Tension Stiffened and Tendon Actuated Manipulator

NASA Technical Reports Server (NTRS)

Dorsey, John T. (Inventor); Mercer, Charles D. (Inventor); Ganoe, George G. (Inventor); Doggett, William R. (Inventor); King, Bruce D. (Inventor); Jones, Thomas C. (Inventor); Corbin, Cole K. (Inventor)

2015-01-01

A tension stiffened and tendon actuated manipulator is provided performing robotic-like movements when acquiring a payload. The manipulator design can be adapted for use in-space, lunar or other planetary installations as it is readily configurable for acquiring and precisely manipulating a payload in both a zero-g environment and in an environment with a gravity field. The manipulator includes a plurality of link arms, a hinge connecting adjacent link arms together to allow the adjacent link arms to rotate relative to each other and a cable actuation and tensioning system provided between adjacent link arms. The cable actuation and tensioning system includes a spreader arm and a plurality of driven and non-driven elements attached to the link arms and the spreader arm. At least one cable is routed around the driven and non-driven elements for actuating the hinge.

Evaluation of a silicon 5 MHz p–n diode actuator with a laterally vibrating extensional mode

NASA Astrophysics Data System (ADS)

Miyazaki, Fumito; Baba, Kazuki; Tanigawa, Hiroshi; Furutsuka, Takashi; Suzuki, Kenichiro

2018-05-01

In this paper, we describe p–n diode actuators that are laterally driven by the force induced in a depletion layer. The previously reported p–n diode actuators have been vertically driven. Because the resonant frequency depends on the thickness of the vibrating plate, the integration of resonators with different frequencies on a chip has been difficult. The resonators in this work are driven laterally by using length-extensional vibration. We have developed a compact model based on an analytical expression, in which p–n diode actuators are driven by the forces induced by the spread of the depletion layer. The deflection generated by the p–n diode actuators was proportional to the ratio of the depletion layer width to the resonator thickness as well as the position of the p–n junction. Good agreement of experimental results with the theory was confirmed by comparing the measured values for silicon p–n diode rectangular-plate actuators fabricated using a silicon-on-insulator (SOI) substrate. The displacement amplitude of the actuators was proportional to the DC bias, while the resonant frequency was independent of the DC bias. The latter characteristic is very different from that of widely used electrostatic actuators. Although the amplitude of the actuator measured in this work was very small, it is expected that the amplitude will increase greatly by increasing the doping of the p–n diode actuators.

Simulation Tool for Dielectric Barrier Discharge Plasma Actuators

NASA Technical Reports Server (NTRS)

Likhanskii, Alexander

2014-01-01

Traditional approaches for active flow separation control using dielectric barrier discharge (DBD) plasma actuators are limited to relatively low speed flows and atmospheric conditions. This results in low feasibility of the DBDs for aerospace applications. For active flow control at turbine blades, fixed wings, and rotary wings and on hypersonic vehicles, DBD plasma actuators must perform at a wide range of conditions, including rarified flows and combustion mixtures. An efficient, comprehensive, physically based DBD simulation tool can optimize DBD plasma actuators for different operation conditions. Researchers are developing a DBD plasma actuator simulation tool for a wide range of ambient gas pressures. The tool will treat DBD using either kinetic, fluid, or hybrid models, depending on the DBD operational condition.

Bicoherence Analysis of Electrostatic Interchange Mode Coupling in a Turbulent Laboratory Magnetosphere

NASA Astrophysics Data System (ADS)

Abler, M. C.; Mauel, M. E.; Saperstein, A.

2017-12-01

Plasmas confined by a strong dipole field exhibit interchange and entropy mode turbulence, which previous experiments have shown respond locally to active feedback [1]. On the Collisionless Terrella Experiment (CTX), this turbulence is characterized by low frequency, low order, quasi-coherent modes with complex spectral dynamics. We apply bicoherence analysis [2] to study nonlinear phase coupling in a variety of scenarios. First, we study the self-interaction of the naturally occurring interchange turbulence; this analysis is then expanded to include the effects of single or multiple driven modes in the frequency range of the background turbulent oscillations. Initial measurements of coupling coefficients are presented in both cases. Driven low frequency interchange modes are observed to generate multiple harmonics which persist throughout the plasma, becoming weaker as they propagate away from the actuator in the direction of the electron magnetic drift. Future work is also discussed, including application of wavelet bicoherence analysis and applications to planetary magnetospheres. [1] Roberts, Mauel, and Worstell, Phys Plasmas (2015). [2] Grierson, Worstell, and Mauel, Phys Plasmas (2009). Supported by NSF-DOE Partnership for Plasma Science Grants DOE-DE-FG02-00ER54585 and NSF-PHY-1201896.

Development of Integrated Magnetic and Kinetic Control-oriented Transport Model for q-profile Response Prediction in EAST Discharges

NASA Astrophysics Data System (ADS)

Wang, Hexiang; Schuster, Eugenio; Rafiq, Tariq; Kritz, Arnold; Ding, Siye

2016-10-01

Extensive research has been conducted to find high-performance operating scenarios characterized by high fusion gain, good confinement, plasma stability and possible steady-state operation. A key plasma property that is related to both the stability and performance of these advanced plasma scenarios is the safety factor profile. A key component of the EAST research program is the exploration of non-inductively driven steady-state plasmas with the recently upgraded heating and current drive capabilities that include lower hybrid current drive and neutral beam injection. Anticipating the need for tight regulation of the safety factor profile in these plasma scenarios, a first-principles-driven (FPD)control-oriented model is proposed to describe the safety factor profile evolution in EAST in response to the different actuators. The TRANSP simulation code is employed to tailor the FPD model to the EAST tokamak geometry and to convert it into a form suitable for control design. The FPD control-oriented model's prediction capabilities are demonstrated by comparing predictions with experimental data from EAST. Supported by the US DOE under DE-SC0010537,DE-FG02-92ER54141 and DE-SC0013977.

Electrostatically Driven Nanoballoon Actuator.

PubMed

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

2016-11-09

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

Nonlinear Tracking Control of a Conductive Supercoiled Polymer Actuator.

PubMed

Luong, Tuan Anh; Cho, Kyeong Ho; Song, Min Geun; Koo, Ja Choon; Choi, Hyouk Ryeol; Moon, Hyungpil

2018-04-01

Artificial muscle actuators made from commercial nylon fishing lines have been recently introduced and shown as a new type of actuator with high performance. However, the actuators also exhibit significant nonlinearities, which make them difficult to control, especially in precise trajectory-tracking applications. In this article, we present a nonlinear mathematical model of a conductive supercoiled polymer (SCP) actuator driven by Joule heating for model-based feedback controls. Our efforts include modeling of the hysteresis behavior of the actuator. Based on nonlinear modeling, we design a sliding mode controller for SCP actuator-driven manipulators. The system with proposed control law is proven to be asymptotically stable using the Lyapunov theory. The control performance of the proposed method is evaluated experimentally and compared with that of a proportional-integral-derivative (PID) controller through one-degree-of-freedom SCP actuator-driven manipulators. Experimental results show that the proposed controller's performance is superior to that of a PID controller, such as the tracking errors are nearly 10 times smaller compared with those of a PID controller, and it is more robust to external disturbances such as sensor noise and actuator modeling error.

A saw-tooth plasma actuator for film cooling efficiency enhancement of a shaped hole

NASA Astrophysics Data System (ADS)

Li, Guozhan; Yu, Jianyang; Liu, Huaping; Chen, Fu; Song, Yanping

2017-08-01

This paper reports the large eddy simulations of the effects of a saw-tooth plasma actuator and the laidback fan-shaped hole on the film cooling flow characteristics, and the numerical results are compared with a corresponding standard configuration (cylindrical hole without the saw-tooth plasma actuator). For this numerical research, the saw-tooth plasma actuator is installed just downstream of the cooling hole and a phenomenological plasma model is employed to provide the 3D plasma force vectors. The results show that thanks to the downward force and the momentum injection effect of the saw-tooth plasma actuator, the cold jet comes closer to the wall surface and extends further downstream. The saw-tooth plasma actuator also induces a new pair of vortex which weakens the strength of the counter-rotating vortex pair (CRVP) and entrains the coolant towards the wall, and thus the diffusion of the cold jet in the crossflow is suppressed. Furthermore, the laidback fan-shaped hole reduces the vertical jet velocity causing the disappearance of downstream spiral separation node vortices, this compensates for the deficiency of the saw-tooth plasma actuator. Both effects of the laidback fan-shaped hole and the saw-tooth plasma actuator effectively control the development of the CRVP whose size and strength are smaller than those of the anti-counter rotating vortex pair in the far field, thus the centerline and the spanwise-averaged film cooling efficiency are enhanced. The average film cooling efficiency is the biggest in the Fan-Dc = 1 case, which is 80% bigger than that in the Fan-Dc = 0 case and 288% bigger than that in the Cyl-Dc = 0 case.

Control of supersonic axisymmetric base flows using passive splitter plates and pulsed plasma actuators

NASA Astrophysics Data System (ADS)

Reedy, Todd Mitchell

An experimental investigation evaluating the effects of flow control on the near-wake downstream of a blunt-based axisymmetric body in supersonic flow has been conducted. To better understand and control the physical phenomena that govern these massively separated high-speed flows, this research examined both passive and active flow-control methodologies designed to alter the stability characteristics and structure of the near-wake. The passive control investigation consisted of inserting splitter plates into the recirculation region. The active control technique utilized energy deposition from multiple electric-arc plasma discharges placed around the base. The flow-control authority of both methodologies was evaluated with experimental diagnostics including particle image velocimetry, schlieren photography, surface flow visualization, pressure-sensitive paint, and discrete surface pressure measurements. Using a blowdown-type wind tunnel reconstructed specifically for these studies, baseline axisymmetric experiments without control were conducted for a nominal approach Mach number of 2.5. In addition to traditional base pressure measurements, mean velocity and turbulence quantities were acquired using two-component, planar particle image velocimetry. As a result, substantial insight was gained regarding the time-averaged and instantaneous near-wake flow fields. This dataset will supplement the previous benchmark point-wise laser Doppler velocimetry data of Herrin and Dutton (1994) for comparison with new computational predictive techniques. Next, experiments were conducted to study the effects of passive triangular splitter plates placed in the recirculation region behind a blunt-based axisymmetric body. By dividing the near-wake into 1/2, 1/3, and 1/4 cylindrical regions, the time-averaged base pressure distribution, time-series pressure fluctuations, and presumably the stability characteristics were altered. While the spatial base pressure distribution was influenced considerably, the area-integrated pressure was only slightly affected. Normalized RMS levels indicate that base pressure fluctuations were significantly reduced with the addition of the splitter plates. Power-spectral-density estimates revealed a spectral broadening of fluctuating energy for the 1/2 cylinder configuration and a bimodal distribution for the 1/3 and 1/4 cylinder configurations. It was concluded that the recirculation region is not the most sensitive location to apply flow control; rather, the shear layer may be a more influential site for implementing flow control methodologies. For active flow control, pulsed plasma-driven fluidic actuators were investigated. Initially, the performance of two plasma actuator designs was characterized to determine their potential as supersonic flow control devices. For the first actuator considered, the pulsed plasma jet, electro-thermal heating from an electric discharge heats and pressurizes gas in a small cavity which is exhausted through a circular orifice forming a synthetic jet. Depending on the electrical energy addition, peak jet velocities ranged between 130 to nearly 500 m/s when exhausted to quiescent, ambient conditions. The second plasma actuator investigated is the localized arc filament plasma actuator (LAFPA), which created fluidic perturbations through the rapid, local thermal heating, generated from an electric arc discharge between two electrodes within a shallow open cavity. Electrical and emission properties of the LAFPA were first documented as a function of pressure in a quiescent, no-flow environment. Rotational and vibrational temperatures from N2 spectra were obtained for select plasma conditions and ambient pressures. Results further validate that the assumption of optically thin conditions for these electric arc plasmas is not necessary valid, even at low ambient pressure. Breakdown voltage, sustained plasma voltage, power, and energy per pulse were demonstrated to decrease with decreasing pressure. Implementing an array of eight electric arcs circumferentially around the base near the corner expansion, the LAFPA actuators were shown to produce significant disturbances to the separating shear layer of the base flow and cause modest influences on the base pressure when actuated over a range of high frequencies (O(kHz)), forcing modes, duty cycles, and electrical currents. To tailor the plasma actuator toward the specific flow control application of the separated base flow, several actuator geometries and energy additions were evaluated. Displaying the ability to produce disturbances in the shear layer, an open cavity actuator design outperformed the other geometries consisting of a confined cavity with an exhaust orifice. Increases in duty cycle (between 2% and 6%) and in plasma current (1/4 to 4 amps) were shown to produce large velocity disturbances causing a decrease in average base pressure. At 4 amps and a maximum duty cycle of 6%, the largest measured change in area-weighted base pressure, near -1.5%, was observed for the axisymmetric forcing mode. Positive changes in base pressure were experienced (as much as 1% increase from the no-control) for the vertical and horizontal flapping modes.

A Study on a Microwave-Driven Smart Material Actuator

NASA Technical Reports Server (NTRS)

Choi, Sang H.; Chu, Sang-Hyon; Kwak, M.; Cutler, A. D.

2001-01-01

NASA s Next Generation Space Telescope (NGST) has a large deployable, fragmented optical surface (greater than or = 2 8 m in diameter) that requires autonomous correction of deployment misalignments and thermal effects. Its high and stringent resolution requirement imposes a great deal of challenge for optical correction. The threshold value for optical correction is dictated by lambda/20 (30 nm for NGST optics). Control of an adaptive optics array consisting of a large number of optical elements and smart material actuators is so complex that power distribution for activation and control of actuators must be done by other than hard-wired circuitry. The concept of microwave-driven smart actuators is envisioned as the best option to alleviate the complexity associated with hard-wiring. A microwave-driven actuator was studied to realize such a concept for future applications. Piezoelectric material was used as an actuator that shows dimensional change with high electric field. The actuators were coupled with microwave rectenna and tested to correlate the coupling effect of electromagnetic wave. In experiments, a 3x3 rectenna patch array generated more than 50 volts which is a threshold voltage for 30-nm displacement of a single piezoelectric material. Overall, the test results indicate that the microwave-driven actuator concept can be adopted for NGST applications.

Surface chemistry driven actuation in nanoporous gold

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

Biener, J; Wittstock, A; Zepeda-Ruiz, L

Although actuation in biological systems is exclusively powered by chemical energy, this concept has not been realized in man-made actuator technologies, as these rely on generating heat or electricity first. Here, we demonstrate that surface-chemistry driven actuation can be realized in high surface area materials such as nanoporous gold. For example, we achieve reversible strain amplitudes in the order of a few tenths of a percent by alternating exposure of nanoporous Au to ozone and carbon monoxide. The effect can be explained by adsorbate-induced changes of the surface stress, and can be used to convert chemical energy directly into amore » mechanical response thus opening the door to surface-chemistry driven actuator and sensor technologies.« less

Combined magnetic and kinetic control of advanced tokamak steady state scenarios based on semi-empirical modelling

NASA Astrophysics Data System (ADS)

Moreau, D.; Artaud, J. F.; Ferron, J. R.; Holcomb, C. T.; Humphreys, D. A.; Liu, F.; Luce, T. C.; Park, J. M.; Prater, R.; Turco, F.; Walker, M. L.

