is a fraction of what the unencumbered human hand can achieve. There have been past efforts to approach this problem by employing novel materials and construction techniques to the glove design, as well as integrating powered assistance devices. This application of the NASA/GM RoboGlove technology uses a unique approach to integrate the robotic actuators and sensors into a Phase VI EVA glove. This design provides grasp augmentation to the glove user while active, but can also function as a normal glove when disabled. Care was taken to avoid adding excessive bulk to the glove or affecting tactility by choosing low-profile sensors and extrinsically locating the actuators. Conduits are used to guide robotic tendons from linear actuators, across the wrist, and to the fingers. The second generation of the SSRG includes updated electronics, sensors, and actuators to improve performance. The following discusses the electromechanical design, softgoods integration, and control system of the SSRG. It also presents test results from the first integration of a powered mobility element onto a space suit, the NASA Mark III. Early results show that sensor integration did not impact tactile feedback in the glove and the actuators show potential for reduction in grasp fatigue over time.

B-737 Linear Autoland Simulink Model

NASA Technical Reports Server (NTRS)

Belcastro, Celeste (Technical Monitor); Hogge, Edward F.

2004-01-01

The Linear Autoland Simulink model was created to be a modular test environment for testing of control system components in commercial aircraft. The input variables, physical laws, and referenced frames used are summarized. The state space theory underlying the model is surveyed and the location of the control actuators described. The equations used to realize the Dryden gust model to simulate winds and gusts are derived. A description of the pseudo-random number generation method used in the wind gust model is included. The longitudinal autopilot, lateral autopilot, automatic throttle autopilot, engine model and automatic trim devices are considered as subsystems. The experience in converting the Airlabs FORTRAN aircraft control system simulation to a graphical simulation tool (Matlab/Simulink) is described.

Users manual for flight control design programs

NASA Technical Reports Server (NTRS)

Nalbandian, J. Y.

1975-01-01

Computer programs for the design of analog and digital flight control systems are documented. The program DIGADAPT uses linear-quadratic-gaussian synthesis algorithms in the design of command response controllers and state estimators, and it applies covariance propagation analysis to the selection of sampling intervals for digital systems. Program SCHED executes correlation and regression analyses for the development of gain and trim schedules to be used in open-loop explicit-adaptive control laws. A linear-time-varying simulation of aircraft motions is provided by the program TVHIS, which includes guidance and control logic, as well as models for control actuator dynamics. The programs are coded in FORTRAN and are compiled and executed on both IBM and CDC computers.

Actuation Using Piezoelectric Materials: Application in Augmenters, Energy Harvesters, and Motors

NASA Technical Reports Server (NTRS)

Hasenoehrl, Jennifer

2012-01-01

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

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.

Linear actuation using milligram quantities of CL-20 and TAGDNAT.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Snedigar, Shane; Salton, Jonathan Robert; Tappan, Alexander Smith

2009-07-01

There are numerous applications for small-scale actuation utilizing pyrotechnics and explosives. In certain applications, especially when multiple actuation strokes are needed, or actuator reuse is required, it is desirable to have all gaseous combustion products with no condensed residue in the actuator cylinder. Toward this goal, we have performed experiments on utilizing milligram quantities of high explosives to drive a millimeter-diameter actuator with a stroke of 30 mm. Calculations were performed to select proper material quantities to provide 0.5 J of actuation energy. This was performed utilizing the thermochemical code Cheetah to calculate the impetus for numerous propellants and tomore » select quantities based on estimated efficiencies of these propellants at small scales. Milligram quantities of propellants were loaded into a small-scale actuator and ignited with an ignition increment and hot wire ignition. Actuator combustion chamber pressure was monitored with a pressure transducer and actuator stroke was monitored using a laser displacement meter. Total actuation energy was determined by calculating the kinetic energy of reaction mass motion against gravity. Of the materials utilized, the best performance was obtained with a mixture of 2,4,6,8,10,12-hexanitro-2,4,6,8,10,12-hexaazaisowurtzitane (CL-20) and bis-triaminoguanidinium(3,3{prime}dinitroazotriazolate) (TAGDNAT).« less

Intracardiac ultrasound scanner using a micromachine (MEMS) actuator.

PubMed

Zara, J M; Bobbio, S M; Goodwin-Johansson, S; Smith, S W

2000-01-01

Catheter-based intracardiac ultrasound offers the potential for improved guidance of interventional cardiac procedures. The objective of this research is the development of catheter-based mechanical sector scanners incorporating high frequency ultrasound transducers operating at frequencies up to 20 MHz. The authors' current transducer assembly consists of a single 1.75 mm by 1.75 mm, 20 MHz, PZT element mounted on a 2 mm by 2 mm square, 75 mum thick polyimide table that pivots on 3-mum thick gold plated polyimide hinges. The hinges also serve as the electrical connections to the transducer. This table-mounted transducer is tilted using a miniature linear actuator to produce a sector scan. This linear actuator is an integrated force array (IFA), which is an example of a micromachine, i.e., a microelectromechanical system (MEMS). The IFA is a thin (2.2 mum) polyimide membrane, which consists of a network of hundreds of thousands of micron scale deformable capacitors made from pairs of metallized polyimide plates. IFAs contract with an applied voltage of 30-120 V and have been shown to produce strains as large as 20% and forces of up to 8 dynes. The prototype transducer and actuator assembly was fabricated and interfaced with a GagePCI analog to digital conversion board digitizing 12 bit samples at a rate of 100 MSamples/second housed in a personal computer to create a single channel ultrasound scanner. The deflection of the table transducer in a low viscosity insulating fluid (HFE 7100, 3M) is up to +/-10 degrees at scan rates of 10-60 Hz. Software has been developed to produce real-time sector scans on the PC monitor.

Design and motion control of bioinspired humanoid robot head from servo motors toward artificial muscles

NASA Astrophysics Data System (ADS)

Almubarak, Yara; Tadesse, Yonas

2017-04-01

The potential applications of humanoid robots in social environments, motivates researchers to design, and control biomimetic humanoid robots. Generally, people are more interested to interact with robots that have similar attributes and movements to humans. The head is one of most important part of any social robot. Currently, most humanoid heads use electrical motors, pneumatic actuators, and shape memory alloy (SMA) actuators for actuation. Electrical and pneumatic actuators take most of the space and would cause unsmooth motions. SMAs are expensive to use in humanoids. Recently, in many robotic projects, Twisted and Coiled Polymer (TCP) artificial muscles are used as linear actuators which take up little space compared to the motors. In this paper, we will demonstrate the designing process and motion control of a robotic head with TCP muscles. Servo motors and artificial muscles are used for actuating the head motion, which have been controlled by a cost efficient ARM Cortex-M7 based development board. A complete comparison between the two actuators is presented.

Vane Separation Control in a Linear Cascade with Area Expansion using AC DBD Plasma Actuators

NASA Astrophysics Data System (ADS)

Kleven, Christopher; Corke, Thomas

2013-11-01

Experiments are presented on the use of AC dielectric barrier discharge (DBD) plasma actuators to prevent flow separation on vanes in a linear cascade with area expansion. The inlet Mach number to the cascade ranged from 0.3 to 0.5, and the vane chord Reynolds numbers ranged from 0 . 9 ×106 to 1 . 5 ×106 . Three cascade designs with different amounts of area expansion, providing different degrees of adverse pressure gradients, were examined. Surface flow visualization revealed a 3-D separation bubble with strong recirculation that formed on the suction side of the vanes. The pattern agreed well with CFD simulations. Plasma actuators were placed on the suction sides of the vanes, just upstream of the flow separation location. Quantitative measurements were performed in the wakes of the vanes using a 5-hole Pitot probe. The measurements were used to determine the effect of the plasma actuator separation control on the pressure loss coefficient, and flow turning angle through the cascades. Overall, the plasma actuators separation control increased the velocity magnitude and dynamic pressure in the passage between the vanes, resulted in a more spanwise-uniform flow turning angle in the vane passage, and significantly lowered the loss coefficient compared to the baseline.

System modelling for LISA Pathfinder

NASA Astrophysics Data System (ADS)

Diaz-Aguiló, Marc; Grynagier, Adrien; Rais, Boutheina

LISA Pathfinder is the technology demonstrator for LISA, a space-borne gravitational waves observatory. The goal of the mission is to characterise the dynamics of the LISA Technology Package (LTP) to prove that on-board experimental conditions are compatible with the de-tection of gravitational waves. The LTP is a drag-free dynamics experiment which includes a control loop with sensors (interferometric and capacitive), actuators (capacitive actuators and thrusters), controlled disturbances (magnetic coils, heaters) and which is subject to various endogenous or exogenous noise sources such as infrared pressure or solar wind. The LTP experiment features new hardware which was never flown in space. The mission has a tight operation timeline as it is constrained to about 100 days. It is therefore vital to have efficient and precise means of investigation and diagnostics to be used during the on-orbit operations. These will be conducted using the LTP Data Analysis toolbox (LTPDA) which allows for simulation, parameter identification and various analyses (covariance analysis, state estimation) given an experimental model. The LTPDA toolbox therefore contains a series of models which are state-space representations of each component in the LTP. The State-Space Models (SSM) are objects of a state-space class within the LTPDA toolbox especially designed to address all the requirements of this tool. The user has access to a set of linear models which represent every satellite subsystem; the models are available in different forms representing 1D, 2D and 3D systems, each with settable symbolic and numeric parameters. To limit the possible errors, the models can be automatically linked to produce composite systems and closed-loops of the LTP. Finally, for the sake of completeness, accuracy and maintainability of the tool, the models contain all the physical information they mimic (i.e. variable units, description of parameters, description of inputs/outputs, etc). Models developed for this work include the fixed-point linearized equations of motion for the LTP and the linear models for sensors and actuators with their noise modelling blocks issued from the analysis of the individual actuators. The drag-free controller model includes the dis-crete delays expected in the hardware. In this work we briefly describe the software architecture, in order to concentrate then on the physical description of the models. This is supported by an overview of different user scenarios and some examples of model analysis that highlight the advantages of this high-level programming engineering toolbox for space mission data analysis and calibration.

Design of Feedforward Controller to Reduce Force Ripple for Linear Motor using Halbach Magnet Array with T Shape Magnet

NASA Astrophysics Data System (ADS)

Kim, Moojong; Kim, Jinyoung; Lee, Moon G.

Recently, in micro/nano fabrication equipments, linear motors are widely used as an actuator to position workpiece, machining tool and measurement head. To control them faster and more precise, the motor should have high actuating force and small force ripple. High actuating force enable us to more workpiece with high acceleration. Eventually, it may provide higher throughput. Force ripple gives detrimental effect on the precision and tracking performance of the equipments. In order to accomplish more precise motion, it is important to make lower the force ripple. Force ripple is categorized into cogging and mutual ripple. First is dependent on the shape of magnets and/or core. The second is not dependent on them but dependent on current commutation. In this work, coreless mover i.e. coil winding is applied to the linear motor to avoid the cogging ripple. Therefore, the mutual ripple is only considered to be minimized. Ideal Halbach magnet array has continuously varying magnetization. The THMA (Halbach magnet array with T shape magnets) is proposed to approximate the ideal one. The THMA can not produce ideal sinusoidal flux, therefore, the linear motor with THMA and sinusoidal commutation of current generates the mutual force ripple. In this paper, in order to compensate mutual force ripple by feedforward(FF) controller, we calculate the optimized commutation of input current. The ripple is lower than 1.17% of actuating force if the commutation current agree with the magnetic flux from THMA. The performance of feedforward(FF) controller is verified by experiment.

Trajectory following and stabilization control of fully actuated AUV using inverse kinematics and self-tuning fuzzy PID.

PubMed

Hammad, Mohanad M; Elshenawy, Ahmed K; El Singaby, M I

2017-01-01

In this work a design for self-tuning non-linear Fuzzy Proportional Integral Derivative (FPID) controller is presented to control position and speed of Multiple Input Multiple Output (MIMO) fully-actuated Autonomous Underwater Vehicles (AUV) to follow desired trajectories. Non-linearity that results from the hydrodynamics and the coupled AUV dynamics makes the design of a stable controller a very difficult task. In this study, the control scheme in a simulation environment is validated using dynamic and kinematic equations for the AUV model and hydrodynamic damping equations. An AUV configuration with eight thrusters and an inverse kinematic model from a previous work is utilized in the simulation. In the proposed controller, Mamdani fuzzy rules are used to tune the parameters of the PID. Nonlinear fuzzy Gaussian membership functions are selected to give better performance and response in the non-linear system. A control architecture with two feedback loops is designed such that the inner loop is for velocity control and outer loop is for position control. Several test scenarios are executed to validate the controller performance including different complex trajectories with and without injection of ocean current disturbances. A comparison between the proposed FPID controller and the conventional PID controller is studied and shows that the FPID controller has a faster response to the reference signal and more stable behavior in a disturbed non-linear environment.

Trajectory following and stabilization control of fully actuated AUV using inverse kinematics and self-tuning fuzzy PID

PubMed Central

Elshenawy, Ahmed K.; El Singaby, M.I.

2017-01-01

In this work a design for self-tuning non-linear Fuzzy Proportional Integral Derivative (FPID) controller is presented to control position and speed of Multiple Input Multiple Output (MIMO) fully-actuated Autonomous Underwater Vehicles (AUV) to follow desired trajectories. Non-linearity that results from the hydrodynamics and the coupled AUV dynamics makes the design of a stable controller a very difficult task. In this study, the control scheme in a simulation environment is validated using dynamic and kinematic equations for the AUV model and hydrodynamic damping equations. An AUV configuration with eight thrusters and an inverse kinematic model from a previous work is utilized in the simulation. In the proposed controller, Mamdani fuzzy rules are used to tune the parameters of the PID. Nonlinear fuzzy Gaussian membership functions are selected to give better performance and response in the non-linear system. A control architecture with two feedback loops is designed such that the inner loop is for velocity control and outer loop is for position control. Several test scenarios are executed to validate the controller performance including different complex trajectories with and without injection of ocean current disturbances. A comparison between the proposed FPID controller and the conventional PID controller is studied and shows that the FPID controller has a faster response to the reference signal and more stable behavior in a disturbed non-linear environment. PMID:28683071

Shape Control of Plates with Piezo Actuators and Collocated Position/Rate Sensors

NASA Technical Reports Server (NTRS)

Balakrishnan, A. V.

1994-01-01

This paper treats the control problem of shaping the surface deformation of a circular plate using embedded piezo-electric actuators and collocated rate sensors. An explicit Linear Quadratic Gaussian (LQG) optimizer stability augmentation compensator is derived as well as the optimal feed-forward control. Corresponding performance evaluation formulas are also derived.

Shape Control of Plates with Piezo Actuators and Collocated Position/Rate Sensors

NASA Technical Reports Server (NTRS)

Balakrishnan, A. V.

1994-01-01

This paper treats the control problem of shaping the surface deformation of a circular plate using embedded piezo-electric actuator and collocated rate sensors. An explicit Linear Quadratic Gaussian (LQG) optimizer stability augmentation compensator is derived as well as the optimal feed-forward control. Corresponding performance evaluation formulas are also derived.

Pneumatic artificial muscle actuators for compliant robotic manipulators

NASA Astrophysics Data System (ADS)

Robinson, Ryan Michael

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

Topology optimization of embedded piezoelectric actuators considering control spillover effects

NASA Astrophysics Data System (ADS)

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

2017-02-01

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

Development of a bi-directional standing wave linear piezoelectric actuator with four driving feet.

PubMed

Liu, Yingxiang; Shi, Shengjun; Li, Chunhong; Chen, Weishan; Wang, Liang; Liu, Junkao

2018-03-01

A bi-directional standing wave linear piezoelectric ultrasonic actuator with four driving feet is proposed in this work. Two sandwich type transducers operated in longitudinal-bending hybrid modes are set parallelly. The working mode of the transducer is not simple hybrid vibrations of a longitudinal one and a bending one, but a special coupling vibration mode contained both longitudinal and bending components. Two transducers with the same structure and unsymmetrical boundary conditions are set parallelly to accomplish the bi-directional driving: the first transducer can push the runner forward, while the other one produces the backward driving. In the experiments, two voltages with different amplitudes are applied on the two transducers, respectively: the one with higher voltage serves as the actuator, whereas the other one applied with lower voltage is used to reduce the frictional force. The prototype achieves maximum no-load speed and thrust force of 244 mm/s and 9.8 N. This work gives a new idea for the construction of standing wave piezoelectric ultrasonic actuator with bi-directional driving ability. Copyright © 2017 Elsevier B.V. All rights reserved.

Apparatus and Method for Low-Temperature Training of Shape Memory Alloys

NASA Technical Reports Server (NTRS)

Swanger, A. M.; Fesmire, J. E.; Trigwell, S.; Gibson, T. L.; Williams, M. K.; Benafan, O.

2015-01-01

An apparatus and method for the low-temperature thermo-mechanical training of shape memory alloys (SMA) has been developed. The experimental SMA materials are being evaluated as prototypes for applicability in novel thermal management systems for future cryogenic applications. Alloys providing two-way actuation at cryogenic temperatures are the chief target. The mechanical training regimen was focused on the controlled movement of rectangular strips, with S-bend configurations, at temperatures as low as 30 K. The custom holding fixture included temperature sensors and a low heat-leak linear actuator with a magnetic coupling. The fixture was mounted to a Gifford-McMahon cryocooler providing up to 25 W of cooling power at 20 K and housed within a custom vacuum chamber. Operations included both training cycles and verification of shape memory movement. The system design and operation are discussed. Results of the training for select prototype alloys are presented.

Finite-time synchronization of stochastic coupled neural networks subject to Markovian switching and input saturation.

PubMed

Selvaraj, P; Sakthivel, R; Kwon, O M

2018-06-07

This paper addresses the problem of finite-time synchronization of stochastic coupled neural networks (SCNNs) subject to Markovian switching, mixed time delay, and actuator saturation. In addition, coupling strengths of the SCNNs are characterized by mutually independent random variables. By utilizing a simple linear transformation, the problem of stochastic finite-time synchronization of SCNNs is converted into a mean-square finite-time stabilization problem of an error system. By choosing a suitable mode dependent switched Lyapunov-Krasovskii functional, a new set of sufficient conditions is derived to guarantee the finite-time stability of the error system. Subsequently, with the help of anti-windup control scheme, the actuator saturation risks could be mitigated. Moreover, the derived conditions help to optimize estimation of the domain of attraction by enlarging the contractively invariant set. Furthermore, simulations are conducted to exhibit the efficiency of proposed control scheme. Copyright © 2018 Elsevier Ltd. All rights reserved.

Genetic Adaptive Control for PZT Actuators

NASA Technical Reports Server (NTRS)

Kim, Jeongwook; Stover, Shelley K.; Madisetti, Vijay K.

1995-01-01

A piezoelectric transducer (PZT) is capable of providing linear motion if controlled correctly and could provide a replacement for traditional heavy and large servo systems using motors. This paper focuses on a genetic model reference adaptive control technique (GMRAC) for a PZT which is moving a mirror where the goal is to keep the mirror velocity constant. Genetic Algorithms (GAs) are an integral part of the GMRAC technique acting as the search engine for an optimal PID controller. Two methods are suggested to control the actuator in this research. The first one is to change the PID parameters and the other is to add an additional reference input in the system. The simulation results of these two methods are compared. Simulated Annealing (SA) is also used to solve the problem. Simulation results of GAs and SA are compared after simulation. GAs show the best result according to the simulation results. The entire model is designed using the Mathworks' Simulink tool.

Apparatus and method for low-temperature training of shape memory alloys

NASA Astrophysics Data System (ADS)

Swanger, A. M.; Fesmire, J. E.; Trigwell, S.; Gibson, T. L.; Williams, M. K.; Benafan, O.

2015-12-01

An apparatus and method for the low-temperature thermo-mechanical training of shape memory alloys (SMA) has been developed. The experimental SMA materials are being evaluated as prototypes for applicability in novel thermal management systems for future cryogenic applications. Alloys providing two-way actuation at cryogenic temperatures are the chief target. The mechanical training regimen was focused on the controlled movement of rectangular strips, with S-bend configurations, at temperatures as low as 30 K. The custom holding fixture included temperature sensors and a low heat-leak linear actuator with a magnetic coupling. The fixture was mounted to a Gifford-McMahon cryocooler providing up to 25 W of cooling power at 20 K and housed within a custom vacuum chamber. Operations included both training cycles and verification of shape memory movement. The system design and operation are discussed. Results of the training for select prototype alloys are presented.

Displacement Models for THUNDER Actuators having General Loads and Boundary Conditions

NASA Technical Reports Server (NTRS)

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

2001-01-01

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

Miniature High-Force, Long-Stroke SMA Linear Actuators

NASA Technical Reports Server (NTRS)

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

2008-01-01

Improved long-stroke shape-memory-alloy (SMA) linear actuators are being developed to exert significantly higher forces and operate at higher activation temperatures than do prior SMA actuators. In these actuators, long linear strokes are achieved through the principle of displacement multiplication, according to which there are multiple stages, each intermediate stage being connected by straight SMA wire segments to the next stage so that relative motions of stages are additive toward the final stage, which is the output stage. Prior SMA actuators typically include polymer housings or shells, steel or aluminum stages, and polymer pads between successive stages of displacement-multiplication assemblies. Typical output forces of prior SMA actuators range from 10 to 20 N, and typical strokes range from 0.5 to 1.5 cm. An important disadvantage of prior SMA wire actuators is relatively low cycle speed, which is related to actuation temperature as follows: The SMA wires in prior SMA actuators are typically made of a durable nickel/titanium alloy that has a shape-memory activation temperature of 80 C. An SMA wire can be heated quickly from below to above its activation temperature to obtain a stroke in one direction, but must then be allowed to cool to somewhat below its activation temperature (typically, less than or equal to 60 C in the case of an activation temperature of 80 C) to obtain a stroke in the opposite direction (return stroke). At typical ambient temperatures, cooling times are of the order of several seconds. Cooling times thus limit cycle speeds. Wires made of SMA alloys having significantly higher activation temperatures [denoted ultra-high-temperature (UHT) SMA alloys] cool to the required lower return-stroke temperatures more rapidly, making it possible to increase cycle speeds. The present development is motivated by a need, in some applications (especially aeronautical and space-flight applications) for SMA actuators that exert higher forces, operate at greater cycle speeds, and have stronger housings that can withstand greater externally applied forces and impacts. The main novel features of the improved SMA actuators are the following: 1) The ends of the wires are anchored in compact crimps made from short steel tubes. Each wire end is inserted in a tube, the tube is flattened between planar jaws to make the tube grip the wire, the tube is compressed to a slight U-cross-section deformation to strengthen the grip, then the crimp is welded onto one of the actuator stages. The pull strength of a typical crimp is about 125 N -- comparable to the strength of the SMA wire and greater than the typical pull strengths of wire-end anchors in prior SMA actuators. Greater pull strength is one of the keys to achievement of higher actuation force; 2) For greater strength and resistance to impacts, housings are milled from aluminum instead of being made from polymers. Each housing is made from two pieces in a clamshell configuration. The pieces are anodized to reduce sliding friction; 3) Stages are made stronger (to bear greater compression loads without excessive flexing) by making them from steel sheets thicker than those used in prior SMA actuators. The stages contain recessed pockets to accommodate the crimps. Recessing the pockets helps to keep overall dimensions as small as possible; and, 4) UHT SMA wires are used to satisfy the higher-speed/higher-temperature requirement.

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.

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.

Separated Flow Control with Actuated Membrane Wings

NASA Astrophysics Data System (ADS)

Bohnker, Jillian; Breuer, Kenneth

2017-11-01

By perturbing shear layer instabilities, some level of control over highly separated flows can be established, as has been demonstrated on rigid wings using synthetic jet actuators or acoustic excitation. Here, we demonstrate similar phenomena using sinusoidal actuation of a dielectric membrane wing. The effect of actuation on lift is examined as a function of freestream velocity (5-25 m/s), angle of attack (10°-40°), and actuation frequency (0.1

Design and Experimental Evaluation of a Robust Position Controller for an Electrohydrostatic Actuator Using Adaptive Antiwindup Sliding Mode Scheme

PubMed Central

Lee, Ji Min; Park, Sung Hwan; Kim, Jong Shik

2013-01-01

A robust control scheme is proposed for the position control of the electrohydrostatic actuator (EHA) when considering hardware saturation, load disturbance, and lumped system uncertainties and nonlinearities. To reduce overshoot due to a saturation of electric motor and to realize robustness against load disturbance and lumped system uncertainties such as varying parameters and modeling error, this paper proposes an adaptive antiwindup PID sliding mode scheme as a robust position controller for the EHA system. An optimal PID controller and an optimal anti-windup PID controller are also designed to compare control performance. An EHA prototype is developed, carrying out system modeling and parameter identification in designing the position controller. The simply identified linear model serves as the basis for the design of the position controllers, while the robustness of the control systems is compared by experiments. The adaptive anti-windup PID sliding mode controller has been found to have the desired performance and become robust against hardware saturation, load disturbance, and lumped system uncertainties and nonlinearities. PMID:23983640

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

NASA Astrophysics Data System (ADS)

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

2018-06-01

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

Actuators of active tribotechnical systems of the rotor-bearing type

NASA Astrophysics Data System (ADS)

Savin, L.; Shutin, D.; Kuzavka, A.

2017-08-01

The article describes the perspectives of using active bearings in rotor-bearing systems. The principal scheme of a mechatronic tribotechnical system anв classification of actuators used in such system are shown. Piezo actuators are considered from the point of view of use as actuators in active bearings. The comparative characteristics of different types of actuators

Design and analysis of a novel mechanical loading machine for dynamic in vivo axial loading

NASA Astrophysics Data System (ADS)

Macione, James; Nesbitt, Sterling; Pandit, Vaibhav; Kotha, Shiva

2012-02-01

This paper describes the construction of a loading machine for performing in vivo, dynamic mechanical loading of the rodent forearm. The loading machine utilizes a unique type of electromagnetic actuator with no mechanically resistive components (servotube), allowing highly accurate loads to be created. A regression analysis of the force created by the actuator with respect to the input voltage demonstrates high linear correlation (R2 = 1). When the linear correlation is used to create dynamic loading waveforms in the frequency (0.5-10 Hz) and load (1-50 N) range used for in vivo loading, less than 1% normalized root mean square error (NRMSE) is computed. Larger NRMSE is found at increased frequencies, with 5%-8% occurring at 40 Hz, and reasons are discussed. Amplifiers (strain gauge, linear voltage displacement transducer (LVDT), and load cell) are constructed, calibrated, and integrated, to allow well-resolved dynamic measurements to be recorded at each program cycle. Each of the amplifiers uses an active filter with cutoff frequency at the maximum in vivo loading frequencies (50 Hz) so that electronic noise generated by the servo drive and actuator are reduced. The LVDT and load cell amplifiers allow evaluation of stress-strain relationships to determine if in vivo bone damage is occurring. The strain gauge amplifier allows dynamic force to strain calibrations to occur for animals of different sex, age, and strain. Unique features are integrated into the loading system, including a weightless mode, which allows the limbs of anesthetized animals to be quickly positioned and removed. Although the device is constructed for in vivo axial bone loading, it can be used within constraints, as a general measurement instrument in a laboratory setting.

Design and analysis of a novel mechanical loading machine for dynamic in vivo axial loading.