2015-06-01

This paper shows that semi-empirical data-driven models based on a two-time-scale approximation for the magnetic and kinetic control of advanced tokamak (AT) scenarios can be advantageously identified from simulated rather than real data, and used for control design. The method is applied to the combined control of the safety factor profile, q(x), and normalized pressure parameter, βN, using DIII-D parameters and actuators (on-axis co-current neutral beam injection (NBI) power, off-axis co-current NBI power, electron cyclotron current drive power, and ohmic coil). The approximate plasma response model was identified from simulated open-loop data obtained using a rapidly converging plasma transport code, METIS, which includes an MHD equilibrium and current diffusion solver, and combines plasma transport nonlinearity with 0D scaling laws and 1.5D ordinary differential equations. The paper discusses the results of closed-loop METIS simulations, using the near-optimal ARTAEMIS control algorithm (Moreau D et al 2013 Nucl. Fusion 53 063020) for steady state AT operation. With feedforward plus feedback control, the steady state target q-profile and βN are satisfactorily tracked with a time scale of about 10 s, despite large disturbances applied to the feedforward powers and plasma parameters. The robustness of the control algorithm with respect to disturbances of the H&CD actuators and of plasma parameters such as the H-factor, plasma density and effective charge, is also shown.

Development of anthropomorphic robotic hand driven by Pneumatic Artificial Muscles for robotic applications

NASA Astrophysics Data System (ADS)

Farag, Mohannad; Zainul Azlan, Norsinnira; Hayyan Alsibai, Mohammed

2018-04-01

This paper presents the design and fabrication of a three-fingered anthropomorphic robotic hand. The fingers are driven by tendons and actuated by human muscle-like actuators known as Pneumatic Artificial Muscle (PAM). The proposed design allows the actuators to be mounted outside the hand where each finger can be driven by one PAM actuator and six indirectly interlinked tendons. With this design, the three-fingered hand has a compact size and a lightweight with a mass of 150.25 grams imitating the human being hand in terms of size and weight. The hand also successfully grasped objects with different shapes and weights up to 500 g. Even though the number of PAM actuators equals the number of Degrees of Freedom (DOF), the design guarantees driving of three joints by only one actuator reducing the number of required actuators from 3 to 1. Therefore, this hand is suitable for researches of robotic applications in terms of design, cost and ability to be equipped with several types of sensors.

Leading edge vortex control on a delta wing with dielectric barrier discharge plasma actuators

NASA Astrophysics Data System (ADS)

Shen, Lu; Wen, Chih-yung

2017-06-01

This paper presents an experimental investigation of the application of dielectric barrier discharge (DBD) plasma actuators on a slender delta wing to control the leading edge vortices (LEVs). The experiments are conducted in a wind tunnel with a Reynolds number of 50 000 based on the chord length. The smoke flow visualization reveals that the DBD plasma actuators at the leading edges significantly modify the vortical flow structure over the delta wing. It is noted that symmetric control at both semi-spans and asymmetric control at a single semi-span leads to opposite effects on the local LEVs. Particle image velocimetry (PIV) indicates that the shear layer is deformed by the actuators. Therefore, both the strength and the shape of the LEV cores are deeply affected. The six-component force measurement shows that the DBD plasma actuators have a limited effect on lift and drag while inducing relatively large moments. This suggests that the DBD plasma actuator is a promising technique for delta wing maneuvering.

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

NASA Astrophysics Data System (ADS)

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

2016-06-01

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

Numerical and Experimental Investigation on the Attenuation of Electromagnetic Waves in Unmagnetized Plasmas Using Inductively Coupled Plasma Actuator

NASA Astrophysics Data System (ADS)

Lin, Min; Xu, Haojun; Wei, Xiaolong; Liang, Hua; Song, Huimin; Sun, Quan; Zhang, Yanhua

2015-10-01

The attenuation of electromagnetic (EM) waves in unmagnetized plasma generated by an inductively coupled plasma (ICP) actuator has been investigated both theoretically and experimentally. A numerical study is conducted to investigate the propagation of EM waves in multilayer plasma structures which cover a square flat plate. Experimentally, an ICP actuator with dimensions of 20 cm×20 cm×4 cm is designed to produce a steady plasma slab. The attenuation of EM waves in the plasma generated by the ICP actuator is measured by a reflectivity arch test method at incident waves of 2.3 GHz and 10.1 GHz, respectively. A contrastive analysis of calculated and measured results of these incident wave frequencies is presented, which suggests that the experiment accords well with our theory. As expected, the plasma slab generated by the ICP actuator can effectively attenuate the EM waves, which may have great potential application prospects in aircraft stealth. supported by National Natural Science Foundation of China (Nos. 51276197, 11472306 and 11402301)

A small biomimetic quadruped robot driven by multistacked dielectric elastomer actuators

NASA Astrophysics Data System (ADS)

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

2014-06-01

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

Measurements and Simulations of Surface Dielectric Barrier Discharges Used as Plasma Actuators

NASA Technical Reports Server (NTRS)

Hoskinson, Alan R.

2012-01-01

This report is a Ph.D. dissertation performed under NRA cooperative agreement and submitted as part of the final report. Asymmetric surface dielectric barrier discharges (DBDs) have shown promise for use as aerodynamic actuators for active flow control. In this project we studied DBD actuators experimentally and numerically. Our DBDs used a symmetric triangular high voltage waveform to generate plasma in atmospheric pressure air. Time-averaged measurements indicated that the induced force of a single barrier actuator design (one electrode insulated from the plasma) can be increased exponentially above the results of previous studies by decreasing both the length and thickness of the electrode exposed to the plasma. This increased force may allow these devices to control flow separation in a wider range of flow environments. Experiments using an intensified digital camera to examine the plasma on time scales of a few nanoseconds showed that, in addition to the previously-observed filamentary and jet-like plasma structures, discharges with very thin exposed electrodes exhibited a weak but constant plasma immediately adjacent to those electrodes. In double-barrier actuators (both electrodes insulated), decreasing the diameter of the narrower electrode lead to increasing forces, and recorded images showed the simultaneous existence of both filamentary and jet-like plasma structures. The development and application of a time-dependent, two-dimensional computational fluid plasma model has aided in understanding the detailed physics of surface DBDs at all-time scales. For simulated single-barrier discharges, the model qualitatively reproduced the filamentary and jet-like micro-discharge structures. The model was somewhat successful in reproducing the observed characteristics of double-barrier actuators. For both actuator geometries, the model indicated that the majority of the forces induced on the neutral gas occur in between micro-discharges as the plasmas decay.

Design and simulation of a new bidirectional actuator for haptic systems featuring MR fluid

NASA Astrophysics Data System (ADS)

Hung, Nguyen Quoc; Tri, Diep Bao; Cuong, Vo Van; Choi, Seung-Bok

2017-04-01

In this research, a new configuration of bidirectional actuator featuring MR fluid (BMRA) is proposed for haptic application. The proposed BMRA consists of a driving disc, a driving housing and a driven disc. The driving disc is placed inside the driving housing and rotates counter to each other by a servo DC motor and a bevel gear system. The driven shaft is also placed inside the housing and next to the driving disc. The gap between the two disc and the gap between the discs and the housing are filled with MR fluid. On the driven disc, two mutual magnetic coils are placed. By applying currents to the two coils mutually, the torque at the output shaft, which is fixed to the driven disc, can be controlled with positive, zero or negative value. This make the actuator be suitable for haptic application. After a review of MR fluid and its application, configuration of the proposed BMRA is presented. The modeling of the actuator is then derived based on Bingham rheological model of MRF and magnetic finite element analysis (FEA). The optimal design of the actuator is then performed to minimize the mass of the BMRA. From the optimal design result, performance characteristics of the actuator is simulated and detailed design of a prototype actuator is conducted.

Bicoherence Analysis of Electrostatic Interchange Mode Coupling in a Turbulent Laboratory Magnetosphere

NASA Astrophysics Data System (ADS)

Abler, M. C.; Saperstein, A.; Yan, J. R.; Mauel, M. E.

2017-10-01

Plasmas confined by a strong dipole field exhibit interchange and entropy mode turbulence, which previous experiments have shown respond locally to active feedback. On the Collisionless Terrella Experiment (CTX), this turbulence is characterized by low frequency, low order, quasi-coherent modes with complex spectral dynamics. We apply bicoherence analysis to study nonlinear phase coupling in a variety of scenarios. First, we study the self-interaction of the naturally occurring interchange turbulence; this analysis is then expanded to include the effects of driven modes in the frequency range of the background turbulent oscillations. Initial measurements of coupling coefficients are presented in both cases. Driven low frequency interchange modes are observed to generate multiple harmonics which persist throughout the plasma, becoming weaker as they propagate away from the actuator in the direction of the electron magnetic drift. Future work is also discussed, including application of wavelet bicoherence analysis, excitation of interchange modes at multiple frequencies, and applications to planetary magnetospheres. Supported by NSF-DOE Partnership for Plasma Science Grants DOE-DE-FG02-00ER54585.

Schlieren visualization of flow-field modification over an airfoil by near-surface gas-density perturbations generated by a nanosecond-pulse-driven plasma actuator

NASA Astrophysics Data System (ADS)

Komuro, Atsushi; Takashima, Keisuke; Konno, Kaiki; Tanaka, Naoki; Nonomura, Taku; Kaneko, Toshiro; Ando, Akira; Asai, Keisuke

2017-06-01

Gas-density perturbations near an airfoil surface generated by a nanosecond dielectric-barrier-discharge plasma actuator (ns-DBDPA) are visualized using a high-speed Schlieren imaging method. Wind-tunnel experiments are conducted for a wind speed of 20 m s-1 with an NACA0015 airfoil whose chord length is 100 mm. The results show that the ns-DBDPA first generates a pressure wave and then stochastic perturbations of the gas density near the leading edge of the airfoil. Two structures with different characteristics are observed in the stochastic perturbations. One structure propagates along the boundary between the shear layer and the main flow at a speed close to that of the main flow. The other propagates more slowly on the surface of the airfoil and causes mixing between the main and shear flows. It is observed that these two heated structures interact with each other, resulting in a recovery in the negative pressure coefficient at the leading edge of the airfoil.

Plasma actuators for bluff body flow control

NASA Astrophysics Data System (ADS)

Kozlov, Alexey V.

The aerodynamic plasma actuators have shown to be efficient flow control devices in various applications. In this study the results of flow control experiments utilizing single dielectric barrier discharge plasma actuators to control flow separation and unsteady vortex shedding from a circular cylinder in cross-flow are reported. This work is motivated by the need to reduce landing gear noise for commercial transport aircraft via an effective streamlining created by the actuators. The experiments are performed at Re D = 20,000...164,000. Circular cylinders in cross-flow are chosen for study since they represent a generic flow geometry that is similar in all essential aspects to a landing gear oleo or strut. The minimization of the unsteady flow separation from the models and associated large-scale wake vorticity by using actuators reduces the radiated aerodynamic noise. Using either steady or unsteady actuation at ReD = 25,000, Karman shedding is totally eliminated, turbulence levels in the wake decrease significantly and near-field sound pressure levels are reduced by 13.3 dB. Unsteady actuation at an excitation frequency of St D = 1 is found to be most effective. The unsteady actuation also has the advantage that total suppression of shedding is achieved for a duty cycle of only 25%. However, since unsteady actuation is associated with an unsteady body force and produces a tone at the actuation frequency, steady actuation is more suitable for noise control applications. Two actuation strategies are used at ReD = 82,000: spanwise and streamwise oriented actuators. Near field microphone measurements in an anechoic wind tunnel and detailed study of the near wake using LDA are presented in the study. Both spanwise and streamwise actuators give nearly the same noise reduction level of 11.2 dB and 14.2 dB, respectively, and similar changes in the wake velocity profiles. The contribution of the actuator induced noise is found to be small compared to the natural shedding noise. A tandem cylinder configuration with the plasma actuation on the upstream cylinder is investigated using surface dynamic pressure sensors. As a result of the plasma actuation, the surface pressure fluctuations on the downstream cylinder are reduced by about two times at the free-stream velocity of 40 m/s (ReD = 164,000). In addition, this study presents the results of a parametric experimental investigation aimed at optimizing the body force produced by single dielectric barrier discharge (SDBD) plasma actuators used for aerodynamic flow control. A primary goal of the study is the improvement of actuator authority for flow control applications at higher Reynolds number than previously possible. The study examines the effects of dielectric material and thickness, applied voltage amplitude and frequency, voltage waveform, exposed electrode geometry, covered electrode width and multiple actuator arrays. The metric used to evaluate the performance of the actuator in each case is the measured actuator-induced thrust which is proportional to the total body force. It is demonstrated that actuators constructed with thick dielectric material of low dielectric constant and operated at low frequency AC voltage produce a body force that is an order of magnitude larger than that obtained by the Kapton-based actuators used in many previous plasma flow control studies. These actuators allow operation at much higher applied voltages without the formation of discrete streamers which lead to body force saturation.

Various vibration modes in a silicon ring resonator driven by p–n diode actuators formed in the lateral direction

NASA Astrophysics Data System (ADS)

Tsushima, Takafumi; Asahi, Yoichi; Tanigawa, Hiroshi; Furutsuka, Takashi; Suzuki, Kenichiro

2018-06-01

In this paper, we describe p–n diode actuators that are formed in the lateral direction on resonators. Because previously reported p–n diode actuators, which were driven by a force parallel to the electrostatic force induced in a p–n diode, were fabricated in the perpendicular direction to the surface, the fabrication process to satisfy the requirement of realizing a p–n junction set in the middle of the plate thickness has been difficult. The resonators in this work are driven by p–n diodes formed in the lateral direction, making the process easy. We have fabricated a silicon ring resonator that has in-plane vibration using p–n–p and n–p–n diode actuators formed in the lateral direction. First, we consider a space charge model that can sufficiently accurately describe the force induced in p–n diode actuators and compare it with the capacitance model used in most computer simulations. Then, we show that multiplying the vibration amplitude calculated by computer simulation by the modification coefficient of 4/3 provides the vibration amplitude in the p–n diode actuators. Good agreement of the theory with experimental results of the in-plane vibration measured for silicon ring resonators is obtained. The computer simulation is very useful for evaluating various vibration modes in resonators driven by the p–n diode actuators. The small amplitude of the p–n diode actuator measured in this work is expected to increase greatly with increased doping of the actuator.

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.

Dissipated power and induced velocity fields data of a micro single dielectric barrier discharge plasma actuator for active flow control☆

PubMed Central

Pescini, E.; Martínez, D.S.; De Giorgi, M.G.; Francioso, L.; Ficarella, A.

2015-01-01

In recent years, single dielectric barrier discharge (SDBD) plasma actuators have gained great interest among all the active flow control devices typically employed in aerospace and turbomachinery applications [1,2]. Compared with the macro SDBDs, the micro single dielectric barrier discharge (MSDBD) actuators showed a higher efficiency in conversion of input electrical power to delivered mechanical power [3,4]. This article provides data regarding the performances of a MSDBD plasma actuator [5,6]. The power dissipation values [5] and the experimental and numerical induced velocity fields [6] are provided. The present data support and enrich the research article entitled “Optimization of micro single dielectric barrier discharge plasma actuator models based on experimental velocity and body force fields” by Pescini et al. [6]. PMID:26425667

Rotary Actuators Based on Pneumatically Driven Elastomeric Structures.