PubMed

Macione, James; Nesbitt, Sterling; Pandit, Vaibhav; Kotha, Shiva

2012-02-01

This paper describes the construction of a loading machine for performing in vivo, dynamic mechanical loading of the rodent forearm. The loading machine utilizes a unique type of electromagnetic actuator with no mechanically resistive components (servotube), allowing highly accurate loads to be created. A regression analysis of the force created by the actuator with respect to the input voltage demonstrates high linear correlation (R(2) = 1). When the linear correlation is used to create dynamic loading waveforms in the frequency (0.5-10 Hz) and load (1-50 N) range used for in vivo loading, less than 1% normalized root mean square error (NRMSE) is computed. Larger NRMSE is found at increased frequencies, with 5%-8% occurring at 40 Hz, and reasons are discussed. Amplifiers (strain gauge, linear voltage displacement transducer (LVDT), and load cell) are constructed, calibrated, and integrated, to allow well-resolved dynamic measurements to be recorded at each program cycle. Each of the amplifiers uses an active filter with cutoff frequency at the maximum in vivo loading frequencies (50 Hz) so that electronic noise generated by the servo drive and actuator are reduced. The LVDT and load cell amplifiers allow evaluation of stress-strain relationships to determine if in vivo bone damage is occurring. The strain gauge amplifier allows dynamic force to strain calibrations to occur for animals of different sex, age, and strain. Unique features are integrated into the loading system, including a weightless mode, which allows the limbs of anesthetized animals to be quickly positioned and removed. Although the device is constructed for in vivo axial bone loading, it can be used within constraints, as a general measurement instrument in a laboratory setting.

Reliable actuators for twin rotor MIMO system

NASA Astrophysics Data System (ADS)

Rao, Vidya S.; V. I, George; Kamath, Surekha; Shreesha, C.

2017-11-01

Twin Rotor MIMO System (TRMS) is a bench mark system to test flight control algorithms. One of the perturbations on TRMS which is likely to affect the control system is actuator failure. Therefore, there is a need for a reliable control system, which includes H infinity controller along with redundant actuators. Reliable control refers to the design of a control system to tolerate failures of a certain set of actuators or sensors while retaining desired control system properties. Output of reliable controller has to be transferred to the redundant actuator effectively to make the TRMS reliable even under actual actuator failure.

Virtual Design of a Controller for a Hydraulic Cam Phasing System

NASA Astrophysics Data System (ADS)

Schneider, Markus; Ulbrich, Heinz

2010-09-01

Hydraulic vane cam phasing systems are nowadays widely used for improving the performance of combustion engines. At stationary operation, these systems should achieve a constant phasing angle, which however is badly disturbed by the alternating torque generated by the valve actuation. As the hydraulic system shows a non-linear characteristic over the full operation range and the inductivity of the hydraulic pipes generates a significant time delay, a full model based control emerges very complex. Therefore a simple feed-forward controller is designed, bridging the time delay of the hydraulic system and improving the system behaviour significantly.

Linear Parameter Varying Control for Actuator Failure

NASA Technical Reports Server (NTRS)

Shin, Jong-Yeob; Wu, N. Eva; Belcastro, Christine; Bushnell, Dennis M. (Technical Monitor)

2002-01-01

A robust linear parameter varying (LPV) control synthesis is carried out for an HiMAT vehicle subject to loss of control effectiveness. The scheduling parameter is selected to be a function of the estimates of the control effectiveness factors. The estimates are provided on-line by a two-stage Kalman estimator. The inherent conservatism of the LPV design is reducing through the use of a scaling factor on the uncertainty block that represents the estimation errors of the effectiveness factors. Simulations of the controlled system with the on-line estimator show that a superior fault-tolerance can be achieved.

Positioner with long travel in two dimensions

DOEpatents

Trumper, David L.; Williams, Mark E.

1997-12-23

A precision positioning system is provided which provides long travel in two of the linear dimensions, while using non-contact bearings for both a first subassembly which provides long travel in one of the linear dimension and a second subassembly which provides long travel in the second linear dimension. The first or upper subassembly is preferably a magnetic subassembly which, in addition to providing long travel, also compensates or positions in three rotary dimensions and in the third linear dimension. The second subassembly is preferably either an air bearing or magnetic subassembly and is normally used only to provide long travel. Angled surfaces may be provided for magnetic bearings and capacitive or other gap sensing probes may be mounted to the stage and ground flush with the bearing actuators to provide more precise gap measurements.

Distributed adaptive neural network control for a class of heterogeneous nonlinear multi-agent systems subject to actuation failures

NASA Astrophysics Data System (ADS)

Cui, Bing; Zhao, Chunhui; Ma, Tiedong; Feng, Chi

2017-02-01

In this paper, the cooperative adaptive consensus tracking problem for heterogeneous nonlinear multi-agent systems on directed graph is addressed. Each follower is modelled as a general nonlinear system with the unknown and nonidentical nonlinear dynamics, disturbances and actuator failures. Cooperative fault tolerant neural network tracking controllers with online adaptive learning features are proposed to guarantee that all agents synchronise to the trajectory of one leader with bounded adjustable synchronisation errors. With the help of linear quadratic regulator-based optimal design, a graph-dependent Lyapunov proof provides error bounds that depend on the graph topology, one virtual matrix and some design parameters. Of particular interest is that if the control gain is selected appropriately, the proposed control scheme can be implemented in a unified framework no matter whether there are faults or not. Furthermore, the fault detection and isolation are not needed to implement. Finally, a simulation is given to verify the effectiveness of the proposed method.

Micromechanism linear actuator with capillary force sealing

DOEpatents

Sniegowski, Jeffry J.

1997-01-01

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

Piezoelectric actuated gimbal

DOEpatents

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

2011-09-13

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

Miniature Inchworm Actuators Fabricated by Use of LIGA

NASA Technical Reports Server (NTRS)

Yang, Eui-Hyeok

2003-01-01

Miniature inchworm actuators that would have relatively simple designs have been proposed for applications in which there are requirements for displacements of the order of microns or tens of microns and for the ability to hold their positions when electric power is not applied. The proposed actuators would be members of the class of microelectromechanical systems (MEMS), but would be designed and fabricated following an approach that is somewhat unusual for MEMS. Like other MEMS actuators, the proposed inchworm actuators could utilize thermoplastic, bimetallic, shape-memory-alloy, or piezoelectric actuation principles. The figure depicts a piezoelectric inchworm actuator according to the proposal. As in other inchworm actuators, linear motion of an extensible member would be achieved by lengthening and shortening the extensible member in synchronism with alternately clamping and releasing one and then the other end of the member. In this case, the moving member would be the middle one; the member would be piezoelectric and would be shortened by applying a voltage to it. The two outer members would also be piezoelectric; the release of the clamps on the upper or lower end would be achieved by applying a voltage to the electrodes on the upper or lower ends, respectively, of these members. Usually, MEMS actuators cannot be fabricated directly on the side walls of silicon wafers, yet the geometry of this actuator necessitates such fabrication. The solution, according to the proposal, would be to use the microfabrication technique known by the German acronym LIGA - "lithographie, galvanoformung, abformung," which means lithography, electroforming, molding. LIGA involves x-ray lithography of a polymer film followed by selective removal of material to form a three-dimensional pattern from which a mold is made. Among the advantages of LIGA for this purpose are that it is applicable to a broad range of materials, can be used to implement a variety of designs, including those of structures >1 mm high, affords submicron precision, and is amenable to mass production at relatively low unit cost. Fabrication of the proposed actuators would involve some technological risks - in particular, in the integration of electrode connection lines and placement of actuator elements. It will also be necessary to perform an intensive study of the feasibility of growing piezoelectric crystals onto LIGA molds.

An LQR controller design approach for a Large Gap Magnetic Suspension System (LGMSS)

NASA Technical Reports Server (NTRS)

Groom, Nelson J.; Schaffner, Philip R.

1990-01-01

Two control approaches for a Large Gap Magnetic Suspension System (LGMSS) are investigated and numerical results are presented. The approaches are based on Linear Quadratic Regulator (LQR) control theory and include a nonzero set point regulator with constant disturbance input and an integral feedback regulator. The LGMSS provides five degree of freedom control of a cylindrical suspended element which is composed of permanent magnet material. The magnetic actuators are air core electromagnets mounted in a planar way.

Active Vibration damping of Smart composite beams based on system identification technique

NASA Astrophysics Data System (ADS)

Bendine, Kouider; Satla, Zouaoui; Boukhoulda, Farouk Benallel; Nouari, Mohammed

2018-03-01

In the present paper, the active vibration control of a composite beam using piezoelectric actuator is investigated. The space state equation is determined using system identification technique based on the structure input output response provided by ANSYS APDL finite element package. The Linear Quadratic (LQG) control law is designed and integrated into ANSYS APDL to perform closed loop simulations. Numerical examples for different types of excitation loads are presented to test the efficiency and the accuracy of the proposed model.

Linear-Force Actuators for Use on Shipboard Weapons and Cargo Elevators.

DTIC Science & Technology

1984-01-09

lock units an electro-mechanical brake is furnished so that when the unit stops at any position, its brake locks automatically , preventing any drift...NAME AND ADDRESS 12. REPORT DATE Naval Sea Systems Command (Code 56W4) f~nur 9, 1984 Washigton DC 03623. NUM4BER Of PAGES .9 ~, DC24 1.MONITORING...Hydraulic systems Weapons elevators a&. )TRACT (Couinsiu an ,evelee aide It nogceoy and fdentflr by block nunbov) "-Reports of hydraulic problems in

Mechanical Design of Innovative Electromagnetic Linear Actuators for Marine Applications

NASA Astrophysics Data System (ADS)

Muscia, Roberto

2017-11-01

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

Polypyrrol/chitosan hydrogel hybrid microfiber as sensing artificial muscle

NASA Astrophysics Data System (ADS)

Ismail, Yahya A.; Martínez, Jose G.; Al Harrasi, Ahmad S.; Kim, Seon J.; Fernández Otero, Toribio F.

2011-04-01

An electrochemical actuator demands that it should act as a sensor of the working conditions for its efficient application in devices. Actuation and sensing characteristics of a biopolymer/conducting polymer hybrid microfiber artificial muscle fabricated through wet spinning of a chitosan solution followed by in situ chemical polymerization with pyrrol employing bis(triflouro methane sulfonyl) imide as dopant and ferric chloride as a catalyst is presented. The polypyrrol/chitosan hybrid microfiber was investigated by FTIR, scanning electron microscopy (SEM), electrical conductivity measurement, cyclic voltammetric and chronopotentiometric methods. The electrochemical measurements related to the sensing abilities were performed as a function of applied current, concentration and temperature keeping two of the variables constant at a given time using NaCl as electrolyte. Cyclic voltammograms confirmed that the electro activity is imparted by polypyrrol (pPy). The fiber showed an electrical conductivity of 3.21x10-1 Scm-1and an average linear electrochemical actuation strain of 0.54%. The chronopotentiometric responses during the oxidation/reduction processes of the microfiber for the different anodic/cathodic currents and the linear fit observed for the consumed electrical energy during the reaction for various applied currents suggested that it can act as a sensor of applied current. The chronopotentiometric responses and the linear fit of consumed electrical energy at different temperatures suggested that the actuator can act as a temperature sensor. Similarly a semi logarithmic dependence of the consumed electrical energy with concentration of the electrolyte during reaction is suggestive of its applicability as a concentration sensor. The demand that an electrochemical actuator to be a sensor of the working conditions, for its efficient application in devices is thus verified in this material.

Final Report: CNC Micromachines LDRD No.10793

DOE Office of Scientific and Technical Information (OSTI.GOV)

JOKIEL JR., BERNHARD; BENAVIDES, GILBERT L.; BIEG, LOTHAR F.

2003-04-01

The three-year LDRD ''CNC Micromachines'' was successfully completed at the end of FY02. The project had four major breakthroughs in spatial motion control in MEMS: (1) A unified method for designing scalable planar and spatial on-chip motion control systems was developed. The method relies on the use of parallel kinematic mechanisms (PKMs) that when properly designed provide different types of motion on-chip without the need for post-fabrication assembly, (2) A new type of actuator was developed--the linear stepping track drive (LSTD) that provides open loop linear position control that is scalable in displacement, output force and step size. Several versionsmore » of this actuator were designed, fabricated and successfully tested. (3) Different versions of XYZ translation only and PTT motion stages were designed, successfully fabricated and successfully tested demonstrating absolutely that on-chip spatial motion control systems are not only possible, but are a reality. (4) Control algorithms, software and infrastructure based on MATLAB were created and successfully implemented to drive the XYZ and PTT motion platforms in a controlled manner. The control software is capable of reading an M/G code machine tool language file, decode the instructions and correctly calculate and apply position and velocity trajectories to the motion devices linear drive inputs to position the device platform along the trajectory as specified by the input file. A full and detailed account of design methodology, theory and experimental results (failures and successes) is provided.« less

Voice Coil Percussive Mechanism Concept for Hammer Drill

NASA Technical Reports Server (NTRS)

Okon, Avi

2009-01-01

A hammer drill design of a voice coil linear actuator, spring, linear bearings, and a hammer head was proposed. The voice coil actuator moves the hammer head to produce impact to the end of the drill bit. The spring is used to store energy on the retraction and to capture the rebound energy after each impact for use in the next impact. The maximum actuator stroke is 20 mm with the hammer mass being 200 grams. This unit can create impact energy of 0.4 J with 0.8 J being the maximum. This mechanism is less complex than previous devices meant for the same task, so it has less mass and less volume. Its impact rate and energy are easily tunable without changing major hardware components. The drill can be driven by two half-bridges. Heat is removed from the voice coil via CO2 conduction.

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

DTIC Science & Technology

2011-12-15

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

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.

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.

Reducing the pressure drag of a D-shaped bluff body using linear feedback control

NASA Astrophysics Data System (ADS)

Dalla Longa, L.; Morgans, A. S.; Dahan, J. A.

2017-12-01

The pressure drag of blunt bluff bodies is highly relevant in many practical applications, including to the aerodynamic drag of road vehicles. This paper presents theory revealing that a mean drag reduction can be achieved by manipulating wake flow fluctuations. A linear feedback control strategy then exploits this idea, targeting attenuation of the spatially integrated base (back face) pressure fluctuations. Large-eddy simulations of the flow over a D-shaped blunt bluff body are used as a test-bed for this control strategy. The flow response to synthetic jet actuation is characterised using system identification, and controller design is via shaping of the frequency response to achieve fluctuation attenuation. The designed controller successfully attenuates integrated base pressure fluctuations, increasing the time-averaged pressure on the body base by 38%. The effect on the flow field is to push the roll-up of vortices further downstream and increase the extent of the recirculation bubble. This control approach uses only body-mounted sensing/actuation and input-output model identification, meaning that it could be applied experimentally.

Magnetically suspended stepping motors for clean room and vacuum environments

NASA Technical Reports Server (NTRS)

Higuchi, Toshiro

1994-01-01

To answer the growing needs for super-clean or contact free actuators for uses in clean rooms, vacuum chambers, and space, innovative actuators which combine the functions of stepping motors and magnetic bearings in one body were developed. The rotor of the magnetically suspended stepping motor is suspended like a magnetic bearing and rotated and positioned like a stepping motor. The important trait of the motor is that it is not a simple mixture or combination of a stepping motor and conventional magnetic bearing, but an amalgam of a stepping motor and a magnetic bearing. Owing to optimal design and feed-back control, a toothed stator and rotor are all that are needed structurewise for stable suspension. More than ten types of motors such as linear type, high accuracy rotary type, two-dimensional type, and high vacuum type were built and tested. This paper describes the structure and design of these motors and their performance for such applications as precise positioning rotary table, linear conveyor system, and theta-zeta positioner for clean room and high vacuum use.

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.

Evaluation of actuators for the SDOF and MDOF active microgravity isolation systems

NASA Technical Reports Server (NTRS)

1993-01-01

The University of Virginia examined the design of actuators for both single-degree-of-freedom (SDOF) and multiple-degree-of-freedom (MDOF) active microgravity isolation systems. For SDOF systems, two actuators were considered: a special large gap magnetic actuator and a large stroke Lorentz actuator. The magnetic actuator was viewed to be of greater difficulty than the Lorentz actuator with little compelling technical advantage and was dropped from consideration. A Lorentz actuator was designed and built for the SDOF test rig using magnetic circuit and finite element analysis. The design and some experimental results are discussed. The University also examined the design of actuators for MDOF isolation systems. This includes design of an integrated 1 cm gap 6-DOF noncontacting magnetic suspension system and of a 'coarse' follower which permits the practical extension of magnetic suspension to large strokes. The proposed 'coarse' actuator was a closed kinematic chain manipulator known as a Stewart Platform. The integration of the two isolation systems together, the isolation tasks assigned to each, and possible control architectures were also explored. The results of this research are examined.

Extended-range tiltable micromirror

DOE Office of Scientific and Technical Information (OSTI.GOV)

Allen, James J; Wiens, Gloria J; Bronson, Jessica R

A tiltable micromirror device is disclosed in which a micromirror is suspended by a progressive linkage with an electrostatic actuator (e.g. a vertical comb actuator or a capacitive plate electrostatic actuator) being located beneath the micromirror. The progressive linkage includes a pair of torsion springs which are connected together to operate similar to a four-bar linkage with spring joints. The progressive linkage provides a non-linear spring constant which can allow the micromirror to be tilted at any angle within its range substantially free from any electrostatic instability or hysteretic behavior.

Rubber muscle actuation with pressurized CO2 from enzyme-catalyzed urea hydrolysis

NASA Astrophysics Data System (ADS)

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

2013-09-01

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

Energy analysis of a DEAP based cylindrical actuator coupled with a radial negative stiffness spring

NASA Astrophysics Data System (ADS)

Chavanne, Jonathan; Civet, Yoan; Perriard, Yves

2017-04-01

The main problem to obtain considerable deformation with dielectric electro-active polymer based technology is the electrical breakdown. A simple solution consists in pre-stretching the elastomer before activating it which cancels the snap-through effect and thus avoid reaching the electrical limit. Due to the stress characteristic of the DEAP, it could be demonstrated that a spring with a negative stiffness provides the best strain. In this paper, a new design of a monostable spring with a negative stiffness is suggested for a DEAP tubular shape actuator. The particularity of the proposed solution is the radial direction of the displacement with a special load characteristic. In order to determine the performance of the system, the mechanical and electrical behaviour are investigated through analytical models with the assumption that the axial stretch stays constant. A finite element method is used to validate these latter and maximal error lower than 2% is reported. The energy chain conversion is developed in detail which allows studying all the energies transferred from both the electrical input and any pre-stretch solution to the membrane during a cycle of activation. From these models, the negative stiffness spring is compared to the common solution, i.e a constant pressure or a linear positive spring, to pre-stretch a cylindrical EAP. The results show that the linear spring always removes the snap-through behaviour contrary to the constant pressure. Depending on the geometry, the monostable solution cancels also this latter and owns a better energy transfer from the power supply to the elastomer (around 50% against 40% for the linear spring) or a better stroke compared to the linear spring. Furthermore, due to the hollow in its stress characteristic, the cylindrical shaped actuator associated to a linear spring or the proposed spring allows increasing the strain. Through the different analytical models, the definition of the electrical breakdown and the analysis of the limits of the stresses, a qualitative study of the performance is given for the different pre-stretches.

Design and reliability of a MEMS thermal rotary actuator.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Baker, Michael Sean; Corwin, Alex David

2007-09-01

A new rotary MEMS actuator has been developed and tested at Sandia National Laboratories that utilizes a linear thermal actuator as the drive mechanism. This actuator was designed to be a low-voltage, high-force alternative to the existing electrostatic torsional ratcheting actuator (TRA) [1]. The new actuator, called the Thermal Rotary Actuator (ThRA), is conceptually much simpler than the TRA and consists of a gear on a hub that is turned by a linear thermal actuator [2] positioned outside of the gear. As seen in Figure 1, the gear is turned through a ratcheting pawl, with anti-reverse pawls positioned around themore » gear for unidirectional motion (see Figure 1). A primary consideration in the design of the ThRA was the device reliability and in particular, the required one-to-one relationship between the ratcheting output motion and the electrical input signal. The electrostatic TRA design has been shown to both over-drive and under-drive relative to the number of input pulses [3]. Two different ThRA designs were cycle tested to measure the skip rate. This was done in an automated test setup by using pattern matching to measure the angle of rotation of the output gear after a defined number of actuation pulses. By measuring this gear angle over time, the number of skips can be determined. Figure 2 shows a picture of the ThRA during testing, with the pattern-matching features highlighted. In the first design tested, it was found that creep in the thermal actuator limited the number of skip-free cycles, as the rest position of the actuator would creep forward enough to prevent the counter-rotation pawls from fully engaging (Figure 3). Even with this limitation, devices were measured with up to 100 million cycles with no skipping. A design modification was made to reduce the operating temperature of the thermal actuator which has been shown in a previous study [2] to reduce the creep rate. In addition, changes were made to the drive ratchet design and actuation direction to increase the available output force. This new design was tested and shown to operate in one case out to greater than 360 million cycles without any skipping, after which the test was stopped without failure. The output force was also measured as a function of input voltage (Figure 4), and shown to be higher than the previous design. The maximum force shown in the figure is a limit of the gauge used, not the actuator itself. Continued work for this design will focus on understanding the actuator performance while driving a load, as all current tests were performed with no load on the output gear.« less

Conceptual MEMS Devices for a Redeployable Antenna

DTIC Science & Technology

2007-09-01

micromirrors in projection devices, and various sensors for chemical/biological applications. MEMS are a key aspect of ever- increasing significance in...with a vertical thermal actuator, linear assembly micromotor, and a locking mechanism, to create a scanning micromirror and cube reflector system. The... Micromirrors ,” Transducers, pp347-350, 1997. [24] Shimoyama, I., O. Kano, and H. Miura. “3D Microstructures Folded by Lorentz Force,” 11th

Apparatus Tests Peeling Of Bonded Rubbery Material

NASA Technical Reports Server (NTRS)

Crook, Russell A.; Graham, Robert

1996-01-01

Instrumented hydraulic constrained blister-peel apparatus obtains data on degree of bonding between specimen of rubbery material and rigid plate. Growth of blister tracked by video camera, digital clock, pressure transducer, and piston-displacement sensor. Cylinder pressure controlled by hydraulic actuator system. Linear variable-differential transformer (LVDT) and float provide second, independent measure of change in blister volume used as more precise volume feedback in low-growth-rate test.

Redundantly piezo-actuated XYθ z compliant mechanism for nano-positioning featuring simple kinematics, bi-directional motion and enlarged workspace

NASA Astrophysics Data System (ADS)

Zhu, Wu-Le; Zhu, Zhiwei; To, Suet; Liu, Qiang; Ju, Bing-Feng; Zhou, Xiaoqin

2016-12-01

This paper presents a novel redundantly piezo-actuated three-degree-of-freedom XYθ z compliant mechanism for nano-positioning, driven by four mirror-symmetrically configured piezoelectric actuators (PEAs). By means of differential motion principle, linearized kinematics and physically bi-directional motions in all the three directions are achieved. Meanwhile, the decoupled delivering of three-directional independent motions at the output end is accessible, and the essential parallel and mirror symmetric configuration guarantees large output stiffness, high natural frequencies, high accuracy as well as high structural compactness of the mechanism. Accurate kinematics analysis with consideration of input coupling indicates that the proposed redundantly actuated compliant mechanism can generate three-dimensional (3D) symmetric polyhedral workspace envelope with enlarged reachable workspace, as compared with the most common parallel XYθ z mechanism driven by three PEAs. Keeping a high consistence with both analytical and numerical models, the experimental results show the working ranges of ±6.21 μm and ±12.41 μm in X- and Y-directions, and that of ±873.2 μrad in θ z-direction with nano-positioning capability can be realized. The superior performances and easily achievable structure well facilitate practical applications of the proposed XYθ z compliant mechanism in nano-positioning systems.

Implementation of Nonlinear Control Laws for an Optical Delay Line

NASA Technical Reports Server (NTRS)

Hench, John J.; Lurie, Boris; Grogan, Robert; Johnson, Richard

2000-01-01

This paper discusses the implementation of a globally stable nonlinear controller algorithm for the Real-Time Interferometer Control System Testbed (RICST) brassboard optical delay line (ODL) developed for the Interferometry Technology Program at the Jet Propulsion Laboratory. The control methodology essentially employs loop shaping to implement linear control laws. while utilizing nonlinear elements as means of ameliorating the effects of actuator saturation in its coarse, main, and vernier stages. The linear controllers were implemented as high-order digital filters and were designed using Bode integral techniques to determine the loop shape. The nonlinear techniques encompass the areas of exact linearization, anti-windup control, nonlinear rate limiting and modal control. Details of the design procedure are given as well as data from the actual mechanism.

The minimum control authority of a system of actuators with applications to Gravity Probe-B

NASA Technical Reports Server (NTRS)

Wiktor, Peter; Debra, Dan

1991-01-01

The forcing capabilities of systems composed of many actuators are analyzed in this paper. Multiactuator systems can generate higher forces in some directions than in others. Techniques are developed to find the force in the weakest direction. This corresponds to the worst-case output and is defined as the 'minimum control authority'. The minimum control authority is a function of three things: the actuator configuration, the actuator controller and the way in which the output of the system is limited. Three output limits are studied: (1) fuel-flow rate, (2) power, and (3) actuator output. The three corresponding actuator controllers are derived. These controllers generate the desired force while minimizing either fuel flow rate, power or actuator output. It is shown that using the optimal controller can substantially increase the minimum control authority. The techniques for calculating the minimum control authority are applied to the Gravity Probe-B spacecraft thruster system. This example shows that the minimum control authority can be used to design the individual actuators, choose actuator configuration, actuator controller, and study redundancy.

Measurement method for determining the magnetic hysteresis effects of reluctance actuators by evaluation of the force and flux variation.

PubMed

Vrijsen, N H; Jansen, J W; Compter, J C; Lomonova, E A

2013-07-01

A measurement method is presented which identifies the magnetic hysteresis effects present in the force of linear reluctance actuators. The measurement method is applied to determine the magnetic hysteresis in the force of an E-core reluctance actuator, with and without pre-biasing permanent magnet. The force measurements are conducted with a piezoelectric load cell (Kistler type 9272). This high-bandwidth force measurement instrument is identified in the frequency domain using a voice-coil actuator that has negligible magnetic hysteresis and eddy currents. Specifically, the phase delay between the current and force of the voice-coil actuator is used for the calibration of the measurement instrument. This phase delay is also obtained by evaluation of the measured force and flux variation in the E-core actuator, both with and without permanent magnet on the middle tooth. The measured magnetic flux variation is used to distinguish the phase delay due to magnetic hysteresis from the measured phase delay between the current and the force of the E-core actuator. Finally, an open loop steady-state ac model is presented that predicts the magnetic hysteresis effects in the force of the E-core actuator.