PubMed

Gong, Xiangyu; Yang, Ke; Xie, Jingjin; Wang, Yanjun; Kulkarni, Parth; Hobbs, Alexander S; Mazzeo, Aaron D

2016-09-01

Unique elastomeric rotary actuators based on pneumatically driven peristaltic motion are demonstrated. Using silicone-based wheels, these motors enable a new class of soft locomotion not found in nature, which is capable of withstanding impact, traversing irregular terrain, and operating in water. For soft robotics, this work marks progress toward providing torque without bending actuators. © 2016 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

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.

Fruit fly scale robots can hover longer with flapping wings than with spinning wings.

PubMed

Hawkes, Elliot W; Lentink, David

2016-10-01

Hovering flies generate exceptionally high lift, because their wings generate a stable leading edge vortex. Micro flying robots with a similar wing design can generate similar high lift by either flapping or spinning their wings. While it requires less power to spin a wing, the overall efficiency depends also on the actuator system driving the wing. Here, we present the first holistic analysis to calculate how long a fly-inspired micro robot can hover with flapping versus spinning wings across scales. We integrate aerodynamic data with data-driven scaling laws for actuator, electronics and mechanism performance from fruit fly to hummingbird scales. Our analysis finds that spinning wings driven by rotary actuators are superior for robots with wingspans similar to hummingbirds, yet flapping wings driven by oscillatory actuators are superior at fruit fly scale. This crossover is driven by the reduction in performance of rotary compared with oscillatory actuators at smaller scale. Our calculations emphasize that a systems-level analysis is essential for trading-off flapping versus spinning wings for micro flying robots. © 2016 The Author(s).

Fruit fly scale robots can hover longer with flapping wings than with spinning wings

PubMed Central

Lentink, David

2016-01-01

Hovering flies generate exceptionally high lift, because their wings generate a stable leading edge vortex. Micro flying robots with a similar wing design can generate similar high lift by either flapping or spinning their wings. While it requires less power to spin a wing, the overall efficiency depends also on the actuator system driving the wing. Here, we present the first holistic analysis to calculate how long a fly-inspired micro robot can hover with flapping versus spinning wings across scales. We integrate aerodynamic data with data-driven scaling laws for actuator, electronics and mechanism performance from fruit fly to hummingbird scales. Our analysis finds that spinning wings driven by rotary actuators are superior for robots with wingspans similar to hummingbirds, yet flapping wings driven by oscillatory actuators are superior at fruit fly scale. This crossover is driven by the reduction in performance of rotary compared with oscillatory actuators at smaller scale. Our calculations emphasize that a systems-level analysis is essential for trading-off flapping versus spinning wings for micro flying robots. PMID:27707903

Effect of plasma actuator and splitter plate on drag coefficient of a circular cylinder

NASA Astrophysics Data System (ADS)

Akbıyık, Hürrem; Erkan Akansu, Yahya; Yavuz, Hakan; Ertuğrul Bay, Ahmet

2016-03-01

In this paper, an experimental study on flow control around a circular cylinder with splitter plate and plasma actuator is investigated. The study is performed in wind tunnel for Reynolds numbers at 4000 and 8000. The wake region of circular cylinder with a splitter plate is analyzed at different angles between 0 and 180 degrees. In this the study, not only plasma actuators are activated but also splitter plate is placed behind the cylinder. A couple electrodes are mounted on circular cylinder at ±90 degrees. Also, flow visualization is achieved by using smoke wire method. Drag coefficient of the circular cylinder with splitter plate and the plasma actuator are obtained for different angles and compared with the plain circular cylinder. While attack angle is 0 degree, drag coefficient is decreased about 20% by using the splitter plate behind the circular cylinder. However, when the plasma actuators are activated, the improvement of the drag reduction is measured to be 50%.

DBD Plasma Actuators for Flow Control in Air Vehicles and Jet Engines - Simulation of Flight Conditions in Test Chambers by Density Matching

NASA Technical Reports Server (NTRS)

Ashpis, David E.; Thurman, Douglas R.

2011-01-01

Dielectric Barrier Discharge (DBD) Plasma actuators for active flow control in aircraft and jet engines need to be tested in the laboratory to characterize their performance at flight operating conditions. DBD plasma actuators generate a wall-jet electronically by creating weakly ionized plasma, therefore their performance is affected by gas discharge properties, which, in turn, depend on the pressure and temperature at the actuator placement location. Characterization of actuators is initially performed in a laboratory chamber without external flow. The pressure and temperature at the actuator flight operation conditions need to be simultaneously set in the chamber. A simplified approach is desired. It is assumed that the plasma discharge depends only on the gas density, while other temperature effects are assumed to be negligible. Therefore, tests can be performed at room temperature with chamber pressure set to yield the same density as in operating flight conditions. The needed chamber pressures are shown for altitude flight of an air vehicle and for jet engines at sea-level takeoff and altitude cruise conditions. Atmospheric flight conditions are calculated from standard atmosphere with and without shock waves. The engine data was obtained from four generic engine models; 300-, 150-, and 50-passenger (PAX) aircraft engines, and a military jet-fighter engine. The static and total pressure, temperature, and density distributions along the engine were calculated for sea-level takeoff and for altitude cruise conditions. The corresponding chamber pressures needed to test the actuators were calculated. The results show that, to simulate engine component flows at in-flight conditions, plasma actuator should be tested over a wide range of pressures. For the four model engines the range is from 12.4 to 0.03 atm, depending on the placement of the actuator in the engine. For example, if a DBD plasma actuator is to be placed at the compressor exit of a 300 PAX engine, it has to be tested at 12.4 atm for takeoff, and 6 atm for cruise conditions. If it is to be placed at the low-pressure turbine, it has to be tested at 0.5 and 0.2 atm, respectively. These results have implications for the feasibility and design of DBD plasma actuators for jet engine flow control applications. In addition, the distributions of unit Reynolds number, Mach number, and velocity along the engine are provided. The engine models are non-proprietary and this information can be used for evaluation of other types of actuators and for other purposes.

An experimental study of icing control using DBD plasma actuator

NASA Astrophysics Data System (ADS)

Cai, Jinsheng; Tian, Yongqiang; Meng, Xuanshi; Han, Xuzhao; Zhang, Duo; Hu, Haiyang

2017-08-01

Ice accretion on aircraft or wind turbine has been widely recognized as a big safety threat in the past decades. This study aims to develop a new approach for icing control using an AC-DBD plasma actuator. The experiments of icing control (i.e., anti-/de-icing) on a cylinder model were conducted in an icing wind tunnel with controlled wind speed (i.e., 15 m/s) and temperature (i.e., -10°C). A digital camera was used to record the dynamic processes of plasma anti-icing and de-icing whilst an infrared imaging system was utilized to map the surface temperature variations during the anti-/de-icing processes. It was found that the AC-DBD plasma actuator is very effective in both anti-icing and de-icing operations. While no ice formation was observed when the plasma actuator served as an anti-icing device, a complete removal of the ice layer with a thickness of 5 mm was achieved by activating the plasma actuator for ˜150 s. Such information demonstrated the feasibility of plasma anti-/de-icing, which could potentially provide more effective and safer icing mitigation strategies.

Amelioration de l'aerodynamisme des ailes d'avion par actionnement plasma

NASA Astrophysics Data System (ADS)

Demers, Francis

The paper will present experimental and numerical investigation of improved aerodynamics performance of a 2D extruded airfoil by plasma actuation. The aim of the research is to develop three promising flow control concepts using solid-state electro-fluidic (plasma) actuators to achieve reduced drag as well as lift control at take-off/landing. Aerodynamic plasma actuators are solid-state devices that convert electricity directly into flow acceleration through partial air ionization. The most common plasma actuator, the dielectric barrier discharge (DBD) actuator, essentially consists of two offset electrodes separated by a dielectric across which a high-voltage low-amperage AC input is applied. The ions in the air created by the high electric field between the two electrodes are accelerated by this field and transfer their momentum to the inert air particles through collisions, resulting in an acceleration of a very thin layer of air adjacent to the surface. This thin, simple, high bandwidth actuator is easy to integrate and thus offer the most practical yet solution for widespread use of flow control to revolutionize aircraft aerodynamics. The three flow control concepts studied involve placing the actuator on the suction surface of a wing to delay boundary layer transition and thus reduced viscous drag and to control boundary layer separation to control lift at take-off and landing without the need for slats, flaps and spoilers. While these concepts had been previously explored, they were only tested empirically at small-scale and very low-speed due to limitations in plasma actuator strength. The current research aimed to test these concepts at higher speeds (up to 30 m/s) using more recent DBD actuators with higher actuator strength and perform more detailed measurements so that these data can be used to validate CFD codes that can be used for assessing the concept at realistic aircraft scales and flight conditions. Wind tunnel experiments were carried out on a 11.67 inch-chord Aerospatiale-A airfoil with a DBD actuator placed on the suction side at a 15, 20 and 30 m/s incoming flow velocity for a Reynolds number of 2,8 x 10 5, 3,8 x 105 and 5,7 x 105, respectively, and an angle of attack (AOA) of 3º for concept one and 13.3° for concept two and three. The experiments were performed in a closed-loop wind tunnel with a square 24 inch x 24 inch test section. The 2D extruded wing was mounted vertically wall to wall at one chord downstream the entrance of the 96 inch long test section. Lift was calculated by pressure integration from 48 static pressure holes placed on the wing surface. Drag was obtained by wake survey with two Pitot-static tubes mounted on 2-D traverse systems placed half a chord upstream and one chord downstream of the wing. All the pressures were acquired simultaneously by four 16-channel piezo electric pressure scanners. The pressure side of the wing is made of aluminium while the suction side consist of 5 mm thick photopolymer panels made by stereolithography. The photopolymer panels also served as the dielectric material for the plasma actuator making the actuator non-intrusive to the flow. Prior 2-D simulations using the commercial RANS CFD code FLUENT solver had been carried out to design the test wing and determine the best placement of the DBD actuator. The plasma actuator was modeled as a time-averaged spatial body force distribution obtained from the DBD actuator model of Lemire and Vo (2011) and implemented in the CFD solver as a source term in the momentum equations. From the results of these simulations the DBD actuator was placed on the test wing at 26 % chord for concept 1, which is inside the laminar separation bubble responsible for bypass transition of the test wing at 3° AOA at nominal upstream flow velocity of 30 m/s without actuation. For the second and third concept, the optimum locations was found to be at 65 % and 54 % chord, which is near the separation of the boundary layer of the wing located at 70 % at 13.3° AOA at nominal upstream flow velocity of 30 m/s without plasma. The characterization of the DBD actuator was performed by thrust measurements on a flat plate with a high precision scale. From these characterization measurements, the plasma actuator used in the experiments were operated with the two electrodes under tension at a frequency of 2.5 kHz, peak-to-peak voltage of 35 kV and a positive ramp saw-tooth shaped signal providing an actuator strength of 100 mN/m. The surface pressure distributions and the measurements in the wake without and with plasma actuation indicate that plasma actuation successfully delays bypass boundary layer transition by changing the location and length of the laminar separation bubble at 3° of AOA. Furthermore, Enhancement of the aerodynamics properties by delaying the separation point of the boundary layer was obtained numerically and experimentally at AOA of 13.3° by plasma actuation. Deterioration of the aerodynamics properties was achieved by using a plasma actuator acting against the flow near the nominal separation point of the boundary layer but only for the upcoming flow velocity of 15 and 20 m/s. Overall, the wind tunnel experiments confirm the effectiveness of the three concepts of delaying bypass transition and separation controle with suction side plasma actuation and the trends predicred in term of decreasing actuation effectiveness versus flow velocity and Reynolds number. However, the results also show that the CFD simulations tend to over predict this effectiveness for all cases.

Powered glove with electro-pneumatic actuation unit for the disabled

NASA Astrophysics Data System (ADS)

Kawakami, Kosuke; Kumano, Shinichi; Moromugi, Shunji; Ishimatsu, Takakazu

2007-12-01

Authors have been developing a powered glove for people suffering from paralysis on their fingers to support their daily activity. Small air cylinders are used as actuators for this glove. Pneumatically-driven system has high advantages in case soft actuation is preferable. However, there are some problems to be solved in the pneumatically-driven system if the system is supposed to be used in our daily life. Huge air compressor is needed and solenoid valves emit loud sound for example. These problems are hurdles to commercialize the powered glove. To solve these problems authors have developed a new actuation unit by integrating an electric cylinder and an air cylinder. This actuation unit has advantages of both the electric actuation and the pneumatic actuation. Its advanced grip control ability has demonstrated through several experiments. The experimental results are reported in this paper.

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.

Control of Tollmien-Schlichting instabilities by finite distributed wall actuation

NASA Astrophysics Data System (ADS)

Losse, Nikolas R.; King, Rudibert; Zengl, Marcus; Rist, Ulrich; Noack, Bernd R.

2011-06-01

Tollmien-Schlichting waves are one of the key mechanisms triggering the laminar-turbulent transition in a flat-plate boundary-layer flow. By damping these waves and thus delaying transition, skin friction drag can be significantly decreased. In this simulation study, a wall segment is actuated according to a control scheme based on a POD-Galerkin model driven extended Kalman filter for state estimation and a model predictive controller to dampen TS waves by negative superposition based on this information. The setup of the simulation is chosen to resemble actuation with a driven compliant wall, such as a membrane actuator. Most importantly, a method is proposed to integrate such a localized wall actuation into a Galerkin model.

Characteristics of an actuator-driven pulsed water jet generator to dissecting soft tissue.

PubMed

Seto, Takeshi; Yamamoto, Hiroaki; Takayama, Kazuyoshi; Nakagawa, Atsuhiro; Tominaga, Teiji

2011-05-01

This paper reports characteristics of an actuator-driven pulsed water jet generator applied, in particular, to dissect soft tissues. Results of experiments, by making use of high speed recording of optical visualization and varying nozzle diameter, actuator time interval, and their effects on dissection performance are presented. Jet penetration characteristics are compared with continuous water jet and hence potential assessment of pulsed water jets to clinical applications is performed.

Electrostatically Driven Large Aperture Micro-Mirror Actuator Assemblies for High Fill-Factor, Agile Optical Phase Arrays

DTIC Science & Technology

2015-06-18

platform assembly 2, with micro-mirror platform deflection, measured on actuation side ( PFa ) and side opposite actuation (PFo...beam micro-mirror platform assembly 1; micro-mirror platform deflection, measured on actuation side ( PFa ) and side opposite actuation (PFo...side ( PFa ) and side opposite actuation (PFo) ........................................................ 106 xiv Figure 73: Graph of measured 10-beam

Characterization of DBD Plasma Actuators Performance Without External Flow - Part I: Thrust-Voltage Quadratic Relationship in Logarithmic Space for Sinusoidal Excitation

NASA Technical Reports Server (NTRS)

Ashpis, David E.; Laun, Matthew C.

2016-01-01

Results of characterization of Dielectric Barrier Discharge (DBD) plasma actuators without external flow are presented. The results include aerodynamic and electric performance of the actuators without external flow for different geometrical parameters, dielectric materials and applied voltage level and wave form.

Experimental investigation of lift enhancement for flying wing aircraft using nanosecond DBD plasma actuators

NASA Astrophysics Data System (ADS)

Yao, Junkai; Zhou, Danjie; He, Haibo; He, Chengjun; Shi, Zhiwei; Du, Hai

2017-04-01

The effects of the arrangement position and control parameters of nanosecond dielectric barrier discharge (NS-DBD) plasma actuators on lift enhancement for flying wing aircraft were investigated through wind tunnel experiments at a flow speed of 25 m s-1. The aerodynamic forces and moments were obtained by a six-component balance at angles of attack ranging from -4° to 28°. The lift, drag and pitching moment coefficients were compared for the cases with and without plasma control. The results revealed that the maximum control effect was achieved by placing the actuator at the leading edge of the inner and middle wing, for which the maximum lift coefficient increased by 37.8% and the stall angle of attack was postponed by 8° compared with the plasma-off case. The effects of modulation frequency and discharge voltage were also investigated. The results revealed that the lift enhancement effect of the NS-DBD plasma actuators was strongly influenced by the modulation frequency. Significant control effects were obtained at f = 70 Hz, corresponding to F + ≈ 1. The result for the pitching moment coefficient demonstrated that the plasma actuator can induce the reattachment of the separation flows when it is actuated. However, the results indicated that the discharge voltage had a negligible influence on the lift enhancement effect.

Bio-inspired magnetic swimming microrobots for biomedical applications.

PubMed

Peyer, Kathrin E; Zhang, Li; Nelson, Bradley J

2013-02-21

Microrobots have been proposed for future biomedical applications in which they are able to navigate in viscous fluidic environments. Nature has inspired numerous microrobotic locomotion designs, which are suitable for propulsion generation at low Reynolds numbers. This article reviews the various swimming methods with particular focus on helical propulsion inspired by E. coli bacteria. There are various magnetic actuation methods for biomimetic and non-biomimetic microrobots, such as rotating fields, oscillating fields, or field gradients. They can be categorized into force-driven or torque-driven actuation methods. Both approaches are reviewed and a previous publication has shown that torque-driven actuation scales better to the micro- and nano-scale than force-driven actuation. Finally, the implementation of swarm or multi-agent control is discussed. The use of multiple microrobots may be beneficial for in vivo as well as in vitro applications. Thus, the frequency-dependent behavior of helical microrobots is discussed and preliminary experimental results are presented showing the decoupling of an individual agent within a group of three microrobots.

Use of Plasma Actuators as a Moving-Wake Generator

NASA Technical Reports Server (NTRS)

Corke, Thomas C.; Thomas, Flint O.; Klapetzky Michael J.

2007-01-01

The work documented in this report tests the concept of using plasma actuators as a simple and easy way to generate a simulated moving-wake and the disturbances associated with it in turbines. This wake is caused by the blades of the upstream stages of the turbine. Two types of devices, one constructed of arrays of NACA 0018 airfoils, and the one constructed of flat plates were studied. The airfoils or plates were equipped with surface mounted dielectric barrier discharge (DBD) plasma actuators, which were used to generate flow disturbances resembling moving-wakes. CTA hot-wire anemometry and flow visualization using a smoke-wire were used to investigate the wake independence at various spacings and downstream locations. The flat plates were found to produce better results than the airfoils in creating large velocity fluctuations in the free-stream flow. Different dielectric materials, plasma actuator locations, leading edge contours, angles of attack and plate spacings were investigated, some with positive results. The magnitudes of the velocity fluctuations were found to be comparable to existing mechanical moving-wake generators, thus proving the feasibility of using plasma actuators as a moving-wake generator.

Microwave Driven Actuators Power Allocation and Distribution

NASA Technical Reports Server (NTRS)

Forbes, Timothy; Song, Kyo D.

2000-01-01

Design, fabrication and test of a power allocation and distribution (PAD) network for microwave driven actuators is presented in this paper. Development of a circuit that would collect power from a rectenna array amplify and distribute the power to actuators was designed and fabricated for space application in an actuator array driven by a microwave. A P-SPICE model was constructed initially for data reduction purposes, and was followed by a working real-world model. A voltage up - converter (VUC) is used to amplify the voltage from the individual rectenna. The testing yielded a 26:1 voltage amplification ratio with input voltage at 9 volts and a measured output voltage 230VDC. Future work includes the miniaturization of the circuitry, the use of microwave remote control, and voltage amplification technology for each voltage source. The objective of this work is to develop a model system that will collect DC voltage from an array of rectenna and propagate the voltage to an array of actuators.

Transparent actuator made with few layer graphene electrode and dielectric elastomer, for variable focus lens

NASA Astrophysics Data System (ADS)

Hwang, Taeseon; Kwon, Hyeok-Yong; Oh, Joon-Suk; Hong, Jung-Pyo; Hong, Seung-Chul; Lee, Youngkwan; Ryeol Choi, Hyouk; Jin Kim, Kwang; Hossain Bhuiya, Mainul; Nam, Jae-Do

2013-07-01

A transparent dielectric elastomer actuator driven by few-layer-graphene (FLG) electrode was experimentally investigated. The electrodes were made of graphene, which was dispersed in N-methyl-pyrrolidone. The transparent actuator was fabricated from developed FLG electrodes. The FLG electrode with its sheet resistance of 0.45 kΩ/sq (80 nm thick) was implemented to mask silicone elastomer. The developed FLG-driven actuator exhibited an optical transparency of over 57% at a wavenumber of 600 nm and produced bending displacement performance ranging from 29 to 946 μm as functions of frequency and voltage. The focus variation was clearly demonstrated under actuation to study its application-feasibility in variable focus lens and various opto-electro-mechanical devices.

Characterization of DBD Plasma Actuators Performance without External Flow . Part I; Thrust-Voltage Quadratic Relationship in Logarithmic Space for Sinusoidal Excitation

NASA Technical Reports Server (NTRS)

Ashpis, David E.; Laun, Matthew C.

2016-01-01

We present results of thrust measurements of Dielectric Barrier Discharge (DBD) plasma actuators. We have used a test setup, measurement, and data processing methodology that we developed in prior work. The tests were conducted with High Density Polyethylene (HDPE) actuators of three thicknesses. The applied voltage driving the actuators was a pure sinusoidal waveform. The test setup was suspended actuators with a partial liquid interface. The tests were conducted at low ambient humidity. The thrust was measured with an analytical balance and the results were corrected for anti-thrust to isolate the plasma generated thrust. Applying this approach resulted in smooth and repeatable data. It also enabled curve fitting that yielded quadratic relations between the plasma thrust and voltage in log-log space at constant frequencies. The results contrast power law relationships developed in literature that appear to be a rough approximation over a limited voltage range.

Plasma-based Compressor Stall Control

NASA Astrophysics Data System (ADS)

McGowan, Ryan; Corke, Thomas

2017-11-01

The use of dielectric barrier discharge (DBD) plasma actuator casing treatment to prevent or delay stall inception in an axial fan is examined. The actuators are powered by a pulsed-DC waveform which induces a larger peak velocity than a purely AC waveform such as a sine or sawtooth wave. With this system, a high-voltage DC source is supplied to both electrodes, remaining constant in time for the exposed electrode. Meanwhile, the covered electrode is periodically grounded for several microseconds and allowed to rise back to the source DC level. To test the actuators' ability to interact with and modify the formation of stall cells, a facility has been designed and constructed around nonconductive fan blades. The actuators are installed in the fan casing near the blade tips. The instrumentation allows for the measurement of rotating pressure disturbances (traveling stall cells) in this tip gap region as well as fan performance characteristics including pressure rise and flow rate. The casing plasma actuation is found to reduce the correlation of the rotating stall cells, thereby extending the stall margin of the fan. Various azimuthal arrangements of the plasma actuator casing treatment is explored, as well as input voltage levels to the actuator to determine optimum conditions. NASA SBIR Contract NNX14CC12C.

Soft mobile robots driven by foldable dielectric elastomer actuators

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

Sun, Wenjie; Liu, Fan; Ma, Ziqi

A cantilever beam with elastic hinge pulled antagonistically by two dielectric elastomer (DE) membranes in tension forms a foldable actuator if one DE membrane is subject to a voltage and releases part of tension. Simply placing parallel rigid bars on the prestressed DE membranes results in enhanced actuators working in a pure shear state. We report design, analysis, fabrication, and experiment of soft mobile robots that are moved by such foldable DE actuators. We describe systematic measurement of the foldable actuators and perform theoretical analysis of such actuators based on minimization of total energy, and a good agreement is achievedmore » between model prediction and measurement. We develop two versions of prototypes of soft mobile robots driven either by two sets of DE membranes or one DE membrane and elastic springs. We demonstrate locomotion of these soft mobile robots and highlight several key design parameters that influence locomotion of the robots. A 45 g soft robot driven by a cyclic triangle voltage with amplitude 7.4 kV demonstrates maximal stroke 160 mm or maximal rolling velocity 42 mm/s. The underlying mechanics and physics of foldable DE actuators can be leveraged to develop other soft machines for various applications.« less

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.

Fast Acting Eddy Current Driven Valve for Massive Gas Injection on ITER

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

Lyttle, Mark S; Baylor, Larry R; Carmichael, Justin R

2015-01-01

Tokamak plasma disruptions present a significant challenge to ITER as they can result in intense heat flux, large forces from halo and eddy currents, and potential first-wall damage from the generation of multi-MeV runaway electrons. Massive gas injection (MGI) of high Z material using fast acting valves is being explored on existing tokamaks and is planned for ITER as a method to evenly distribute the thermal load of the plasma to prevent melting, control the rate of the current decay to minimize mechanical loads, and to suppress the generation of runaway electrons. A fast acting valve and accompanying power supplymore » have been designed and first test articles produced to meet the requirements for a disruption mitigation system on ITER. The test valve incorporates a flyer plate actuator similar to designs deployed on TEXTOR, ASDEX upgrade, and JET [1 3] of a size useful for ITER with special considerations to mitigate the high mechanical forces developed during actuation due to high background magnetic fields. The valve includes a tip design and all-metal valve stem sealing for compatibility with tritium and high neutron and gamma fluxes.« less

Development of Localized Arc Filament RF Plasma Actuators for High-Speed and High Reynolds Number Flow Control

DTIC Science & Technology

2010-01-01

high-speed flows is problematic due to their low forcing frequency (for mechanical actuators) and low forcing amplitude (for piezo actuators...very low fraction of DC power is coupled to the actuators (5-10%), with the rest of the power dissipated in massive ballast resistors acting as heat... resistors . The use of high-power resistors also significantly increases the weight and size of the plasma generator and makes scaling to a large number of

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);

Lifetime of dielectric elastomer stack actuators

NASA Astrophysics Data System (ADS)

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

2011-04-01

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

The Influence of Relative Humidity on Dielectric Barrier Discharge Plasma Flow Control Actuator Performance

NASA Astrophysics Data System (ADS)

Wicks, M.; Thomas, F. O.; Corke, T. C.; Patel, M.

2012-11-01

Dielectric barrier discharge (DBD) plasma actuators possess numerous advantages for flow control applications and have been the focus of several previous studies. Most work has been performed in relatively pristine laboratory settings. In actual flow control applications, however, it is essential to assess the impact of various environmental influences on actuator performance. As a first effort toward assessing a broad range of environmental effects on DBD actuator performance, the influence of relative humidity (RH) is considered. Actuator performance is quantified by force balance measurements of reactive thrust while RH is systematically varied via an ultrasonic humidifier. The DBD plasma actuator assembly, force balance, and ultrasonic humidifier are all contained inside a large, closed test chamber instrumented with RH and temperature sensors in order to accurately estimate the average RH at the actuator. Measurements of DBD actuator thrust as a function of RH for several different applied voltage regimes and dielectric materials and thicknesses are presented. Based on these results, several important design recommendations are made. This work was supported by Innovative Technology Applications Company (ITAC), LLC under a Small Business Innovation Research (SBIR) Phase II Contract No. N00014-11-C-0267 issued by the U.S. Department of the Navy.

Development of DBD plasma actuators: The double encapsulated electrode

NASA Astrophysics Data System (ADS)

Erfani, Rasool; Zare-Behtash, Hossein; Hale, Craig; Kontis, Konstantinos

2015-04-01

Plasma actuators are electrical devices that generate a wall bounded jet without the use of any moving parts. For aerodynamic applications they can be used as flow control devices to delay separation and augment lift on a wing. The standard plasma actuator consists of a single encapsulated (ground) electrode. The aim of this project is to investigate the effect of varying the number and distribution of encapsulated electrodes in the dielectric layer. Utilising a transformer cascade, a variety of input voltages are studied for their effect. In the quiescent environment of a Faraday cage the velocity flow field is recorded using particle image velocimetry. Through understanding of the mechanisms involved in producing the wall jet and the importance of the encapsulated electrode a novel actuator design is proposed. The actuator design distributes the encapsulated electrode throughout the dielectric layer. The experiments have shown that actuators with a shallow initial encapsulated electrode induce velocities greater than the baseline case at the same voltage. Actuators with a deep initial encapsulated electrode are able to induce the highest velocities as they can operate at higher voltages without breakdown of the dielectric.

Detection of near-wall vortices and their manipulation by use of dielectric barrier discharge plasma actuators

NASA Astrophysics Data System (ADS)

Connelly, Ryan

A sizable amount of the drag on a typical jet airplane is due to skin friction. Decreasing this skin friction drag by even just a small percentage could significantly increase the efficiency of the plane. The idea of stationary vortices has previously been proposed as a method of skin friction reduction. Vortices could potentially be held stationary by flow control devices such as plasma actuators. This thesis lays the groundwork of a study to determine the feasibility of this idea in two ways. First, the effects of plasma actuators on vortices are studied. Second, wind tunnel tests were performed to develop a method of locating the center of vortices downstream of vortex generators. An accurate method of vortex detection will be vital in further experimental studies of plasma actuator effects.

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

NASA Technical Reports Server (NTRS)

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

2015-01-01

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

Molecular-channel driven actuator with considerations for multiple configurations and color switching.

PubMed

Mu, Jiuke; Wang, Gang; Yan, Hongping; Li, Huayu; Wang, Xuemin; Gao, Enlai; Hou, Chengyi; Pham, Anh Thi Cam; Wu, Lianjun; Zhang, Qinghong; Li, Yaogang; Xu, Zhiping; Guo, Yang; Reichmanis, Elsa; Wang, Hongzhi; Zhu, Meifang

2018-02-09

The ability to achieve simultaneous intrinsic deformation with fast response in commercially available materials that can safely contact skin continues to be an unresolved challenge for artificial actuating materials. Rather than using a microporous structure, here we show an ambient-driven actuator that takes advantage of inherent nanoscale molecular channels within a commercial perfluorosulfonic acid ionomer (PFSA) film, fabricated by simple solution processing to realize a rapid response, self-adaptive, and exceptionally stable actuation. Selective patterning of PFSA films on an inert soft substrate (polyethylene terephthalate film) facilitates the formation of a range of different geometries, including a 2D (two-dimensional) roll or 3D (three-dimensional) helical structure in response to vapor stimuli. Chemical modification of the surface allowed the development of a kirigami-inspired single-layer actuator for personal humidity and heat management through macroscale geometric design features, to afford a bilayer stimuli-responsive actuator with multicolor switching capability.