Transient Thermal State of an Active Braille Matrix with Incorporated Thermal Actuators by Means of Finite Element Method

ERIC Educational Resources Information Center

Alutei, Alexandra-Maria; Szelitzky, Emoke; Mandru, Dan

2013-01-01

In this article the authors present the transient thermal analysis for a developed thermal linear actuator based on wax paraffin used to drive the cells of a Braille device. A numerical investigation of transient heat transfer phenomenon during paraffin melting and solidification in an encapsulated recipient has been carried out using the ANSYS…

Development of Thermally Actuated, High-Temperature Composite Morphing Concepts

DTIC Science & Technology

2016-05-11

Thermally Actuated, High- Temperature Composite Morphing Concepts 5a. CONTRACT NUMBER EOARD 14-0063 5b. GRANT NUMBER FA9550-14-1-0063 5c...mismatched thermal expansion coefficients. However, current bimorphs are generally limited to benign temperatures and linear temperature displacement... temperature morphing structures. Successful application of this work may yield morphing hot structures in extreme environments. A particularly appealing

Development of Thermally Actuated, High Temperature Composite Morphing Concepts

DTIC Science & Technology

2016-03-31

Thermally Actuated, High- Temperature Composite Morphing Concepts 5a. CONTRACT NUMBER EOARD 14-0063 5b. GRANT NUMBER FA9550-14-1-0063 5c...mismatched thermal expansion coefficients. However, current bimorphs are generally limited to benign temperatures and linear temperature displacement... temperature morphing structures. Successful application of this work may yield morphing hot structures in extreme environments. A particularly appealing

The Stability Region for Feedback Control of the Wake Behind Twin Oscillating Cylinders

NASA Astrophysics Data System (ADS)

Borggaard, Jeff; Gugercin, Serkan; Zietsman, Lizette

2016-11-01

Linear feedback control has the ability to stabilize vortex shedding behind twin cylinders where cylinder rotation is the actuation mechanism. Complete elimination of the wake is only possible for certain Reynolds numbers and cylinder spacing. This is related to the presence of asymmetric unstable modes in the linearized system. We investigate this region of parameter space using a number of closed-loop simulations that bound this region. We then consider the practical issue of designing feedback controls based on limited state measurements by building a nonlinear compensator using linear robust control theory with and incorporating the nonlinear terms in the compensator (e.g., using the extended Kalman filter). Interpolatory model reduction methods are applied to the large discretized, linearized Navier-Stokes system and used for computing the control laws and compensators. Preliminary closed-loop simulations of a three-dimensional version of this problem will also be presented. Supported in part by the National Science Foundation.

Precision Magnetic Bearing Six Degree of Freedom Stage

NASA Technical Reports Server (NTRS)

Williams, M. E.; Trumper, David L.

1996-01-01

Magnetic bearings are capable of applying force and torque to a suspended object without rigidly constraining any degrees of freedom. Additionally, the resolution of magnetic bearings is limited only by sensors and control, and not by the finish of a bearing surface. For these reasons, magnetic bearings appear to be ideal for precision wafer positioning in lithography systems. To demonstrate this capability a linear magnetic bearing has been constructed which uses variable reluctance actuators to control the motion of a 14.5 kg suspended platen in five degrees of freedom. A Lorentz type linear motor of our own design and construction is used to provide motion and position control in the sixth degree of freedom. The stage performance results verify that the positioning requirements of photolithography can be met with a system of this type. This paper describes the design, control, and performance of the linear magnetic bearing.

An overview of controls research on the NASA Langley Research Center grid

NASA Technical Reports Server (NTRS)

Montgomery, Raymond C.

1987-01-01

The NASA Langley Research Center has assembled a flexible grid on which control systems research can be accomplished on a two-dimensional structure that has many physically distributed sensors and actuators. The grid is a rectangular planar structure that is suspended by two cables attached to one edge so that out of plane vibrations are normal to gravity. There are six torque wheel actuators mounted to it so that torque is produced in the grid plane. Also, there are six rate gyros mounted to sense angular motion in the grid plane and eight accelerometers that measure linear acceleration normal to the grid plane. All components can be relocated to meet specific control system test requirements. Digital, analog, and hybrid control systems capability is provided in the apparatus. To date, research on this grid has been conducted in the areas of system and parameter identification, model estimation, distributed modal control, hierarchical adaptive control, and advanced redundancy management algorithms. The presentation overviews each technique and presents the most significant results generated for each area.

Feasibility of motion laws for planar one degree of freedom linkage mechanisms at dead point configurations

NASA Astrophysics Data System (ADS)

Lores García, E.; Veciana Fontanet, J. M.; Jordi Nebot, L.

2018-01-01

This paper proposes an analytical solution of the Inverse Kinematics (IK) problem at dead point configurations for any planar one degree of freedom linkage mechanism, with regard to the continuity Cn of the motion law. The systems analyzed are those whose elements are linked with lower pairs and do not present redundancies. The study aims to provide the user with some rules to facilitate the design of feasible motion profiles to be reproduced by conventional electrical actuators at these configurations. During the last decades, several methods and techniques have been developed to study this specific configuration. However, these techniques are mainly focused on solving numerically the IK indeterminacy, rather than analyzing the motion laws that the mechanisms are able to perform at these particular configurations. The analysis presented in this paper has been carried out differentiating and applying l'Hôpital's rule to the system of constraint equations ϕ (q) of the mechanism. The study also considers the feasibility of the time-domain profiles to be reproduced with conventional electrical actuators (i.e. AC/DC motors, linear actuators, etc.). To show the usefulness and effectiveness of the method, the development includes the analytical application and numerical simulations for two common one degree of freedom systems: a slider-crank and a four linkage mechanisms. Finally, experimental results are presented on a four linkage mechanism test bed.

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

NASA Technical Reports Server (NTRS)

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

2008-01-01

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

Transient thermal state of an active Braille matrix with incorporated thermal actuators by means of finite element method.

PubMed

Aluţei, Alexandra-Maria; Szelitzky, Emoke; Mândru, Dan

2013-01-01

In this article the authors present the transient thermal analysis for a developed thermal linear actuator based on wax paraffin used to drive the cells of a Braille device. A numerical investigation of transient heat transfer phenomenon during paraffin melting and solidification in an encapsulated recipient has been carried out using the ANSYS v.12 software. The researchers offer data on the heat distribution in the proposed model of the actuator as well as on the material properties required for these applications and provide the opportunity to identify new problems specific to thermal actuation, such as the heater properties and the cooling process of the active material in the structure of the Braille cell.

Internal core tightener

DOEpatents

Brynsvold, Glen V.; Snyder, Jr., Harold J.

1976-06-22

An internal core tightener which is a linear actuated (vertical actuation motion) expanding device utilizing a minimum of moving parts to perform the lateral tightening function. The key features are: (1) large contact areas to transmit loads during reactor operation; (2) actuation cam surfaces loaded only during clamping and unclamping operation; (3) separation of the parts and internal operation involved in the holding function from those involved in the actuation function; and (4) preloaded pads with compliant travel at each face of the hexagonal assembly at the two clamping planes to accommodate thermal expansion and irradiation induced swelling. The latter feature enables use of a "fixed" outer core boundary, and thus eliminates the uncertainty in gross core dimensions, and potential for rapid core reactivity changes as a result of core dimensional change.

The optimal location of piezoelectric actuators and sensors for vibration control of plates

NASA Astrophysics Data System (ADS)

Kumar, K. Ramesh; Narayanan, S.

2007-12-01

This paper considers the optimal placement of collocated piezoelectric actuator-sensor pairs on a thin plate using a model-based linear quadratic regulator (LQR) controller. LQR performance is taken as objective for finding the optimal location of sensor-actuator pairs. The problem is formulated using the finite element method (FEM) as multi-input-multi-output (MIMO) model control. The discrete optimal sensor and actuator location problem is formulated in the framework of a zero-one optimization problem. A genetic algorithm (GA) is used to solve the zero-one optimization problem. Different classical control strategies like direct proportional feedback, constant-gain negative velocity feedback and the LQR optimal control scheme are applied to study the control effectiveness.

Algorithm Optimally Allocates Actuation of a Spacecraft

NASA Technical Reports Server (NTRS)

Motaghedi, Shi

2007-01-01

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

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

NASA Technical Reports Server (NTRS)

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

1998-01-01

This paper presents an introduction to ionic polymer-metal composites and some mathematical modeling pertaining to them. It further discusses a number of recent findings in connection with ion-exchange polymer-metal composites (IPMCS) as biomimetic sensors and actuators. Strips of these composites can undergo large bending and flapping displacement if an electric field is imposed across their thickness. Thus, in this sense they are large motion actuators. Conversely by bending the composite strip, either quasi-statically or dynamically, a voltage is produced across the thickness of the strip. Thus, they are also large motion sensors. The output voltage can be calibrated for a standard size sensor and correlated to the applied loads or stresses. They can be manufactured and cut in any size and shape. In this paper first the sensing capability of these materials is reported. The preliminary results show the existence of a linear relationship between the output voltage and the imposed displacement for almost all cases. Furthermore, the ability of these IPMCs as large motion actuators and robotic manipulators is presented. Several muscle configurations are constructed to demonstrate the capabilities of these IPMC actuators. This paper further identifies key parameters involving the vibrational and resonance characteristics of sensors and actuators made with IPMCS. When the applied signal frequency varies, so does the displacement up to a critical frequency called the resonant frequency where maximum deformation is observed, beyond which the actuator response is diminished. A data acquisition system was used to measure the parameters involved and record the results in real time basis. Also the load characterizations of the IPMCs were measured and it was shown that these actuators exhibit good force to weight characteristics in the presence of low applied voltages. Finally reported are the cryogenic properties of these muscles for potential utilization in an outer space environment of a few Torrs and temperatures of the order of - 140 degrees Celsius. These muscles are shown to work quite well in such harsh cryogenic environments and thus present a great potential as sensors and actuators that can operate at cryogenic temperatures.

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

NASA Astrophysics Data System (ADS)

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

2015-04-01

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

Electro-Mechanical Coaxial Valve

NASA Technical Reports Server (NTRS)

Patterson, Paul R (Inventor)

2004-01-01

Coaxial valves usually contain only one moving part. It has not been easy, then, to provide for electric motor actuation. Many actuators being proposed involve designs which lead to bulky packages. The key facing those improving coaxial valves is the provision of suitable linear actuation. The valve herein indudes a valve housing with a flow channel there-through. Arranged in the flow channel is a closing body. In alignment with the closing body is a ball screw actuator which includes a ball nut and a cylindrical screw. The ball nut sounds a threaded portion of the cylindrical screw. The cylindrical screw is provided with a passageway there-through through which fluid flows. The cylindrical screw is disposed in the flow channel to become a control tube adapted to move toward and away from the valve seat. To rotate the ball nut an actuating drive is employed driven by a stepper motor.

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

NASA Technical Reports Server (NTRS)

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

2009-01-01

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

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

PubMed Central

Muniraj, Murali; Arulmozhiyal, Ramaswamy

2015-01-01

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

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

PubMed

Muniraj, Murali; Arulmozhiyal, Ramaswamy

2015-01-01

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

Actuators Using Piezoelectric Stacks and Displacement Enhancers

NASA Technical Reports Server (NTRS)

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

2015-01-01

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

Design and analysis of a field modulated magnetic screw for artificial heart

NASA Astrophysics Data System (ADS)

Ling, Zhijian; Ji, Jinghua; Wang, Fangqun; Bian, Fangfang

2017-05-01

This paper proposes a new electromechanical energy conversion system, called Field Modulated Magnetic Screw (FMMS) as a high force density linear actuator for artificial heart. This device is based on the concept of magnetic screw and linear magnetic gear. The proposed FMMS consists of three parts with the outer and inner carrying the radially magnetized helically permanent-magnet (PM), and the intermediate having a set of helically ferromagnetic pole pieces, which modulate the magnetic fields produced by the PMs. The configuration of the newly designed FMMS is presented and its electromagnetic performances are analyzed by using the finite-element analysis, verifying the advantages of the proposed structure.

Dynamic Analysis Method for Electromagnetic Artificial Muscle Actuator under PID Control

NASA Astrophysics Data System (ADS)

Nakata, Yoshihiro; Ishiguro, Hiroshi; Hirata, Katsuhiro

We have been studying an interior permanent magnet linear actuator for an artificial muscle. This actuator mainly consists of a mover and stator. The mover is composed of permanent magnets, magnetic cores and a non-magnetic shaft. The stator is composed of 3-phase coils and a back yoke. In this paper, the dynamic analysis method under PID control is proposed employing the 3-D finite element method (3-D FEM) to compute the dynamic response and current response when the positioning control is active. As a conclusion, computed results show good agreement with measured ones of a prototype.

Field analysis & eddy current losses calculation in five-phase tubular actuator

NASA Astrophysics Data System (ADS)

Waindok, Andrzej; Tomczuk, Bronislaw

2017-12-01

Field analysis including eddy currents in the magnetic core of five-phase permanent magnet tubular linear actuator (TLA) has been carried out. The eddy currents induced in the magnetic core cause the losses which have been calculated. The results from 2D finite element (FE) analysis have been compared with those from 3D calculations. The losses in the mover of the five-phase actuator are much lower than the losses in its stator. That is why the former ones can be neglected in the computer aided designing. The calculation results have been verified experimentally

A Comparison of Multivariable Control Design Techniques for a Turbofan Engine Control

NASA Technical Reports Server (NTRS)

Garg, Sanjay; Watts, Stephen R.

1995-01-01

This paper compares two previously published design procedures for two different multivariable control design techniques for application to a linear engine model of a jet engine. The two multivariable control design techniques compared were the Linear Quadratic Gaussian with Loop Transfer Recovery (LQG/LTR) and the H-Infinity synthesis. The two control design techniques were used with specific previously published design procedures to synthesize controls which would provide equivalent closed loop frequency response for the primary control loops while assuring adequate loop decoupling. The resulting controllers were then reduced in order to minimize the programming and data storage requirements for a typical implementation. The reduced order linear controllers designed by each method were combined with the linear model of an advanced turbofan engine and the system performance was evaluated for the continuous linear system. Included in the performance analysis are the resulting frequency and transient responses as well as actuator usage and rate capability for each design method. The controls were also analyzed for robustness with respect to structured uncertainties in the unmodeled system dynamics. The two controls were then compared for performance capability and hardware implementation issues.

Controlling Flexible Manipulators, an Experimental Investigation. Ph.D. Thesis

NASA Technical Reports Server (NTRS)

Hastings, Gordon Greene

1986-01-01

Lightweight, slender manipulators offer faster response and/or greater workspace range for the same size actuators than tradional manipulators. Lightweight construction of manipulator links results in increased structural flexibility. The increase flexibility must be considered in the design of control systems to properly account for the dynamic flexible vibrations and static deflections. Real time control of the flexible manipulator vibrations are experimentally investigated. Models intended for real-time control of distributed parameter system such as flexible manipulators rely on model approximation schemes. An linear model based on the application of Lagrangian dynamics to a rigid body mode and a series of separable flexible modes is examined with respect to model order requirements, and modal candidate selection. Balanced realizations are applied to the linear flexible model to obtain an estimate of appropriate order for a selected model. Describing the flexible deflections as a linear combination of modes results in measurements of beam state, which yield information about several modes. To realize the potential of linear systems theory, knowledge of each state must be available. State estimation is also accomplished by implementation of a Kalman Filter. State feedback control laws are implemented based upon linear quadratic regulator design.