Separation Control in a Centrifugal Bend Using Plasma Actuators

NASA Astrophysics Data System (ADS)

Arthur, Michael; Corke, Thomas

2011-11-01

An experiment and CFD simulation are presented to examine the use of plasma actuators to control flow separation in a 2-D channel with a 135° inside-bend that is intended to represent a centrifugal bend in a gas turbine engine. The design inlet conditions are P = 330 psia., T =1100° F, and M = 0 . 24 . For these conditions, the flow separates on the inside radius of the bend. A CFD simulation was used to determine the location of the flow separation, and the conditions (location and voltage) of a plasma actuator that was needed to keep the flow attached. The plasma actuator body force model used in the simulation was updated to include the effect of high-pressure operation. An experiment was used to validate the simulation and to further investigate the effect of inlet pressure and Mach number on the flow separation control. This involved a transient high-pressure blow-down facility. The flow field is documented using an array of static pressure taps in the channel outside-radius side wall, and a rake of total pressure probes at the exit of the bend. The results as well as the pressure effect on the plasma actuators are presented.

Investigation of airfoil leading edge separation control with nanosecond plasma actuator

NASA Astrophysics Data System (ADS)

Zheng, J. G.; Cui, Y. D.; Zhao, Z. J.; Li, J.; Khoo, B. C.

2016-11-01

A combined numerical and experimental investigation of airfoil leading edge flow separation control with a nanosecond dielectric barrier discharge (DBD) plasma actuator is presented. Our study concentrates on describing dynamics of detailed flow actuation process and elucidating the nanosecond DBD actuation mechanism. A loose coupling methodology is employed to perform simulation, which consists of a self-similar plasma model for the description of pulsed discharge and two-dimensional Reynolds averaged Navier-Stokes (RANS) equations for the calculation of external airflow. A series of simulations of poststall flows around a NACA0015 airfoil is conducted with a Reynolds number range covering both low and high Re at Re=(0.05 ,0.15 ,1.2 ) ×106 . Meanwhile, wind-tunnel experiment is performed for two low Re flows to measure aerodynamic force on airfoil model and transient flow field with time-resolved particle image velocimetry (PIV). The PIV measurement provides possibly the clearest view of flow reattachment process under the actuation of a nanosecond plasma actuator ever observed in experiments, which is highly comparable to that predicted by simulation. It is found from the detailed simulation that the discharge-induced residual heat rather than shock wave plays a dominant role in flow control. For any leading edge separations, the preliminary flow reattachment is realized by residual heat-induced spanwise vortices. After that, the nanosecond actuator functions by continuing exciting flow instability at poststall attack angles or acting as an active trip near stall angle. As a result, the controlled flow is characterized by a train of repetitive, downstream moving vortices over suction surface or an attached turbulent boundary layer, which depends on both angle of attack and Reynolds number. The advection of residual temperature with external flow offers a nanosecond plasma actuator a lot of flexibility to extend its influence region. Animations are provided for baseline flow and that subjected to plasma control at two typical Reynolds numbers.

Investigation of microscale dielectric barrier discharge plasma devices

NASA Astrophysics Data System (ADS)

Zito, Justin C.

This dissertation presents research performed on reduced-scale dielectric barrier discharge (DBD) plasma actuators. A first generation of microscale DBD actuators are designed and manufactured using polymeric dielectric layers, and successfully demonstrate operation at reduced scales. The actuators are 1 cm long and vary in width from tens of microns to several millimeters. A thin-film polymer or ceramic material is used as the dielectric barrier with thicknesses from 5 to 20 microns. The devices are characterized for their electrical, fluidic and mechanical performance. With electrical input of 5 kVpp, 1 kHz, the microscale DBD actuators induce a wall jet with velocity reaching up to 2 m/s and produce 3.5 mN/m of thrust, while consuming an average power of 20 W/m. A 5 mN/m plasma body force was observed, acting on the surrounding air. Failure of the microscale DBD actuators is investigated using thermal measurements of the dielectric surface in addition to both optical and scanning electron microscopy. The cause of device failure is identified as erosion of the dielectric surface due to collisions with ions from the discharge. A second generation of microscale actuators is then designed and manufactured using a more reliable dielectric material, namely silicon dioxide. These actuators demonstrate a significant improvement in device lifetime compared with first-generation microscale DBD actuators. The increase in actuator lifetime allowed the electrical, fluidic and mechanical characterization to be repeated over several input voltages and frequencies. At 7 kVpp, 1 kHz, the actuators with SiO2 dielectric induced velocities up to 1.5 m/s and demonstrated 1.4 mN/m of thrust while consuming an average power of 41 W/m. The plasma body force reached up to 2.5 mN/m. Depending on electrical input, the induced velocity and thrust span an order of magnitude in range. Comparisons are made with macroscale DBD actuators which relate the actuator's output performance and power consumption with the mass and volume of the actuator design. The small size and of microscale DBD actuators reduces its weight and power requirements, making them attractive for portable or battery-powered applications (e.g., on UAVs).

(RTO) Characterization of the Time-dependent Behaviour of Dielectric Barrier Discharge Plasma Actuators

DTIC Science & Technology

2014-06-19

excited by a sine -wave signal with peak- to-peak amplitudes between 7.2 kV and 10 kV, and frequencies of 2.5 kHz and 4 kHz. The results indicate that the...side length of 0.68 m, made of transparent PMMA, to isolate it from ambient disturbances. The plasma actuator was excited by a sine -wave signal, which... Portugal , 2008. 6Hanson, R., Houser, N., and Lavoie, P., “Dielectric material degradation monitoring of dielectric barrier discharge plasma actuators

Numerical study of the flow structures in flat plate and the wall-mounted hump induced by the unsteady DBD plasma

NASA Astrophysics Data System (ADS)

Yu, Jianyang; Liu, Huaping; Wang, Ruoyu; Chen, Fu

2017-01-01

In this work, the dielectric-barrier-discharge plasma actuator was employed to study the flow structures induced by the plasma actuator over a flat plate and a wall-mounted hump. A phenomenological dielectric-barrier-discharge plasma model which regarded the plasma effect as the body force was implemented into the Navier-Stokes equations solved by the method of large eddy simulations. The results show that a series of vortex pairs, which indicated dipole formation and periodicity distribution were generated in the boundary layer when the plasma was applied to the flow over a flat plane. They would enhance the energy exchanged between the near wall region and the free stream. Besides, their spatial trajectories are deeply affected by the actuation strength. When the actuator was engaged in the flow over a wall-mounted hump, the vortex pairs were also produced, which was able to delay flow separation as well as to promote flow reattachment and reduce the generation of a vortex, achieving the goal of reducing dissipation and decreasing flow resistance.

Investigation of the Flow Structure on a Flat Plate Induced by Unsteady Plasma Actuation with DNS Methods

NASA Astrophysics Data System (ADS)

Yu, Jianyang; Chen, Fu; Liu, Huaping; Song, Yanping

2015-12-01

An investigation into the flow characteristic on a flat plate induced by an unsteady plasma was conducted with the methods of direct numerical simulations (DNS). A simplified model of dielectric barrier discharge (DBD) plasma was applied and its parameters were calibrated with the experimental results. In the simulations, effects of the actuation frequency on the flow were examined. The instantaneous flow parameters were also drawn to serve as a detailed study on the behavior when the plasma actuator was applied to the flow. The result shows that induced by the unsteady actuation, a series of vortex pairs which showed dipole formation and periodicity distribution were formed in the boundary layer. The production of these vortex pairs indicated a strong energy exchange between the main flow and the boundary layer. They moved downstream under the action of the free stream and decayed under the influence of the fluid viscosity. The distance of the neighboring vortices was found to be determined by the actuation frequency. Interaction of the neighboring vortices would be ignored when the actuation frequency was too small to make a difference. supported by the Foundation for Innovative Research Groups of National Natural Science Foundation of China (No. 51121004) and National Natural Science Foundation of China (No. 50976026)

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.

Liquid metal actuator driven by electrochemical manipulation of surface tension

NASA Astrophysics Data System (ADS)

Russell, Loren; Wissman, James; Majidi, Carmel

2017-12-01

We examine the electrocapillary properties of a fluidic actuator composed of a liquid metal droplet that is submerged in electrolytic solution and attached to an elastic beam. The beam deflection is controlled by electrochemically driven changes in the surface energy of the droplet. The metal is a eutectic gallium-indium alloy that is liquid at room temperature and forms an nm-thin Ga2O3 skin when oxidized. The effective surface tension of the droplet changes dramatically with oxidation and reduction, which are reversibly controlled by applying low voltage to the electrolytic bath. Wetting the droplet to two copper pads allows for a controllable tensile force to be developed between the opposing surfaces. We demonstrate the ability to reliably control force by changing the applied oxidizing voltage. Actuator forces and droplet geometries are also examined by performing a computational fluid mechanics simulation using Surface Evolver. The theoretical predictions are in qualitative agreement with the experimental measurements and provide additional confirmation that actuation is driven by surface tension.

Simulation Tool for Dielectric Barrier Discharge Plasma Actuators at Atmospheric and Sub-Atmospheric Pressures: SBIR Phase I Final Report

NASA Technical Reports Server (NTRS)

Likhanskii, Alexandre

2012-01-01

This report is the final report of a SBIR Phase I project. It is identical to the final report submitted, after some proprietary information of administrative nature has been removed. The development of a numerical simulation tool for dielectric barrier discharge (DBD) plasma actuator is reported. The objectives of the project were to analyze and predict DBD operation at wide range of ambient gas pressures. It overcomes the limitations of traditional DBD codes which are limited to low-speed applications and have weak prediction capabilities. The software tool allows DBD actuator analysis and prediction for subsonic to hypersonic flow regime. The simulation tool is based on the VORPAL code developed by Tech-X Corporation. VORPAL's capability of modeling DBD plasma actuator at low pressures (0.1 to 10 torr) using kinetic plasma modeling approach, and at moderate to atmospheric pressures (1 to 10 atm) using hydrodynamic plasma modeling approach, were demonstrated. In addition, results of experiments with pulsed+bias DBD configuration that were performed for validation purposes are reported.

Design and experimental research of a novel inchworm type piezo-driven rotary actuator with the changeable clamping radius.

PubMed

Zhao, Hongwei; Fu, Lu; Ren, Luquan; Huang, Hu; Fan, Zunqiang; Li, Jianping; Qu, Han

2013-01-01

In this paper, a novel piezo-driven rotary actuator with the changeable clamping radius is developed based on the inchworm principle. This actuator mainly utilizes three piezoelectric actuators, a flexible gripper, a clamping block, and a rotor to achieve large stroke rotation with high resolution. The design process of the flexible gripper consisting of the driving unit and the clamping unit is described. Lever-type mechanisms were used to amplify the micro clamping displacements. The amplifying factor and parasitic displacement of the lever-type mechanism in the clamping unit was analyzed theoretically and experimentally. In order to investigate the rotation characteristics of the actuator, a series of experiments was carried out. Experimental results indicate that the actuator can rotate at a speed of 77,488 μrad/s with a driving frequency of 167 Hz. The rotation resolution and maximum load torque of the actuator are 0.25 μrad and 37 N mm, respectively. The gripper is movable along the z direction based on an elevating platform, and the clamping radius can change from 10.6 mm to 25 mm. Experimental results confirm that the actuator can achieve different rotation speeds by changing the clamping radius.

Control of unsteadiness of a shock wave/turbulent boundary layer interaction by using a pulsed-plasma-jet actuator

NASA Astrophysics Data System (ADS)

Narayanaswamy, Venkateswaran; Raja, Laxminarayan L.; Clemens, Noel T.

2012-07-01

A pulsed-plasma jet actuator is used to control the unsteady motion of the separation shock of a shock wave/boundary layer interaction formed by a compression ramp in a Mach 3 flow. The actuator is based on a plasma-generated synthetic jet and is configured as an array of three jets that can be injected normal to the cross-flow, pitched, or pitched and skewed. The typical peak jet exit velocity of the actuators is about 300 m/s and the pulsing frequencies are a few kilohertz. A study of the interaction between the pulsed-plasma jets and the shock/boundary layer interaction was performed in a time-resolved manner using 10 kHz schlieren imaging. When the actuator, pulsed at StL ≈ 0.04 (f = 2 kHz), was injected into the upstream boundary layer, the separation shock responded to the plasma jet by executing a rapid upstream motion followed by a gradual downstream recovery motion. Schlieren movies of the interaction showed that the separation shock unsteadiness was locked to the pulsing frequency of the actuator, with amplitude of about one boundary layer thickness. Wall-pressure measurements made under the intermittent region showed about a 30% decrease in the overall magnitude of the pressure fluctuations in the low-frequency band associated with unsteady large-scale motion of the separated flow. Furthermore, by increasing the pulsing frequency to 3.3 kHz, the amplitude of the separation shock oscillation was reduced to less than half the boundary layer thickness. Investigation into the effect of the actuator location on the shock wave/boundary layer interaction (SWBLI) showed qualitatively and quantitatively that the actuator placed upstream of the separation shock caused significant modification to the SWBLI unsteadiness, whereas injection from inside the separation bubble did not cause a noticeable effect.

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.

Parallel 3-D numerical simulation of dielectric barrier discharge plasma actuators

NASA Astrophysics Data System (ADS)

Houba, Tomas

Dielectric barrier discharge plasma actuators have shown promise in a range of applications including flow control, sterilization and ozone generation. Developing numerical models of plasma actuators is of great importance, because a high-fidelity parallel numerical model allows new design configurations to be tested rapidly. Additionally, it provides a better understanding of the plasma actuator physics which is useful for further innovation. The physics of plasma actuators is studied numerically. A loosely coupled approach is utilized for the coupling of the plasma to the neutral fluid. The state of the art in numerical plasma modeling is advanced by the development of a parallel, three-dimensional, first-principles model with detailed air chemistry. The model incorporates 7 charged species and 18 reactions, along with a solution of the electron energy equation. To the author's knowledge, a parallel three-dimensional model of a gas discharge with a detailed air chemistry model and the solution of electron energy is unique. Three representative geometries are studied using the gas discharge model. The discharge of gas between two parallel electrodes is used to validate the air chemistry model developed for the gas discharge code. The gas discharge model is then applied to the discharge produced by placing a dc powered wire and grounded plate electrodes in a channel. Finally, a three-dimensional simulation of gas discharge produced by electrodes placed inside a riblet is carried out. The body force calculated with the gas discharge model is loosely coupled with a fluid model to predict the induced flow inside the riblet.