Microactuators as driving units for microbotic systems

NASA Astrophysics Data System (ADS)

Lehr, Heinz; Abel, S.; Doepper, J.; Ehrfeld, Wolfgang; Hagemann, B.; Kaemper, Klaus P.; Michel, Frank; Schulz, Ch.; Theurigen, C.

1996-12-01

The trend towards the integration of a multitude of functions in e.g. data end-, medical- and communication systems pushes the miniaturization of actuators for linear or rotational motions. Technical advantages of these devices are their low energy consumption, their potential for high precision positioning and their low inertial masses, which allow e.g. huge rotational frequencies. Appreciable forces and torques as well as appropriate mechanical interfaces to integrate these drive units into complete systems are necessary prerequisites for robotic applications, but rarely found up to now. Most of these difficulties arise due to the application of monolithic fabrication techniques, leading to structures of essentially planar nature and severe material restrictions. It turned out that only hybrid concepts and the assembly of components made from the most appropriate material open the chance to build up microactuators which are well suited for microrobotic systems. The contribution starts with a short description of the LIGA technique, which constitutes the major 3-D microfabrication method for the production of individual actuator components with structural heights of up to several millimeters made from a variety of function adapted materials. The assembling of these components results in microactuators with typical dimensions in the millimeter range. Examples are powerful electromagnetic micromotors, delivering torques much larger than one (mu) Nm and high rotational speeds which may be converted by use of LIGA fabricated gear-wheels to furthermore increase the torque. Huge forces are obtained in addition by use of microfabricated fluidic systems. Although small in size, the actuators still offer good handling opportunities and interfacing facilities to build up more complicated robotic systems.

30 CFR 75.1103-6 - Automatic fire sensors; actuation of fire suppression systems.

Code of Federal Regulations, 2010 CFR

2010-07-01

... Protection § 75.1103-6 Automatic fire sensors; actuation of fire suppression systems. Point-type heat sensors or automatic fire sensor and warning device systems may be used to actuate deluge-type water systems... 30 Mineral Resources 1 2010-07-01 2010-07-01 false Automatic fire sensors; actuation of fire...

30 CFR 75.1103-6 - Automatic fire sensors; actuation of fire suppression systems.

Code of Federal Regulations, 2011 CFR

2011-07-01

... 30 Mineral Resources 1 2011-07-01 2011-07-01 false Automatic fire sensors; actuation of fire... Protection § 75.1103-6 Automatic fire sensors; actuation of fire suppression systems. Point-type heat sensors or automatic fire sensor and warning device systems may be used to actuate deluge-type water systems...

30 CFR 75.1103-6 - Automatic fire sensors; actuation of fire suppression systems.

Code of Federal Regulations, 2012 CFR

2012-07-01

... 30 Mineral Resources 1 2012-07-01 2012-07-01 false Automatic fire sensors; actuation of fire... Protection § 75.1103-6 Automatic fire sensors; actuation of fire suppression systems. Point-type heat sensors or automatic fire sensor and warning device systems may be used to actuate deluge-type water systems...

30 CFR 75.1103-6 - Automatic fire sensors; actuation of fire suppression systems.

Code of Federal Regulations, 2013 CFR

2013-07-01

... 30 Mineral Resources 1 2013-07-01 2013-07-01 false Automatic fire sensors; actuation of fire... Protection § 75.1103-6 Automatic fire sensors; actuation of fire suppression systems. Point-type heat sensors or automatic fire sensor and warning device systems may be used to actuate deluge-type water systems...

30 CFR 75.1103-6 - Automatic fire sensors; actuation of fire suppression systems.

Code of Federal Regulations, 2014 CFR

2014-07-01

... 30 Mineral Resources 1 2014-07-01 2014-07-01 false Automatic fire sensors; actuation of fire... Protection § 75.1103-6 Automatic fire sensors; actuation of fire suppression systems. Point-type heat sensors or automatic fire sensor and warning device systems may be used to actuate deluge-type water systems...

Development of a precision, wide-dynamic-range actuator for use in active optical systems

NASA Technical Reports Server (NTRS)

Lorell, K. R.; Aubrun, J-N.; Zacharie, D. F.; Perez, E. O.

1989-01-01

The design, operation, and performance of a wide-dynamic-range optical-quality actuator are discussed. The actuator uses a closed-loop control system to maintain accurate positioning and has an rms noise performance of 20 nm. A unique force offloading mechanism allows the actuator coil to dissipate less than 3 mW under quiescent conditions. The operation of an experimental segmented optical system that uses 18 of the actuators is examined to show how they are integrated into an actual system.

Reliability Assessment for Low-cost Unmanned Aerial Vehicles

NASA Astrophysics Data System (ADS)

Freeman, Paul Michael

Existing low-cost unmanned aerospace systems are unreliable, and engineers must blend reliability analysis with fault-tolerant control in novel ways. This dissertation introduces the University of Minnesota unmanned aerial vehicle flight research platform, a comprehensive simulation and flight test facility for reliability and fault-tolerance research. An industry-standard reliability assessment technique, the failure modes and effects analysis, is performed for an unmanned aircraft. Particular attention is afforded to the control surface and servo-actuation subsystem. Maintaining effector health is essential for safe flight; failures may lead to loss of control incidents. Failure likelihood, severity, and risk are qualitatively assessed for several effector failure modes. Design changes are recommended to improve aircraft reliability based on this analysis. Most notably, the control surfaces are split, providing independent actuation and dual-redundancy. The simulation models for control surface aerodynamic effects are updated to reflect the split surfaces using a first-principles geometric analysis. The failure modes and effects analysis is extended by using a high-fidelity nonlinear aircraft simulation. A trim state discovery is performed to identify the achievable steady, wings-level flight envelope of the healthy and damaged vehicle. Tolerance of elevator actuator failures is studied using familiar tools from linear systems analysis. This analysis reveals significant inherent performance limitations for candidate adaptive/reconfigurable control algorithms used for the vehicle. Moreover, it demonstrates how these tools can be applied in a design feedback loop to make safety-critical unmanned systems more reliable. Control surface impairments that do occur must be quickly and accurately detected. This dissertation also considers fault detection and identification for an unmanned aerial vehicle using model-based and model-free approaches and applies those algorithms to experimental faulted and unfaulted flight test data. Flight tests are conducted with actuator faults that affect the plant input and sensor faults that affect the vehicle state measurements. A model-based detection strategy is designed and uses robust linear filtering methods to reject exogenous disturbances, e.g. wind, while providing robustness to model variation. A data-driven algorithm is developed to operate exclusively on raw flight test data without physical model knowledge. The fault detection and identification performance of these complementary but different methods is compared. Together, enhanced reliability assessment and multi-pronged fault detection and identification techniques can help to bring about the next generation of reliable low-cost unmanned aircraft.

Aile adaptable : Design du systeme d'actionnement de l'aileron rigide, caracterisation des capteurs de pression et instrumentation pour des tests statiques =

NASA Astrophysics Data System (ADS)

Vincent, Jean-Baptiste

This Master's thesis is part of a multidisciplinary optimisation project initiated by the Consortium for Research and Innovation in Aerospace in Quebec (CRIAQ) ; this project is about designing and manufacturing a morphing wing demonstrator. The morphing design adopted in this project is based on airfoil thickness variation applied to the upper skin. This morphing generates a change in the laminar to turbulent boundary layer transition position on top of the wing. The position of this transition area leads to significant changes in the aerodynamic performance of the wing. The study presented here focuses on the design of the conventional aileron actuation system and on the characterization of the high sensitivity differential pressure sensors installed on the upper skin in order to determine the laminar to turbulent transition position. Furthermore, the study focuses on the data acquisition system for the morphing wing structural test validation. The aileron actuation system is based on a linear actuator actuated by a brushless motor. The component choice is presented as well as the command method. A static validation as well as wind tunnel validation is presented. The pressure sensor characterization is performed by installing three of those high sensitivity differential pressure sensors in a bi-dimensional known airfoil. This study goes through the process of determining the sensor position in order to observe the transition area by using a computational fluid dynamics (CFD) statistic approach. The validation of the laminar to turbulent transition position is carried out with a series of wind tunnel tests. A structural test has been executed in order to validate the wing structure. This Master's thesis shows the data acquisition system for the microstrain measurement installed inside the morphing wing. A hardware and software architecture description is developed and presented as well as the practical results.

Rotorcraft control system design for uncertain vehicle dynamics using quantitative feedback theory

NASA Technical Reports Server (NTRS)

Hess, R. A.

1994-01-01

Quantitative Feedback Theory describes a frequency-domain technique for the design of multi-input, multi-output control systems which must meet time or frequency domain performance criteria when specified uncertainty exists in the linear description of the vehicle dynamics. This theory is applied to the design of the longitudinal flight control system for a linear model of the BO-105C rotorcraft. Uncertainty in the vehicle model is due to the variation in the vehicle dynamics over a range of airspeeds from 0-100 kts. For purposes of exposition, the vehicle description contains no rotor or actuator dynamics. The design example indicates the manner in which significant uncertainty exists in the vehicle model. The advantage of using a sequential loop closure technique to reduce the cost of feedback is demonstrated by example.

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);

a New ER Fluid Based Haptic Actuator System for Virtual Reality

NASA Astrophysics Data System (ADS)

Böse, H.; Baumann, M.; Monkman, G. J.; Egersdörfer, S.; Tunayar, A.; Freimuth, H.; Ermert, H.; Khaled, W.

The concept and some steps in the development of a new actuator system which enables the haptic perception of mechanically inhomogeneous virtual objects are introduced. The system consists of a two-dimensional planar array of actuator elements containing an electrorheological (ER) fluid. When a user presses his fingers onto the surface of the actuator array, he perceives locally variable resistance forces generated by vertical pistons which slide in the ER fluid through the gaps between electrode pairs. The voltage in each actuator element can be individually controlled by a novel sophisticated switching technology based on optoelectric gallium arsenide elements. The haptic information which is represented at the actuator array can be transferred from a corresponding sensor system based on ultrasonic elastography. The combined sensor-actuator system may serve as a technology platform for various applications in virtual reality, like telemedicine where the information on the consistency of tissue of a real patient is detected by the sensor part and recorded by the actuator part at a remote location.

Control of electro-rheological fluid-based torque generation components for use in active rehabilitation devices

NASA Astrophysics Data System (ADS)

Nikitczuk, Jason; Weinberg, Brian; Mavroidis, Constantinos

2006-03-01

In this paper we present the design and control algorithms for novel electro-rheological fluid based torque generation elements that will be used to drive the joint of a new type of portable and controllable Active Knee Rehabilitation Orthotic Device (AKROD) for gait retraining in stroke patients. The AKROD is composed of straps and rigid components for attachment to the leg, with a central hinge mechanism where a gear system is connected. The key features of AKROD include: a compact, lightweight design with highly tunable torque capabilities through a variable damper component, full portability with on board power, control circuitry, and sensors (encoder and torque), and real-time capabilities for closed loop computer control for optimizing gait retraining. The variable damper component is achieved through an electro-rheological fluid (ERF) element that connects to the output of the gear system. Using the electrically controlled rheological properties of ERFs, compact brakes capable of supplying high resistive and controllable torques, are developed. A preliminary prototype for AKROD v.2 has been developed and tested in our laboratory. AKROD's v.2 ERF resistive actuator was tested in laboratory experiments using our custom made ERF Testing Apparatus (ETA). ETA provides a computer controlled environment to test ERF brakes and actuators in various conditions and scenarios including emulating the interaction between human muscles involved with the knee and AKROD's ERF actuators / brakes. In our preliminary results, AKROD's ERF resistive actuator was tested in closed loop torque control experiments. A hybrid (non-linear, adaptive) Proportional-Integral (PI) torque controller was implemented to achieve this goal.

Aligning Optical Fibers by Means of Actuated MEMS Wedges

NASA Technical Reports Server (NTRS)

Morgan, Brian; Ghodssi, Reza

2007-01-01

Microelectromechanical systems (MEMS) of a proposed type would be designed and fabricated to effect lateral and vertical alignment of optical fibers with respect to optical, electro-optical, optoelectronic, and/or photonic devices on integrated circuit chips and similar monolithic device structures. A MEMS device of this type would consist of a pair of oppositely sloped alignment wedges attached to linear actuators that would translate the wedges in the plane of a substrate, causing an optical fiber in contact with the sloping wedge surfaces to undergo various displacements parallel and perpendicular to the plane. In making it possible to accurately align optical fibers individually during the packaging stages of fabrication of the affected devices, this MEMS device would also make it possible to relax tolerances in other stages of fabrication, thereby potentially reducing costs and increasing yields. In a typical system according to the proposal (see Figure 1), one or more pair(s) of alignment wedges would be positioned to create a V groove in which an optical fiber would rest. The fiber would be clamped at a suitable distance from the wedges to create a cantilever with a slight bend to push the free end of the fiber gently to the bottom of the V groove. The wedges would be translated in the substrate plane by amounts Dx1 and Dx2, respectively, which would be chosen to move the fiber parallel to the plane by a desired amount Dx and perpendicular to the plane by a desired amount Dy. The actuators used to translate the wedges could be variants of electrostatic or thermal actuators that are common in MEMS.