On factors influencing arc filament plasma actuator performance in control of high speed jets

NASA Astrophysics Data System (ADS)

Hahn, Casey; Kearney-Fischer, Martin; Samimy, Mo

2011-12-01

Localized arc filament plasma actuators (LAFPAs) have been developed and used at The Gas Dynamics and Turbulence Laboratory for the purpose of controlling high-speed and high Reynolds number jets. The ability of LAFPAs for use in both subsonic and supersonic jets has been explored, and experiments to date have shown that these actuators have significant potential for mixing enhancement and noise control applications. While it has been established that the actuators manipulate instabilities of the jet, the exact nature of how the actuation couples to the flow is still unclear. All of the results previously reported have been based on a nozzle extension that has an azimuthal groove of 1 mm width and 0.5 mm depth along the inner surface approximately 1 mm upstream of nozzle extension exit. The ring groove was initially added to shield the plasma arcs from the high-momentum flow. However, the effect of the ring groove on the actuation mechanism is not known. To explore this effect, a new nozzle extension is designed, which relocates the actuators to the nozzle extension face and eliminates the ring groove. Schlieren images, particle image velocimetry and acoustic results of a Mach 0.9 jet of Reynolds number ~6.1 × 105 show similar trends and magnitudes with and without a ring groove. Thus, it is concluded that the ring groove does not play a primary role in the LAFPAs' control mechanism. Furthermore, the effect of the duty cycle of the actuator input pulse on the LAFPAs' control authority is investigated. The results show that the minimum duty cycle that provides complete plasma formation has the largest control over the jet.

High-performance computing-based exploration of flow control with micro devices.

PubMed

Fujii, Kozo

2014-08-13

The dielectric barrier discharge (DBD) plasma actuator that controls flow separation is one of the promising technologies to realize energy savings and noise reduction of fluid dynamic systems. However, the mechanism for controlling flow separation is not clearly defined, and this lack of knowledge prevents practical use of this technology. Therefore, large-scale computations for the study of the DBD plasma actuator have been conducted using the Japanese Petaflops supercomputer 'K' for three different Reynolds numbers. Numbers of new findings on the control of flow separation by the DBD plasma actuator have been obtained from the simulations, and some of them are presented in this study. Knowledge of suitable device parameters is also obtained. The DBD plasma actuator is clearly shown to be very effective for controlling flow separation at a Reynolds number of around 10(5), and several times larger lift-to-drag ratio can be achieved at higher angles of attack after stall. For higher Reynolds numbers, separated flow is partially controlled. Flow analysis shows key features towards better control. DBD plasma actuators are a promising technology, which could reduce fuel consumption and contribute to a green environment by achieving high aerodynamic performance. The knowledge described above can be obtained only with high-end computers such as the supercomputer 'K'. © 2014 The Author(s) Published by the Royal Society. All rights reserved.

Efficient needle plasma actuators for flow control and surface cooling

NASA Astrophysics Data System (ADS)

Zhao, Pengfei; Portugal, Sherlie; Roy, Subrata

2015-07-01

We introduce a milliwatt class needle actuator suitable for plasma channels, vortex generation, and surface cooling. Electrode configurations tested for a channel configuration show 1400% and 300% increase in energy conversion efficiency as compared to conventional surface and channel corona actuators, respectively, generating up to 3.4 m/s air jet across the channel outlet. The positive polarity of the needle is shown to have a beneficial effect on actuator efficiency. Needle-plate configuration is demonstrated for improving cooling of a flat surface with a 57% increase in convective heat transfer coefficient. Vortex generation by selective input signal manipulation is also demonstrated.

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

NASA Astrophysics Data System (ADS)

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

2017-03-01

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

Electroactive polymer (EAP) actuators for planetary applications

NASA Astrophysics Data System (ADS)

Bar-Cohen, Yoseph; Leary, Sean P.; Shahinpoor, Mohsen; Harrison, Joycelyn S.; Smith, J.

1999-05-01

NASA is seeking to reduce the mass, size, consumed power, and cost of the instrumentation used in its future missions. An important element of many instruments and devices is the actuation mechanism and electroactive polymers (EAP) are offering an effective alternative to current actuators. In this study, two families of EAP materials were investigated, including bending ionomers and longitudinal electrostatically driven elastomers. These materials were demonstrated to effectively actuate manipulation devices and their performance is being enhanced in this on-going study. The recent observations are reported in this paper, include the operation of the bending-EAP at conditions that exceed the harsh environment on Mars, and identify the obstacles that its properties and characteristics are posing to using them as actuators. Analysis of the electrical characteristics of the ionomer EAP showed that it is a current driven material rather than voltage driven and the conductivity distribution on the surface of the material greatly influences the bending performance. An accurate equivalent circuit modeling of the ionomer EAP performance is essential for the design of effective drive electronics. The ionomer main limitations are the fact that it needs to be moist continuously and the process of electrolysis that takes place during activation. An effective coating technique using a sprayed polymer was developed extending its operation in air from a few minutes to about four months. The coating technique effectively forms the equivalent of a skin to protect the moisture content of the ionomer. In parallel to the development of the bending EAP, the development of computer control of actuated longitudinal EAP has been pursued. An EAP driven miniature robotic arm was constructed and it is controlled by a MATLAB code to drop and lift the arm and close and open EAP fingers of a 4-finger gripper.

Electro-Active Polymer (EAP) Actuators for Planetary Applications

NASA Technical Reports Server (NTRS)

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

1999-01-01

NASA is seeking to reduce the mass, size, consumed power, and cost of the instrumentation used in its future missions. An important element of many instruments and devices is the actuation mechanism and electroactive polymers (EAP) are offering an effective alternative to current actuators. In this study, two families of EAP materials were investigated, including bending ionomers and longitudinal electrostatically driven elastomers. These materials were demonstrated to effectively actuate manipulation devices and their performance is being enhanced in this on-going study. The recent observations are reported in this paper, include the operation of the bending-EAP at conditions that exceed the harsh environment on Mars, and identify the obstacles that its properties and characteristics are posing to using them as actuators. Analysis of the electrical characteristics of the ionomer EAP showed that it is a current driven material rather than voltage driven and the conductivity distribution on the surface of the material greatly influences the bending performance. An accurate equivalent circuit modeling of the ionomer EAP performance is essential for the design of effective drive electronics. The ionomer main limitations are the fact that it needs to be moist continuously and the process of electrolysis that takes place during activation. An effective coating technique using a sprayed polymer was developed extending its operation in air from a few minutes to about four months. The coating technique effectively forms the equivalent of a skin to protect the moisture content of the ionomer. In parallel to the development of the bending EAP, the development of computer control of actuated longitudinal EAP has been pursued. An EAP driven miniature robotic arm was constructed and it is controlled by a MATLAB code to drop and lift the arm and close and open EAP fingers of a 4-finger gripper. Keywords: Miniature Robotics, Electroactive Polymers, Electroactive Actuators, EAP Materials

Research on Plasma Synthetic Jet Actuator

NASA Astrophysics Data System (ADS)

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

2011-09-01

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

Fabrication and characterization of a micromachined swirl-shaped ionic polymer metal composite actuator with electrodes exhibiting asymmetric resistance.

PubMed

Feng, Guo-Hua; Liu, Kim-Min

2014-05-12

This paper presents a swirl-shaped microfeatured ionic polymer-metal composite (IPMC) actuator. A novel micromachining process was developed to fabricate an array of IPMC actuators on a glass substrate and to ensure that no shortcircuits occur between the electrodes of the actuator. We demonstrated a microfluidic scheme in which surface tension was used to construct swirl-shaped planar IPMC devices of microfeature size and investigated the flow velocity of Nafion solutions, which formed the backbone polymer of the actuator, within the microchannel. The unique fabrication process yielded top and bottom electrodes that exhibited asymmetric surface resistance. A tool for measuring surface resistance was developed and used to characterize the resistances of the electrodes for the fabricated IPMC device. The actuator, which featured asymmetric electrode resistance, caused a nonzero-bias current when the device was driven using a zero-bias square wave, and we propose a circuit model to describe this phenomenon. Moreover, we discovered and characterized a bending and rotating motion when the IPMC actuator was driven using a square wave. We observed a strain rate of 14.6% and a displacement of 700 μm in the direction perpendicular to the electrode surfaces during 4.5-V actuation.

Fabrication and Characterization of a Micromachined Swirl-Shaped Ionic Polymer Metal Composite Actuator with Electrodes Exhibiting Asymmetric Resistance

PubMed Central

Feng, Guo-Hua; Liu, Kim-Min

2014-01-01

This paper presents a swirl-shaped microfeatured ionic polymer-metal composite (IPMC) actuator. A novel micromachining process was developed to fabricate an array of IPMC actuators on a glass substrate and to ensure that no shortcircuits occur between the electrodes of the actuator. We demonstrated a microfluidic scheme in which surface tension was used to construct swirl-shaped planar IPMC devices of microfeature size and investigated the flow velocity of Nafion solutions, which formed the backbone polymer of the actuator, within the microchannel. The unique fabrication process yielded top and bottom electrodes that exhibited asymmetric surface resistance. A tool for measuring surface resistance was developed and used to characterize the resistances of the electrodes for the fabricated IPMC device. The actuator, which featured asymmetric electrode resistance, caused a nonzero-bias current when the device was driven using a zero-bias square wave, and we propose a circuit model to describe this phenomenon. Moreover, we discovered and characterized a bending and rotating motion when the IPMC actuator was driven using a square wave. We observed a strain rate of 14.6% and a displacement of 700 μm in the direction perpendicular to the electrode surfaces during 4.5-V actuation. PMID:24824370

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.

Coupled Electro-Magneto-Mechanical-Acoustic Analysis Method Developed by Using 2D Finite Element Method for Flat Panel Speaker Driven by Magnetostrictive-Material-Based Actuator

NASA Astrophysics Data System (ADS)

Yoo, Byungjin; Hirata, Katsuhiro; Oonishi, Atsurou

In this study, a coupled analysis method for flat panel speakers driven by giant magnetostrictive material (GMM) based actuator was developed. The sound field produced by a flat panel speaker that is driven by a GMM actuator depends on the vibration of the flat panel, this vibration is a result of magnetostriction property of the GMM. In this case, to predict the sound pressure level (SPL) in the audio-frequency range, it is necessary to take into account not only the magnetostriction property of the GMM but also the effect of eddy current and the vibration characteristics of the actuator and the flat panel. In this paper, a coupled electromagnetic-structural-acoustic analysis method is presented; this method was developed by using the finite element method (FEM). This analysis method is used to predict the performance of a flat panel speaker in the audio-frequency range. The validity of the analysis method is verified by comparing with the measurement results of a prototype speaker.

On justification of efficient Energy-Force parameters of Hydraulic-excavator main mechanisms

NASA Astrophysics Data System (ADS)

Komissarov, Anatoliy; Lagunova, Yuliya; Shestakov, Viktor; Lukashuk, Olga

2018-03-01

The article formulates requirements for energy-efficient designs of the operational equipment of a hydraulic excavator (its boom, stick and bucket) and defines, for a mechanism of that equipment, a new term “performance characteristic”. The drives of main rotation mechanisms of the equipment are realized by hydraulic actuators (hydraulic cylinders) and transmission (leverage) mechanisms, with the actuators (the cylinders themselves, their pistons and piston rods) also acting as links of the leverage. Those drives are characterized by the complexity of translating mechanical-energy parameters of the actuators into energy parameters of the driven links (a boom, a stick and a bucket). Relations between those parameters depend as much on the types of mechanical characteristics of the hydraulic actuators as on the types of structural schematics of the transmission mechanisms. To assess how energy-force parameters of the driven links change when a typical operation is performed, it was proposed to calculate performance characteristics of the main mechanisms as represented by a set of values of transfer functions, i.e. by functional dependences between driven links and driving links (actuators). Another term “ideal performance characteristic” of a mechanism was introduced. Based on operation-emulating models for the main mechanisms of hydraulic excavators, analytical expressions were derived to calculate kinematic and force transfer functions of the main mechanisms.

Three-axis lever actuator with flexure hinges for an optical disk system

NASA Astrophysics Data System (ADS)

Han, Chang-Soo; Kim, Soo-Hyun

2002-10-01

A three-axis lever actuator with a flexure hinge has been designed and fabricated. This actuator is driven by electromagnetic force based on a coil-magnet system and can be used as a high precision actuator and, especially as a pickup head actuator in optical disks. High precision and low sensitivity to external vibration are the major advantages of this lever actuator. An analysis model was found and compared to the finite element method. Dynamic characteristics of the three-axis lever actuator were measured. The results are in very close agreement to those predicted by the model and finite element analysis.

Active control of massively separated high-speed/base flows with electric arc plasma actuators

NASA Astrophysics Data System (ADS)

DeBlauw, Bradley G.

The current project was undertaken to evaluate the effects of electric arc plasma actuators on high-speed separated flows. Two underlying goals motivated these experiments. The first goal was to provide a flow control technique that will result in enhanced flight performance for supersonic vehicles by altering the near-wake characteristics. The second goal was to gain a broader and more sophisticated understanding of these complex, supersonic, massively-separated, compressible, and turbulent flow fields. The attainment of the proposed objectives was facilitated through energy deposition from multiple electric-arc plasma discharges near the base corner separation point. The control authority of electric arc plasma actuators on a supersonic axisymmetric base flow was evaluated for several actuator geometries, frequencies, forcing modes, duty cycles/on-times, and currents. Initially, an electric arc plasma actuator power supply and control system were constructed to generate the arcs. Experiments were performed to evaluate the operational characteristics, electromagnetic emission, and fluidic effect of the actuators in quiescent ambient air. The maximum velocity induced by the arc when formed in a 5 mm x 1.6 mm x 2 mm deep cavity was about 40 m/s. During breakdown, the electromagnetic emission exhibited a rise and fall in intensity over a period of about 340 ns. After breakdown, the emission stabilized to a near-constant distribution. It was also observed that the plasma formed into two different modes: "high-voltage" and "low-voltage". It is believed that the plasma may be switching between an arc discharge and a glow discharge for these different modes. The two types of plasma do not appear to cause substantial differences on the induced fluidic effects of the actuator. In general, the characterization study provided a greater fundamental understanding of the operation of the actuators, as well as data for computational model comparison. Preliminary investigations of actuator geometry in the supersonic base flow determined that inclined cavity and normal cavity actuators positioned on the base near the base edge could produce significant disturbances in the shear layer. The disturbances were able to be tracked in time with phase-locked schlieren imaging and particle image velocimetry (PIV). The final set of flow control experiments were therefore performed with an eight-actuator base using the inclined cavity actuator geometry. The actuators were able to cause moderate influences on the axisymmetric shear layer velocity profile and base pressure. The most substantial changes to the shear layer and base pressure were noted for the highest current and duty cycle tests. At 1 A and 20% duty cycle, the base pressure was reduced by 3.5%. Similar changes were noted for all modes and a range of frequencies from about 10-30 kHz. Increases in duty cycle between 4% and 20% caused a nearly linear decrease in base pressure. Analysis of the shear layer velocity profiles acquired through PIV show a local thickening of the shear layer in the region of the disturbances caused by the actuator. A slight increase in thickness was also observed away from the disturbance. Disturbances were able to be tracked at all frequencies and translated along the shear layer at a convective velocity of 430 +/- 20 m/s. A fairly clear trend of increasing velocity disturbance amplitude correlating to increasing base pressure changes was noted. Moreover, the ability of the disturbances to stay well organized further down the shear layer also appears to be a significant factor in the actuators' effect on base pressure. Consistent with these observations, it appears that increased duty cycle causes increased shear layer disturbance amplitudes. The use of PIV has enabled substantial insight to be gained into the effects of the actuators on the ensemble-averaged flow field and on the variability of the instantaneous flow field with and without control. A sensitive bimodal recirculation region behavior was found in the no-control flow field that the plasma actuators could force. The flow field and turbulence statistics in each mode were substantially different. Through analysis of past no-control base pressure measurements, it is believed that the bimodal behavior fluctuates at a characteristic frequency between 0.4 and 0.5 Hz [StD = [special character omitted](5x10-5)]. The flat time-averaged base pressure distribution is due to the superposition of a normally non-flat instantaneous base pressure distribution. Also, the standard deviation of the base pressure measurements is reduced when in one recirculation region mode as compared to when it is fluctuating between recirculation region modes.

Effect of actuating voltage and discharge gap on plasma assisted detonation initiation process

NASA Astrophysics Data System (ADS)

Siyin, ZHOU; Xueke, CHE; Wansheng, NIE; Di, WANG

2018-06-01

The influence of actuating voltage and discharge gap on plasma assisted detonation initiation by alternating current dielectric barrier discharge was studied in detail. A loose coupling method was used to simulate the detonation initiation process of a hydrogen–oxygen mixture in a detonation tube under different actuating voltage amplitudes and discharge gap sizes. Both the discharge products and the detonation forming process assisted by the plasma were analyzed. It was found that the patterns of the temporal and spatial distributions of discharge products in one cycle keep unchanged as changing the two discharge operating parameters. However, the adoption of a higher actuating voltage leads to a higher active species concentration within the discharge zone, and atom H is the most sensitive to the variations of the actuating voltage amplitude among the given species. Adopting a larger discharge gap results in a lower concentration of the active species, and all species have the same sensitivity to the variations of the gap. With respect to the reaction flow of the detonation tube, the corresponding deflagration to detonation transition (DDT) time and distance become slightly longer when a higher actuating voltage is chosen. The acceleration effect of plasma is more prominent with a smaller discharge gap, and the benefit builds gradually throughout the DDT process. Generally, these two control parameters have little effect on the amplitude of the flow field parameters, and they do not alter the combustion degree within the reaction zone.

Dielectric Barrier Discharge (DBD) Plasma Actuators Thrust-Measurement Methodology Incorporating New Anti-Thrust Hypothesis

NASA Technical Reports Server (NTRS)

Ashpis, David E.; Laun, Matthew C.

2014-01-01

We discuss thrust measurements of Dielectric Barrier Discharge (DBD) plasma actuators devices used for aerodynamic active flow control. After a review of our experience with conventional thrust measurement and significant non-repeatability of the results, we devised a suspended actuator test setup, and now present a methodology of thrust measurements with decreased uncertainty. The methodology consists of frequency scans at constant voltages. The procedure consists of increasing the frequency in a step-wise fashion from several Hz to the maximum frequency of several kHz, followed by frequency decrease back down to the start frequency of several Hz. This sequence is performed first at the highest voltage of interest, then repeated at lower voltages. The data in the descending frequency direction is more consistent and selected for reporting. Sample results show strong dependence of thrust on humidity which also affects the consistency and fluctuations of the measurements. We also observed negative values of thrust or "anti-thrust", at low frequencies between 4 Hz and up to 64 Hz. The anti-thrust is proportional to the mean-squared voltage and is frequency independent. Departures from the parabolic anti-thrust curve are correlated with appearance of visible plasma discharges. We propose the anti-thrust hypothesis. It states that the measured thrust is a sum of plasma thrust and anti-thrust, and assumes that the anti-thrust exists at all frequencies and voltages. The anti-thrust depends on actuator geometry and materials and on the test installation. It enables the separation of the plasma thrust from the measured total thrust. This approach enables more meaningful comparisons between actuators at different installations and laboratories. The dependence on test installation was validated by surrounding the actuator with a large diameter, grounded, metal sleeve.

Comparing Ns-DBD vs Ac-DBD plasma actuation mechanisms on a NACA 0012 airfoil

NASA Astrophysics Data System (ADS)

Singh, Ashish; Durasiewicz, Claudia; Little, Jesse

2017-11-01

A NACA 0012 airfoil is used to study ns-DBD and ac-DBD plasma actuators at a Reynolds number of 740,000 (U∞=40 m/s). Ns-DBD plasma actuators are hypothesized to work on the principle of joule heating whereas ac-DBD actuators add momentum to the flow. Short duration forcing at a time scale much smaller than the convective time based on model chord is employed to study the control mechanism and flow field response. 2-D PIV carried out over a convective time range of 0-10 is used to study the flow structure. The results show the breakup of shear layer vorticity at the point of actuation followed by reattachment to the suction side of the airfoil and finally stall again. These events are very similar between the two actuators and indicate a similar flow response to different perturbation types. The pulse energies are varied and the response shows little change. The results are compared to other transitory separation control studies using more conventional actuators. The detailed study of these two control mechanisms with the separated flow over an airfoil helps to shed light on the evolution of the flow control process. Additional results on a simplified model problem (low speed mixing layer) are included to provide context. Supported by U.S. Army Research Office (W911NF-14-1-0662).

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.

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.

Shock Generation and Control Using DBD Plasma Actuators

NASA Technical Reports Server (NTRS)

Patel, Mehul P.; Cain, Alan B.; Nelson, Christopher C.; Corke, Thomas C.; Matlis, Eric H.

2012-01-01

This report is the final report of a NASA Phase I SBIR contract, with some revisions to remove company proprietary data. The Shock Boundary Layer Interaction (SBLI) phenomena in a supersonic inlet involve mutual interaction of oblique shocks with boundary layers, forcing the boundary layer to separate from the inlet wall. To improve the inlet efficiency, it is desired to prevent or delay shock-induced boundary layer separation. In this effort, Innovative Technology Applications Company (ITAC), LLC and the University of Notre Dame (UND) jointly investigated the use of dielectric-barrier-discharge (DBD) plasma actuators for control of SBLI in a supersonic inlet. The research investigated the potential for DBD plasma actuators to suppress flow separation caused by a shock in a turbulent boundary layer. The research involved both numerical and experimental investigations of plasma flow control for a few different SBLI configurations: (a) a 12 wedge flow test case at Mach 1.5 (numerical and experimental), (b) an impinging shock test case at Mach 1.5 using an airfoil as a shock generator (numerical and experimental), and (c) a Mach 2.0 nozzle flow case in a simulated 15 X 15 cm wind tunnel with a shock generator (numerical). Numerical studies were performed for all three test cases to examine the feasibility of plasma flow control concepts. These results were used to guide the wind tunnel experiments conducted on the Mach 1.5 12 degree wedge flow (case a) and the Mach 1.5 impinging shock test case (case b) which were at similar flow conditions as the corresponding numerical studies to obtain experimental evidence of plasma control effects for SBLI control. The experiments also generated data that were used in validating the numerical studies for the baseline cases (without plasma actuators). The experiments were conducted in a Mach 1.5 test section in the University of Notre Dame Hessert Laboratory. The simulation results from cases a and b indicated that multiple spanwise actuators in series and at a voltage of 75 kVp-p could fully suppress the flow separation downstream of the shock. The simulation results from case c showed that the streamwise plasma actuators are highly effective in creating pairs of counter-rotating vortices, much like the mechanical vortex generators, and could also potentially have beneficial effects for SBLI control. However, to achieve these effects, the positioning and the quantity of the DBD actuators used must be optimized. The wind tunnel experiments mapped the baseline flow with good agreement to the numerical simulations. The experimental results were conducted with spanwise actuators for cases a and b, but were limited by the inability to generate a sufficiently high voltage due to arcing in the wind-tunnel test-section. The static pressure in the tunnel was lower than the static pressure in an inlet at flight conditions, promoting arching and degrading the actuator performance.

Fiber-optical switch using cam-micromotor driven by scratch drive actuators

NASA Astrophysics Data System (ADS)

Kanamori, Y.; Aoki, Y.; Sasaki, M.; Hosoya, H.; Wada, A.; Hane, K.

2005-01-01

We fabricated a 1 × 1 fiber-optic switch using a cam-micromotor driven by scratch drive actuators (SDAs). Using the cam-micromotor, mechanical translation and precise positioning of an optical fiber were performed. An optical fiber of diameter 50 µm was bent and pushed out with a cam-mechanism driven by the SDAs fabricated by surface micromachining. The maximum rotation speed of the cam-micromotor was 7.5 rpm at a driving frequency of 1.5 kHz. The transient time of the switch to attenuate coupling efficiency less than -40 dB was around 10 ms.

The effect of electrohydrodynamic force on the lift coefficient of a NACA 0015 airfoil

NASA Astrophysics Data System (ADS)

Yusof, Y.; Hossain, A.; Abdullah, A. H.; Nasir, Rizal M. E.; Hamid, A.; Muthmainnah, N.; N, M.

2017-11-01

Lift, the force component that is perpendicular to the line of flight, is generated when a small aircraft moves through the air. With the help of the sets of flaps and slats on its wing, the pilot controls his aircraft manoeuvring in the air. In this study, we preferred to cut the drawbacks of the flaps system by introducing the electrohydrodynamic actuator. Widely known as plasma actuator, it is able to improve the induced lift force as well as the efficiency of a small aircraft system. A dielectric-barrier-discharge actuator using a 6 kV AC power supply was developed and tested on a NACA 0015 airfoil using copper as the electrodes and kapton as its dielectric component. The experimental results showed that it was successful in presenting a positive effect of the plasma actuator on the lift coefficient of the airfoil at smaller angle of attack, where enhancements ranged between 0.7% and 1.8%. However, at a higher angle, the results were not as swayed as it was desired since the energy exerted by the plasma actuator on the lift performance of the airfoil was inadequate. Further tests are needed using higher rated voltage supply and other equipment to improve the capability of the actuator in refining the aerodynamic performance of the airfoil.

Plasma-based actuators for turbulent boundary layer control in transonic flow

NASA Astrophysics Data System (ADS)

Budovsky, A. D.; Polivanov, P. A.; Vishnyakov, O. I.; Sidorenko, A. A.

2017-10-01

The study is devoted to development of methods for active control of flow structure typical for the aircraft wings in transonic flow with turbulent boundary layer. The control strategy accepted in the study was based on using of the effects of plasma discharges interaction with miniature geometrical obstacles of various shapes. The conceptions were studied computationally using 3D RANS, URANS approaches. The results of the computations have shown that energy deposition can significantly change the flow pattern over the obstacles increasing their influence on the flow in boundary layer region. Namely, one of the most interesting and promising data were obtained for actuators basing on combination of vertical wedge with asymmetrical plasma discharge. The wedge considered is aligned with the local streamlines and protruding in the flow by 0.4-0.8 of local boundary layer thickness. The actuator produces negligible distortion of the flow at the absence of energy deposition. Energy deposition along the one side of the wedge results in longitudinal vortex formation in the wake of the actuator providing momentum exchange in the boundary layer. The actuator was manufactured and tested in wind tunnel experiments at Mach number 1.5 using the model of flat plate. The experimental data obtained by PIV proved the availability of the actuator.

Optimization of mechanical performance of oxidative nano-particle electrode nitrile butadiene rubber conducting polymer actuator.

PubMed

Kim, Baek-Chul; Park, S J; Cho, M S; Lee, Y; Nam, J D; Choi, H R; Koo, J C

2009-12-01

Present work delivers a systematical evaluation of actuation efficiency of a nano-particle electrode conducting polymer actuator fabricated based on Nitrile Butadiene Rubber (NBR). Attempts are made for maximizing mechanical functionality of the nano-particle electrode conducting polymer actuator that can be driven in the air. As the conducting polymer polypyrrole of the actuator is to be fabricated through a chemical oxidation polymerization process that may impose certain limitations on both electrical and mechanical functionality of the actuator, a coordinated study for optimization process of the actuator is necessary for maximizing its performance. In this article actuation behaviors of the nano-particle electrode polypyrrole conducting polymer is studied and an optimization process for the mechanical performance maximization is performed.

Modelisation numerique d'un actionneur plasma de type decharge a barriere dielectrique par la methode de derive-diffusion

NASA Astrophysics Data System (ADS)

Xing, Jacques

Dielectric barrier discharge (DBD) plasma actuator is a proposed device for active for control in order to improve the performances of aircraft and turbomachines. Essentially, these actuators are made of two electrodes separated by a layer of dielectric material and convert electricity directly into flow. Because of the high costs associated with experiences in realistic operating conditions, there is a need to develop a robust numerical model that can predict the plasma body force and the effects of various parameters on it. Indeed, this plasma body force can be affected by atmospheric conditions (temperature, pressure, and humidity), velocity of the neutral flow, applied voltage (amplitude, frequency, and waveform), and by the actuator geometry. In that respect, the purpose of this thesis is to implement a plasma model for DBD actuator that has the potential to consider the effects of these various parameters. In DBD actuator modelling, two types of approach are commonly proposed, low-order modelling (or phenomenological) and high-order modelling (or scientific). However a critical analysis, presented in this thesis, showed that phenomenological models are not robust enough to predict the plasma body force without artificial calibration for each specific case. Moreover, there are based on erroneous assumptions. Hence, the selected approach to model the plasma body force is a scientific drift-diffusion model with four chemical species (electrons, positive ions, negative ions, and neutrals). This model was chosen because it gives consistent numerical results comparatively with experimental data. Moreover, this model has great potential to include the effect of temperature, pressure, and humidity on the plasma body force and requires only a reasonable computational time. This model was independently implemented in C++ programming language and validated with several test cases. This model was later used to simulate the effect of the plasma body force on the laminar-turbulent transition on airfoil in order to validate the performance of this model in practical CFD simulation. Numerical results show that this model gives a better prediction of the effect of the plasma on the fluid flow for a practical case in aerospace than a phenomenological model.

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

NASA Astrophysics Data System (ADS)

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

2015-03-01

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

Ferroelectric Fluid Flow Control Valve

NASA Technical Reports Server (NTRS)

Jalink, Antony, Jr. (Inventor); Hellbaum, Richard F. (Inventor); Rohrbach, Wayne W. (Inventor)

1999-01-01

An active valve is controlled and driven by external electrical actuation of a ferroelectric actuator to provide for improved passage of the fluid during certain time periods and to provide positive closure of the valve during other time periods. The valve provides improved passage in the direction of flow and positive closure in the direction against the flow. The actuator is a dome shaped internally prestressed ferroelectric actuator having a curvature, said dome shaped actuator having a rim and an apex. and a dome height measured from a plane through said rim said apex that varies with an electric voltage applied between an inside and an outside surface of said dome shaped actuator.

Improving plasma actuator performance at low pressure, and an analysis of the pointing capabilities of cubeSats using Plasmonic Force Propulsion (PFP) thrusters

NASA Astrophysics Data System (ADS)

Friz, Paul Daniel

This thesis details the work done on two unrelated projects, plasma actuators, an aerodynamic flow control device, and Plasmonic Force Propulsion (PFP) thrusters, a space propulsion system for small satellites. The first half of the thesis is a paper published in the International Journal of Flow Control on plasma actuators. In this paper the thrust and power consumption of plasma actuators with varying geometries was studied at varying pressure. It was found that actuators with longer buried electrodes produce the most thrust over all and that they substantially improved thrust at low pressure. In particular actuators with 75 mm buried electrodes produced 26% more thrust overall and 34% more thrust at low pressure than the standard 15 mm design. The second half details work done modeling small satellite attitude and reaction control systems in order to compare the use of Plasmonic Force Propulsion thrusters with other state of the art reaction control systems. The model uses bang bang control algorithms and assumes the worst case scenario solar radiation pressure is the only disturbing force. It was found that the estimated 50-500 nN of thrust produced by PFP thrusters would allow the spacecraft which use them extremely high pointing and positioning accuracies (<10-9 degrees and 3 pm). PFP thrusters still face many developmental challenges such as increasing specific impulse which require more research, however, they have great potential to be an enabling technology for future NASA missions such as the Laser Interferometer Space Antenna, and The Stellar Imager.