Piezoelectric-hydraulic pump based band brake actuation system for automotive transmission control

NASA Astrophysics Data System (ADS)

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

2007-04-01

The actuation system of friction elements (such as band brakes) is essential for high quality operations in modern automotive automatic transmissions (in short, ATs). The current band brake actuation system consists of several hydraulic components, including the oil pump, the regulating valve and the control valves. In general, it has been recognized that the current AT band brake actuation system has many limitations. For example, the oil pump and valve body are relatively heavy and complex. Also, the oil pumps induce inherently large drag torque, which affects fuel economy. This research is to overcome these problems of the current system by exploring the utilization of a hybrid type piezo-hydraulic pump device for AT band brake control. This new actuating system integrates a piezo-hydraulic pump to the input of the band brake. Compared with the current systems, this new actuator features much simpler structure, smaller size, and lower weight. This paper describes the development, design and fabrication of the new stand-alone prototype actuator for AT band brake control. An analytical model is developed and validated using experimental data. Performance tests on the hardware and system simulations utilizing the validated model are performed to characterize the new prototype actuator. It is predicted that with increasing of accumulator pressure and driving frequency, the proposed prototype actuating system will satisfy the band brake requirement for AT shift control.

Fully redundant mechanical release actuator

NASA Technical Reports Server (NTRS)

Lucy, Melvin H. (Inventor)

1987-01-01

A system is described for performing a mechanical release function exhibiting low shock. This system includes two pyrotechnic detents fixed mounted in opposing axial alignment within a cylindrical housing having two mechanical bellows. Two mechanical bellow assemblies, each having one end hermetically bonded to the housing and the other to the respective actuator pin extending from either end of the housing, ensure that all outgassing and contamination from the operation of the pyrotechnic devices will be contained within the housing and bellows. The pin on one end of the assembly is fixed mounted and supported, via a bolt or ball-and-socket joint so that when the charge corresponding to that pin ignites, the entire assembly will exhibit rectilinear movement, including the opposing pin providing the unlatching motion. The release detent pin is supported by a linear bearing and when its corresponding pyrotechnic charge ignites the pin is retracted within the housing producing the same unlatching motion without movement of the entire assembly, thus providing complete mechanical, electrical and pyrotechnic redundancy for the unlatching pin.

Motion-Based Piloted Simulation Evaluation of a Control Allocation Technique to Recover from Pilot Induced Oscillations

NASA Technical Reports Server (NTRS)

Craun, Robert W.; Acosta, Diana M.; Beard, Steven D.; Leonard, Michael W.; Hardy, Gordon H.; Weinstein, Michael; Yildiz, Yildiray

2013-01-01

This paper describes the maturation of a control allocation technique designed to assist pilots in the recovery from pilot induced oscillations (PIOs). The Control Allocation technique to recover from Pilot Induced Oscillations (CAPIO) is designed to enable next generation high efficiency aircraft designs. Energy efficient next generation aircraft require feedback control strategies that will enable lowering the actuator rate limit requirements for optimal airframe design. One of the common issues flying with actuator rate limits is PIOs caused by the phase lag between the pilot inputs and control surface response. CAPIO utilizes real-time optimization for control allocation to eliminate phase lag in the system caused by control surface rate limiting. System impacts of the control allocator were assessed through a piloted simulation evaluation of a non-linear aircraft simulation in the NASA Ames Vertical Motion Simulator. Results indicate that CAPIO helps reduce oscillatory behavior, including the severity and duration of PIOs, introduced by control surface rate limiting.

An air-coupled actuator array for active modal control of timpani

NASA Astrophysics Data System (ADS)

Rollow, Douglas; Sparrow, Victor W.; Swanson, David C.

2005-09-01

The timbral characteristics of kettledrums can be described by a modal formulation of the vibration of a thin, air-loaded membrane. Modification of the modal time history can be brought about with the use of a control system which has independent influence on each structural mode. By replacing the usual kettle with a shallow chamber and a planar array of piston sources, a modal controller is created when driving the sources in appropriate linear combinations. A theoretical formulation of active control of structural vibration by means of fluid-coupled actuators is expressed, and a Boundary Element simulation provides insight to the coupled modes, independence of control, and constraints due to the geometry of the chamber. Advantages and limitations of this type of control source to general problems in actively controlled musical instruments are explored.

Gust alleviation - Criteria and control laws

NASA Technical Reports Server (NTRS)

Rynaski, E. G.

1979-01-01

The relationships between criteria specified for aircraft gust alleviation and the form of the control laws that result from the criteria are considered. Open-loop gust alleviation based on the linearized, small perturbation equations of aircraft motion is discussed, and an approximate solution of the open-loop control law is presented for the case in which the number of degrees of freedom of the aircraft exceeds the rank of the control effectiveness matrix. Excessive actuator lag is compensated for by taking into account actuator dynamics in the equations of motion, resulting in the specification of a general load network. Criteria for gust alleviation when output motions are gust alleviated and the closed-loop control law derived from them are examined and linear optimal control law is derived. Comparisons of the control laws reveal that the effectiveness of an open-loop control law is greatest at low aircraft frequencies but deteriorates as the natural frequency of the actuators is approached, while closed-loop methods are found to be more effective at higher frequencies.

Analysis and design of a six-degree-of-freedom Stewart platform-based robotic wrist

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Antrazi, Sami; Zhou, Zhen-Lei

1991-01-01

The kinematic analysis and implementation of a six degree of freedom robotic wrist which is mounted to a general open-kinetic chain manipulator to serve as a restbed for studying precision robotic assembly in space is discussed. The wrist design is based on the Stewart Platform mechanism and consists mainly of two platforms and six linear actuators driven by DC motors. Position feedback is achieved by linear displacement transducers mounted along the actuators and force feedback is obtained by a 6 degree of freedom force sensor mounted between the gripper and the payload platform. The robot wrist inverse kinematics which computes the required actuator lengths corresponding to Cartesian variables has a closed-form solution. The forward kinematics is solved iteratively using the Newton-Ralphson method which simultaneously provides a modified Jacobian Matrix which relates length velocities to Cartesian translational velocities and time rates of change of roll-pitch-yaw angles. Results of computer simulation conducted to evaluate the efficiency of the forward kinematics and Modified Jacobian Matrix are discussed.

OMS engine shutoff valve and actuation system design and evaluation. [for space shuttles

NASA Technical Reports Server (NTRS)

Wichmann, H.

1974-01-01

Shutoff valve and actuation system concepts that are most suitable for the Orbital Maneuvering Systems engine application were determined. Emphasis was placed on the ten year and 100 mission life requirement, propellant and propellant residue compatibility and weight. It was found that poppet or ball valves utilizing electric or electropneumatic actuation were most applicable. Preliminary design layouts of a number of valve and actuation concepts were prepared and analyzed to make the optimum concept selection. Pneumatic actuation systems were required to feature their own pneumatic supply so that for the quad redundant valve, it was necessary to include two pneumatic supply systems, one for each of the series legs of the quad redundant package. The requirement for the pneumatic package placed heavy reliability, weight, and maintenance penalties upon electropneumatic actuation systems. The two valve and actuation systems concepts selected featured electric torque motor operation and a poppet as well as a ball valve concept with a retractable seal.

The Development for Polymer Actuator Active Catheter System

PubMed Central

Sewa, S.; Onishi, K.; Oguro, K.; Asaka, K.; Taki, W.; Toma, N.

2001-01-01

Summary Electric stimuli polymer-metal composite actuator material has been developed for active catheter system and other widely new applications. The polymer actuator is made of ion exchange polymer and gold as electrode, and a pulse voltage of 3 volts on the actuator gave a quick bend 90 degree angle. This composite material is possible to make small size, light and soft actuator. So now we can actually develop an active catheter for the interventional radiology surgery. The prototype polymer actuator active catheter has been developed by using polymer actuator technology and Micro Electronics Mechanical System (MEMS) technologies. The active catheter is controllable from the outside of the body by electric signal. The tip part of the catheter is made of the polymer actuator tube and bends 90 degree angles. The animal tests (dog) showed good actuator performance to control right direction and bending angle at bifurcation of blood vessel and aneurysms. PMID:20663388

Dynamics and control of the vortex flow behind a slender conical forebody by a pair of plasma actuators

NASA Astrophysics Data System (ADS)

Meng, Xuanshi; Long, Yuexiao; Wang, Jianlei; Liu, Feng; Luo, Shijun

2018-02-01

Detailed particle-image-velocimetry (PIV) and surface pressure measurements are presented to study the vortex flow behind a slender conical forebody at high angles of attack. The results confirm the existence of two randomly appearing mirror imaged asymmetric bi-stable states of the separation vortices, giving rise to large side force and moment. A pair of carefully designed dielectric barrier discharge plasma actuators mounted near the apex and on both sides of the conical body are used to manipulate the vortex flow and thus provide control of the side forces on the body without using flaps. By making use of a duty-cycle actuation scheme that alternately actuates the port and starboard plasma actuators and optimizing the duty-cycle frequency, the present work demonstrates the feasibility of achieving a nearly perfect linear proportional control of the side force and moment in response to the duty-cycle ratio. Phase-locked PIV and surface pressure measurements are used to study the unsteady dynamic evolution of the flow within one duty-cycle actuation to reveal the flow control mechanism. It is found that under the duty-cycle actuation with the optimized frequency, the vortex flow essentially follows the plasma actuation by alternating between the two bi-stable states controlled directly by the duty-cycle ratio.

Scaling Laws of Microactuators and Potential Applications of Electroactive Polymers in MEMS

NASA Technical Reports Server (NTRS)

Liu, Chang; Bar-Cohen, Y.

1999-01-01

Besides the scale factor that distinguishes the various species, fundamentally biological muscles changes little between species, indicating a highly optimized system. Electroactive polymer actuators offer the closest resemblance to biological muscles, however besides the large actuation displacement these materials are falling short with regards to the actuation force. As improved materials are emerging it is becoming necessary to address key issues such as the need for effective electromechanical modeling and guiding parameters in scaling the actuators. In this paper, we will review the scaling laws for three major actuation mechanisms that are of relevance to micro electromechanical systems: electrostatic actuation, magnetic actuation, thermal bimetallic actuation, and piezoelectric actuation.

Modeling and development of a twisting wing using inductively heated shape memory alloy actuators

NASA Astrophysics Data System (ADS)

Saunders, Robert N.; Hartl, Darren J.; Boyd, James G.; Lagoudas, Dimitris C.

2015-04-01

Wing twisting has been shown to improve aircraft flight performance. The potential benefits of a twisting wing are often outweighed by the mass of the system required to twist the wing. Shape memory alloy (SMA) actuators repeatedly demonstrate abilities and properties that are ideal for aerospace actuation systems. Recent advances have shown an SMA torsional actuator that can be manufactured and trained with the ability to generate large twisting deformations under substantial loading. The primary disadvantage of implementing large SMA actuators has been their slow actuation time compared to conventional actuators. However, inductive heating of an SMA actuator allows it to generate a full actuation cycle in just seconds rather than minutes while still . The aim of this work is to demonstrate an experimental wing being twisted to approximately 10 degrees by using an inductively heated SMA torsional actuator. This study also considers a 3-D electromagnetic thermo-mechanical model of the SMA-wing system and compare these results to experiments to demonstrate modeling capabilities.

High temperature spectral emissivity measurement using integral blackbody method

NASA Astrophysics Data System (ADS)

Pan, Yijie; Dong, Wei; Lin, Hong; Yuan, Zundong; Bloembergen, Pieter

2016-10-01

Spectral emissivity is a critical material's thermos-physical property for heat design and radiation thermometry. A prototype instrument based upon an integral blackbody method was developed to measure material's spectral emissivity above 1000 °. The system was implemented with an optimized commercial variable-high-temperature blackbody, a high speed linear actuator, a linear pyrometer, and an in-house designed synchronization circuit. A sample was placed in a crucible at the bottom of the blackbody furnace, by which the sample and the tube formed a simulated blackbody which had an effective total emissivity greater than 0.985. During the measurement, the sample was pushed to the end opening of the tube by a graphite rod which was actuated through a pneumatic cylinder. A linear pyrometer was used to monitor the brightness temperature of the sample surface through the measurement. The corresponding opto-converted voltage signal was fed and recorded by a digital multi-meter. A physical model was proposed to numerically evaluate the temperature drop along the process. Tube was discretized as several isothermal cylindrical rings, and the temperature profile of the tube was measurement. View factors between sample and rings were calculated and updated along the whole pushing process. The actual surface temperature of the sample at the end opening was obtained. Taking advantages of the above measured voltage profile and the calculated true temperature, spectral emissivity under this temperature point was calculated.

The detrimental effect of friction on space microgravity robotics

NASA Technical Reports Server (NTRS)

Newman, Wyatt S.; Glosser, Gregory D.; Miller, Jeffrey H.; Rohn, Douglas

1992-01-01

The authors present an analysis of why control systems are ineffective in compensating for acceleration disturbances due to Coulomb friction. Linear arguments indicate that the effects of Coulomb friction on a body are most difficult to reject when the control actuator is separated from the body of compliance. The linear arguments were illustrated in a nonlinear simulation of optimal linear tracking control in the presence of nonlinear friction. The results of endpoint acceleration measurements for four robot designs are presented and are compared with simulation and to equivalent measurements on a human. It is concluded that Coulomb friction in common bearings and transmission induces unacceptable levels of endpoint acceleration, that these accelerations cannot be adequately attenuated by control, and that robots for microgravity work will require special design considerations for inherently low friction.

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.

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

DOEpatents

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.

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

PubMed

Zheng, Hao; Shen, Xiangrong

2013-11-25

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

Redundant actuator development study. [flight control systems for supersonic transport aircraft

NASA Technical Reports Server (NTRS)

Ryder, D. R.

1973-01-01

Current and past supersonic transport configurations are reviewed to assess redundancy requirements for future airplane control systems. Secondary actuators used in stability augmentation systems will probably be the most critical actuator application and require the highest level of redundancy. Two methods of actuator redundancy mechanization have been recommended for further study. Math models of the recommended systems have been developed for use in future computer simulations. A long range plan has been formulated for actuator hardware development and testing in conjunction with the NASA Flight Simulator for Advanced Aircraft.

Active-passive hybrid piezoelectric actuators for high-precision hard disk drive servo systems

NASA Astrophysics Data System (ADS)

Chan, Kwong Wah; Liao, Wei-Hsin

2006-03-01

Positioning precision is crucial to today's increasingly high-speed, high-capacity, high data density, and miniaturized hard disk drives (HDDs). The demand for higher bandwidth servo systems that can quickly and precisely position the read/write head on a high track density becomes more pressing. Recently, the idea of applying dual-stage actuators to track servo systems has been studied. The push-pull piezoelectric actuated devices have been developed as micro actuators for fine and fast positioning, while the voice coil motor functions as a large but coarse seeking. However, the current dual-stage actuator design uses piezoelectric patches only without passive damping. In this paper, we propose a dual-stage servo system using enhanced active-passive hybrid piezoelectric actuators. The proposed actuators will improve the existing dual-stage actuators for higher precision and shock resistance, due to the incorporation of passive damping in the design. We aim to develop this hybrid servo system not only to increase speed of track seeking but also to improve precision of track following servos in HDDs. New piezoelectrically actuated suspensions with passive damping have been designed and fabricated. In order to evaluate positioning and track following performances for the dual-stage track servo systems, experimental efforts are carried out to implement the synthesized active-passive suspension structure with enhanced piezoelectric actuators using a composite nonlinear feedback controller.

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).

The development of compact electroactive polymer actuators suitable for use in full page Braille displays

NASA Astrophysics Data System (ADS)

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

2010-04-01

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

An optimal control strategy for hybrid actuator systems: Application to an artificial muscle with electric motor assist.

PubMed

Ishihara, Koji; Morimoto, Jun

2018-03-01

Humans use multiple muscles to generate such joint movements as an elbow motion. With multiple lightweight and compliant actuators, joint movements can also be efficiently generated. Similarly, robots can use multiple actuators to efficiently generate a one degree of freedom movement. For this movement, the desired joint torque must be properly distributed to each actuator. One approach to cope with this torque distribution problem is an optimal control method. However, solving the optimal control problem at each control time step has not been deemed a practical approach due to its large computational burden. In this paper, we propose a computationally efficient method to derive an optimal control strategy for a hybrid actuation system composed of multiple actuators, where each actuator has different dynamical properties. We investigated a singularly perturbed system of the hybrid actuator model that subdivided the original large-scale control problem into smaller subproblems so that the optimal control outputs for each actuator can be derived at each control time step and applied our proposed method to our pneumatic-electric hybrid actuator system. Our method derived a torque distribution strategy for the hybrid actuator by dealing with the difficulty of solving real-time optimal control problems. Copyright © 2017 The Author(s). Published by Elsevier Ltd.. All rights reserved.

Laminar composite structures for high power actuators

NASA Astrophysics Data System (ADS)

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

2017-05-01

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

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

NASA Technical Reports Server (NTRS)

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

1997-01-01

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

Design of robust reliable control for T-S fuzzy Markovian jumping delayed neutral type neural networks with probabilistic actuator faults and leakage delays: An event-triggered communication scheme.

PubMed

Syed Ali, M; Vadivel, R; Saravanakumar, R

2018-06-01

This study examines the problem of robust reliable control for Takagi-Sugeno (T-S) fuzzy Markovian jumping delayed neural networks with probabilistic actuator faults and leakage terms. An event-triggered communication scheme. First, the randomly occurring actuator faults and their failures rates are governed by two sets of unrelated random variables satisfying certain probabilistic failures of every actuator, new type of distribution based event triggered fault model is proposed, which utilize the effect of transmission delay. Second, Takagi-Sugeno (T-S) fuzzy model is adopted for the neural networks and the randomness of actuators failures is modeled in a Markov jump model framework. Third, to guarantee the considered closed-loop system is exponential mean square stable with a prescribed reliable control performance, a Markov jump event-triggered scheme is designed in this paper, which is the main purpose of our study. Fourth, by constructing appropriate Lyapunov-Krasovskii functional, employing Newton-Leibniz formulation and integral inequalities, several delay-dependent criteria for the solvability of the addressed problem are derived. The obtained stability criteria are stated in terms of linear matrix inequalities (LMIs), which can be checked numerically using the effective LMI toolbox in MATLAB. Finally, numerical examples are given to illustrate the effectiveness and reduced conservatism of the proposed results over the existing ones, among them one example was supported by real-life application of the benchmark problem. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Time-delay control of a magnetic levitated linear positioning system

NASA Technical Reports Server (NTRS)

Tarn, J. H.; Juang, K. Y.; Lin, C. E.

1994-01-01

In this paper, a high accuracy linear positioning system with a linear force actuator and magnetic levitation is proposed. By locating a permanently magnetized rod inside a current-carrying solenoid, the axial force is achieved by the boundary effect of magnet poles and utilized to power the linear motion, while the force for levitation is governed by Ampere's Law supplied with the same solenoid. With the levitation in a radial direction, there is hardly any friction between the rod and the solenoid. The high speed motion can hence be achieved. Besides, the axial force acting on the rod is a smooth function of rod position, so the system can provide nanometer resolution linear positioning to the molecule size. Since the force-position relation is highly nonlinear, and the mathematical model is derived according to some assumptions, such as the equivalent solenoid of the permanently magnetized rod, so there exists unknown dynamics in practical application. Thus 'robustness' is an important issue in controller design. Meanwhile the load effect reacts directly on the servo system without transmission elements, so the capability of 'disturbance rejection; is also required. With the above consideration, a time-delay control scheme is chosen and applied. By comparing the input-output relation and the mathematical model, the time-delay controller calculates an estimation of unmodeled dynamics and disturbances and then composes the desired compensation into the system. Effectiveness of the linear positioning system and control scheme are illustrated with simulation results.

Design a software real-time operation platform for wave piercing catamarans motion control using linear quadratic regulator based genetic algorithm.

PubMed

Liang, Lihua; Yuan, Jia; Zhang, Songtao; Zhao, Peng

2018-01-01

This work presents optimal linear quadratic regulator (LQR) based on genetic algorithm (GA) to solve the two degrees of freedom (2 DoF) motion control problem in head seas for wave piercing catamarans (WPC). The proposed LQR based GA control strategy is to select optimal weighting matrices (Q and R). The seakeeping performance of WPC based on proposed algorithm is challenged because of multi-input multi-output (MIMO) system of uncertain coefficient problems. Besides the kinematical constraint problems of WPC, the external conditions must be considered, like the sea disturbance and the actuators (a T-foil and two flaps) control. Moreover, this paper describes the MATLAB and LabVIEW software plats to simulate the reduction effects of WPC. Finally, the real-time (RT) NI CompactRIO embedded controller is selected to test the effectiveness of the actuators based on proposed techniques. In conclusion, simulation and experimental results prove the correctness of the proposed algorithm. The percentage of heave and pitch reductions are more than 18% in different high speeds and bad sea conditions. And the results also verify the feasibility of NI CompactRIO embedded controller.

Design a software real-time operation platform for wave piercing catamarans motion control using linear quadratic regulator based genetic algorithm

PubMed Central

Liang, Lihua; Zhang, Songtao; Zhao, Peng

2018-01-01

This work presents optimal linear quadratic regulator (LQR) based on genetic algorithm (GA) to solve the two degrees of freedom (2 DoF) motion control problem in head seas for wave piercing catamarans (WPC). The proposed LQR based GA control strategy is to select optimal weighting matrices (Q and R). The seakeeping performance of WPC based on proposed algorithm is challenged because of multi-input multi-output (MIMO) system of uncertain coefficient problems. Besides the kinematical constraint problems of WPC, the external conditions must be considered, like the sea disturbance and the actuators (a T-foil and two flaps) control. Moreover, this paper describes the MATLAB and LabVIEW software plats to simulate the reduction effects of WPC. Finally, the real-time (RT) NI CompactRIO embedded controller is selected to test the effectiveness of the actuators based on proposed techniques. In conclusion, simulation and experimental results prove the correctness of the proposed algorithm. The percentage of heave and pitch reductions are more than 18% in different high speeds and bad sea conditions. And the results also verify the feasibility of NI CompactRIO embedded controller. PMID:29709008

A Portable Analyzer for Pouch-Actuated, Immunoassay Cassettes

PubMed Central

Qiu, Xianbo; Liu, Changchun; Mauk, Michael G.; Hart, Robert W.; Chen, Dafeng; Qiu, Jing; Kientz, Terry; Fiene, Jonathan; Bau, Haim H.

2011-01-01

A portable, small footprint, light, general purpose analyzer (processor) to control the flow in immunoassay cassettes and to facilitate the detection of test results is described. The durable analyzer accepts disposable cassettes that contain pouches and reaction chambers for various unit operations such as hydration of dry reagents, stirring, and incubation. The analyzer includes individually controlled, linear actuators to compress the pouches in the cassette, which facilitates the pumping and mixing of sample and reagents, and to close diaphragm-based valves for flow control. The same types of actuators are used to compress pouches and actuate valves. The analyzer also houses a compact OEM scanner/reader to excite fluorescence and detect emission from labels. The analyzer is hydraulically isolated from the cassette, reducing the possibility of cross-contamination. The analyzer facilitates programmable, automated execution of a sequence of operations such as pumping and valving in a timely fashion, reducing the level of expertise required from the operator and the possibility for errors. The analyzer’s design is modular and expandable to accommodate cassettes of various complexities and additional functionalities. In this paper, the utility of the analyzer has been demonstrated with the execution of a simple, consecutive, lateral flow assay of a model biological system and the test results were detected with up converting phosphor labels that are excited at infrared frequencies and emit in the visible spectrum. PMID:22125359

Wheeled hopping robot

DOEpatents

Fischer, Gary J [Albuquerque, NM

2010-08-17

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.

Modelling chaotic vibrations using NASTRAN

NASA Technical Reports Server (NTRS)

Sheerer, T. J.

1993-01-01

Due to the unavailability and, later, prohibitive cost of the computational power required, many phenomena in nonlinear dynamic systems have in the past been addressed in terms of linear systems. Linear systems respond to periodic inputs with periodic outputs, and may be characterized in the time domain or in the frequency domain as convenient. Reduction to the frequency domain is frequently desireable to reduce the amount of computation required for solution. Nonlinear systems are only soluble in the time domain, and may exhibit a time history which is extremely sensitive to initial conditions. Such systems are termed chaotic. Dynamic buckling, aeroelasticity, fatigue analysis, control systems and electromechanical actuators are among the areas where chaotic vibrations have been observed. Direct transient analysis over a long time period presents a ready means of simulating the behavior of self-excited or externally excited nonlinear systems for a range of experimental parameters, either to characterize chaotic behavior for development of load spectra, or to define its envelope and preclude its occurrence.

Cerebellar-inspired algorithm for adaptive control of nonlinear dielectric elastomer-based artificial muscle

PubMed Central

Assaf, Tareq; Rossiter, Jonathan M.; Porrill, John

2016-01-01

Electroactive polymer actuators are important for soft robotics, but can be difficult to control because of compliance, creep and nonlinearities. Because biological control mechanisms have evolved to deal with such problems, we investigated whether a control scheme based on the cerebellum would be useful for controlling a nonlinear dielectric elastomer actuator, a class of artificial muscle. The cerebellum was represented by the adaptive filter model, and acted in parallel with a brainstem, an approximate inverse plant model. The recurrent connections between the two allowed for direct use of sensory error to adjust motor commands. Accurate tracking of a displacement command in the actuator's nonlinear range was achieved by either semi-linear basis functions in the cerebellar model or semi-linear functions in the brainstem corresponding to recruitment in biological muscle. In addition, allowing transfer of training between cerebellum and brainstem as has been observed in the vestibulo-ocular reflex prevented the steady increase in cerebellar output otherwise required to deal with creep. The extensibility and relative simplicity of the cerebellar-based adaptive-inverse control scheme suggests that it is a plausible candidate for controlling this type of actuator. Moreover, its performance highlights important features of biological control, particularly nonlinear basis functions, recruitment and transfer of training. PMID:27655667

HIGH EFFICIENCY STRUCTURAL FLOWTHROUGH ROTOR WITH ACTIVE FLAP CONTROL: VOLUME THREE: MARKET & TEAM

DOE Office of Scientific and Technical Information (OSTI.GOV)

Zuteck, Michael D.; Jackson, Kevin L.; Santos, Richard A.

The Zimitar one-piece rotor primary structure is integrated, so balanced thrust and gravity loads flow through the hub region without transferring out of its composite material. Large inner rotor geometry is used since there is no need to neck down to a blade root region and pitch bearing. Rotor control is provided by a highly redundant, five flap system on each blade, sized so that easily handled standard electric linear actuators are sufficient.

Actuation and system design and evaluation OMS engine shutoff valve, Volume 1. [space shuttles

NASA Technical Reports Server (NTRS)

Dunn, V. B.

1975-01-01

A technology program was conducted to identify and verify the optimum valve and actuation system concept for the Space Shuttle Orbit Maneuvering System engine. Of major importance to the valve and actuation system selection was the ten-year, 100-mission, 10,000-cycle life requirement, while maintaining high reliability, low leakage, and low weight. Valve and actuation system concepts were comparatively evaluated against past valve failure reports and potential failure modes due to the shuttle mission profile to aid in the selection of the most optimum concept for design, manufacture and verification testing. Two valve concepts were considered during the preliminary design stage; i.e., the moving seat and lifting ball. Two actuation systems were manufactured and tested. Test results demonstrate the viability of a lifting ball concept as well as the applicability of an ac motor actuation system to best meet the requirements of the shuttle mission.

Optimized plasma actuation on asymmetric vortex over a slender body

NASA Astrophysics Data System (ADS)

Long, Yuexiao; Li, Huaxing; Meng, Xuanshi; Hu, Haiyang

2018-01-01

Detailed particle-image-velocimetry and surface pressure measurements are conducted to study asymmetric vortex control over a slender body at high angles of attack by using a pair of optimized alternating current surface-dielectric-barrier discharge plasma actuators. The Reynolds number based on the base diameter of the model is ReD = 3.8 × 105. Steady and duty-cycle manipulations are employed. The results demonstrate the effectiveness of the optimized actuator with a thick Teflon barrier at a high free-stream speed. Perfect linear proportional control is also achieved under duty-cycle control with a reduced frequency of f+ = 0.17.