Biomimetic photo-actuation: progress and challenges

NASA Astrophysics Data System (ADS)

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

2016-04-01

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

Nanoporous-Gold-Based Hybrid Cantilevered Actuator Dealloyed and Driven by A Modified Rotary Triboelectric Nanogenerator

PubMed Central

Li, Xuequan; Liu, Mengmeng; Huang, Baisheng; Liu, Hong; Hu, Weiguo; Shao, Li-Hua; Wang, Zhong Lin

2016-01-01

We firstly designed an electrochemical system for dealloying to synthesize nanoporous gold (NPG) and also driving the novel NPG based actuator by utilizing a modified rotary triboelectric nanogenerator (TENG). Compared to the previous reported TENG whose outputs decline due to temperature rising resulting from electrodes friction, the modified TENG with a cooling system has stable output current and voltage increased by 14% and 20%, respectively. The novel cantilevered hybrid actuator characterised by light-weight (ca. 3 mg) and small volume (ca. 30 mm × 2 mm × 10 μm) is driven by a microcontroller modulated TENG with the displacement of 2.2 mm, which is about 106 times larger than that of traditional cantilever using planar surfaces. The energy conversion efficiencies defined as the energy consumed during dealloying and actuation compared with the output of TENG are 47% and 56.7%, respectively. PMID:27063987

A planar nano-positioner driven by shear piezoelectric actuators

NASA Astrophysics Data System (ADS)

Dong, W.; Li, H.; Du, Z.

2016-08-01

A planar nano-positioner driven by the shear piezoelectric actuators is proposed in this paper based on inertial sliding theory. The performance of the nano-positioner actuated by different driving signals is analyzed and discussed, e.g. the resolution and the average velocity which depend on the frequency, the amplitude and the wave form of the driving curves. Based on the proposed design, a prototype system of the nano-positioner is developed by using a capacitive sensor as the measurement device. The experiment results show that the proposed nano-positioner is capable of outputting two-dimensional motions within an area of 10 mm × 10 mm at a maximum speed of 0.25 mm/s. The corresponding resolution can be as small as 21 nm. The methodology outlined in this paper can be employed and extended to shear piezoelectric actuators involved in high precision positioning systems.

Robot Arm with Tendon Connector Plate and Linear Actuator

NASA Technical Reports Server (NTRS)

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

2014-01-01

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

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.

On the boundary flow using pulsed nanosecond DBD plasma actuators

NASA Astrophysics Data System (ADS)

Zhao, Zi-Jie; Cui, Y. D.; Li, Jiun-Ming; Zheng, Jian-Guo; Khoo, B. C.

2018-05-01

Our previous studies in quiescent air environment [Z. J. Zhao et al., AIAA J. 53(5) (2015) 1336; J. G. Zheng et al., Phys. Fluids 26(3) (2014) 036102] reveal experimentally and numerically that the shock wave generated by the nanosecond pulsed plasma is fundamentally a microblast wave. The shock-induced burst perturbations (overpressure and induced velocity) are found to be restricted to a very narrow region (about 1 mm) behind the shock front and last only for a few microseconds. These results indicate that the pulsed nanosecond dielectric barrier discharge (DBD) plasma actuator has stronger local effects in time and spatial domain. In this paper, we further investigate the effects of pulsed plasma on the boundary layer flow over a flat plate. The present investigation reveals that the nanosecond pulsed plasma actuator generates intense perturbations and tends to promote the laminar boundary over a flat plate to turbulent flow. The heat effect after the pulsed plasma discharge was observed in the external flow, lasting a few milliseconds for a single pulse and reaching a quasi-stable state for multi-pulses.

Method of fabricating a micro machine

DOEpatents

Stalford, Harold L

2014-11-11

A micro machine may be in or less than the micrometer domain. The micro machine may include a micro actuator and a micro shaft coupled to the micro actuator. The micro shaft is operable to be driven by the micro actuator. A tool is coupled to the micro shaft and is operable to perform work in response to at least motion of the micro shaft.

Methods and systems for micro machines

DOEpatents

Stalford, Harold L.

2018-03-06

A micro machine may be in or less than the micrometer domain. The micro machine may include a micro actuator and a micro shaft coupled to the micro actuator. The micro shaft is operable to be driven by the micro actuator. A tool is coupled to the micro shaft and is operable to perform work in response to at least motion of the micro shaft.

Methods and systems for micro machines

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

Stalford, Harold L.

2017-04-11

A micro machine may be in or less than the micrometer domain. The micro machine may include a micro actuator and a micro shaft coupled to the micro actuator. The micro shaft is operable to be driven by the micro actuator. A tool is coupled to the micro shaft and is operable to perform work in response to at least motion of the micro shaft.

Methods and systems for micro machines

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

Stalford, Harold L.

A micro machine may be in or less than the micrometer domain. The micro machine may include a micro actuator and a micro shaft coupled to the micro actuator. The micro shaft is operable to be driven by the micro actuator. A tool is coupled to the micro shaft and is operable to perform work in response to at least motion of the micro shaft.

Traversing probe system

DOEpatents

Mashburn, Douglas N.; Stevens, Richard H.; Woodall, Harold C.

1977-01-01

This invention comprises a rotatable annular probe-positioner which carries at least one radially disposed sensing probe, such as a Pitot tube having a right-angled tip. The positioner can be coaxially and rotatably mounted within a compressor casing or the like and then actuated to orient the sensing probe as required to make measurements at selected stations in the annulus between the positioner and compressor casing. The positioner can be actuated to (a) selectively move the probe along its own axis, (b) adjust the yaw angle of the right-angled probe tip, and (c) revolve the probe about the axis common to the positioner and casing. A cam plate engages a cam-follower portion of the probe and normally rotates with the positioner. The positioner includes a first-motor-driven ring gear which effects slidable movement of the probe by rotating the positioner at a time when an external pneumatic cylinder is actuated to engage the cam plate and hold it stationary. When the pneumatic cylinder is not actuated, this ring gear can be driven to revolve the positioner and thus the probe to a desired circumferential location about the above-mentioned common axis. A second motor-driven ring gear included in the positioner can be driven to rotate the probe about its axis, thus adjusting the yaw angle of the probe tip. The positioner can be used in highly corrosive atmosphere, such as gaseous uranium hexafluoride.

Thermally Driven Photonic Actuator Based on Silica Opal Photonic Crystal with Liquid Crystal Elastomer.

PubMed

Xing, Huihui; Li, Jun; Shi, Yang; Guo, Jinbao; Wei, Jie

2016-04-13

We have developed a novel thermoresponsive photonic actuator based on three-dimensional SiO2 opal photonic crystals (PCs) together with liquid crystal elastomers (LCEs). In the process of fabrication of such a photonic actuator, the LCE precursor is infiltrated into the SiO2 opal PC followed by UV light-induced photopolymerization, thereby forming the SiO2 opal PC/LCE composite film with a bilayer structure. We find that this bilayer composite film simultaneously exhibits actuation behavior as well as the photonic band gap (PBG) response to external temperature variation. When the SiO2 opal PC/LCE composite film is heated, it exhibits a considerable bending deformation, and its PBG shifts to a shorter wavelength at the same time. In addition, this actuation is quite fast, reversible, and highly repeatable. The thermoresponsive behavior of the SiO2 opal PC/LCE composite films mainly derives from the thermal-driven change of nematic order of the LCE layer which leads to the asymmetric shrinkage/expansion of the bilayer structure. These results will be of interest in designing optical actuator systems for environment-temperature detection.

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.

Design and dynamic analysis of a piezoelectric linear stage for pipetting liquid samples

NASA Astrophysics Data System (ADS)

Yu-Jen, Wang; Chien, Lee; Yi-Bin, Jiang; Kuo-Chieh, Fu

2017-06-01

Piezoelectric actuators have been widely used in positioning stages because of their compact size, stepping controllability, and holding force. This study proposes a piezoelectric-driven stage composed of a bi-electrode piezoelectric slab, capacitive position sensor, and capillary filling detector for filling liquid samples into nanopipettes using capillary flow. This automatic sample-filling device is suitable for transmission electron microscopy image-based quantitative analysis of aqueous products with added nanoparticles. The step length of the actuator is adjusted by a pulse width modulation signal that depends on the stage position; the actuator stops moving once the capillary filling has been detected. A novel dynamic model of the piezoelectric-driven stage based on collision interactions between the piezoelectric actuator and the sliding clipper is presented. Unknown model parameters are derived from the steady state solution of the equivalent steady phase angle. The output force of the piezoelectric actuator is formulated using the impulse and momentum principle. Considering the applied forces and related velocity between the sliding clipper and the piezoelectric slab, the stage dynamic response is confirmed with the experimental results. Moreover, the model can be used to explain the in-phase slanted trajectories of piezoelectric slab to drive sliders, but not elliptical trajectories. The maximum velocity and minimum step length of the piezoelectric-driven stage are 130 mm s-1 and 1 μm respectively.

Combined magnetic and kinetic control of advanced tokamak steady state scenarios based on semi-empirical modelling

DOE PAGES

Moreau, Didier; Artaud, J. F.; Ferron, John R.; ...

2015-05-01

This paper shows that semi-empirical data-driven models based on a twotime- scale approximation for the magnetic and kinetic control of advanced tokamak (AT) scenarios can be advantageously identified from simulated rather than real data, and used for control design. The method is applied to the combined control of the safety factor profile, q(x), and normalized pressure parameter, β N, using DIII-D parameters and actuators (on-axis co-current neutral beam injection (NBI) power, off axis co-current NBI power, electron cyclotron current drive power, and ohmic coil). The approximate plasma response model was identified from simulated data obtained using a rapidly converging plasmamore » transport code, METIS, which includes an MHD equilibrium and current diffusion solver, and combines plasma transport nonlinearity with 0-D scaling laws and 1.5-D ordinary differential equations. A number of open loop simulations were performed, in which the heating and current drive (H&CD) sources were randomly modulated around the typical values of a reference AT discharge on DIIID. Using these simulated data, a two-time-scale state space model was obtained for the coupled evolution of the poloidal flux profile and βN parameter, and a controller was synthesized based on the near-optimal ARTAEMIS algorithm [D. Moreau et al., Nucl. Fusion 53 (2013) 063020]. The paper discusses the results of closed-loop nonlinear simulations, using this controller for steady state AT operation. With feedforward plus feedback control, the steady state target q-profile and β N are satisfactorily tracked with a time scale of about ten seconds, despite large disturbances applied to the feedforward powers and plasma parameters. The effectiveness of the control algorithm is thus demonstrated for long pulse and steady state high-β N AT discharges. Its robustness with respect to disturbances of the H&CD actuators and of plasma parameters such as the H-factor, plasma density and effective charge, is also shown.« less

Efficiency of plasma actuator ionization in shock wave modification in a rarefied supersonic flow over a flat plate

NASA Astrophysics Data System (ADS)

Joussot, Romain; Lago, Viviana; Parisse, Jean-Denis

2014-12-01

This paper describes experimental and numerical investigations focused on the shock wave modification, induced by a dc glow discharge, of a Mach 2 flow under rarefied regime. The model under investigation is a flat plate equipped with a plasma actuator composed of two electrodes. The glow discharge is generated by applying a negative potential to the upstream electrode, enabling the creation of a weakly ionized plasma. The natural flow (i.e. without the plasma) exhibits a thick laminar boundary layer and a shock wave with a hyperbolic shape. Images of the flow obtained with an ICCD camera revealed that the plasma discharge induces an increase in the shock wave angle. Thermal effects (volumetric, and at the surface) and plasma effects (ionization, and thermal non-equilibrium) are the most relevant processes explaining the observed modifications. The effect induced by the heating of the flat plate surface is studied experimentally by replacing the upstream electrode by a heating element, and numerically by modifying the thermal boundary condition of the model surface. The results show that for a similar temperature distribution over the plate surface, modifications induced by the heating element are lower than those produced by the plasma. This difference shows that other effects than purely thermal effects are involved with the plasma actuator. Measurements of the electron density with a Langmuir probe highlight the fact that the ionization degree plays an important role into the modification of the flow. The gas properties, especially the isentropic exponent, are indeed modified by the plasma above the actuator and upstream the flat plate. This leads to a local modification of the flow conditions, inducing an increase in the shock wave angle.

Development of flow separation control system to reduce the vibration of wind turbine blades

NASA Astrophysics Data System (ADS)

Kim, Ho-Young; Kim, Ho-Hyun; Han, Jong-Seob; Han, Jae-Hung

2017-04-01

The size of wind turbine blade has been continuously increased. Large-scale wind turbine blades induce loud noise, vibration; and maintenance difficulty is also increased. It causes the eventual increases of the cost of energy. The vibration of wind turbine blade is caused by several reasons such as a blade rotation, tower shadow, wind shear, and flow separation of a wind turbine blade. This wind speed variation changes in local angle of attack of the blades and create the vibration. The variation of local angle of attack influences the lift coefficient and causes the large change of the lift. In this study, we focus on the lift coefficient control using a flow control device to reduce the vibration. DU35-A15 airfoil was employed as baseline model. A plasma actuator was installed to generate the upwind jet in order to control the lift coefficient. Wind tunnel experiment was performed to demonstrate of the performance of the plasma actuator. The results show the plasma actuator can induce the flow separation compared with the baseline model. In addition, the actuator can delay the flow separation depending on the input AC frequency with the same actuator configuration.

Measurement of Velocity Induced by a Propagating Arc Magnetohydrodynamic Plasma Actuator

NASA Astrophysics Data System (ADS)

Choi, Young Joon; Gray, Miles; Sirohi, Jayant; Raja, Laxminarayan

2016-09-01

Plasma actuators can substantially improve the maneuverability and efficiency of aerial vehicles. These solid state devices have low mass, small volume, and high bandwidth that make them excellent alternatives to conventional mechanical actuators. In particular, a Rail Plasma Actuator (RailPAc) has the potential to delay flow separation on an aerodynamic surface by generating a large body force. A RailPAc consists of parallel rails and an electrical arc that propagates along the rails with a self-induced Lorentz force. The motion of the arc transfers momentum to the surrounding neutral air. A study was conducted to understand how the motion and shape of a propagating arc couples with the fluid momentum. In particular, we used Particle Imaging Velocimetry (PIV) and seedless PIV based on Background Oriented Schlieren (BOS) technique to measure the induced velocity of a propagating arc in one atmosphere. Results obtained provide insight into how the flow field responds to the passage of a RailPAc electrical arc. A complete description of the RailPAc actuation mechanism can be obtained if the fluid momentum measurements from PIV and seedless PIV are compared to the transit characteristics of an arc. US ARL Grant W911NF1410226.

Investigation of Creep Properties in RAINBOW High Displacement Actuators

NASA Technical Reports Server (NTRS)

Haertling, Gene; Furman, Eugene; Li, Guang; Barron, Bret; Moon, Youngwoo

1997-01-01

Results from this study on fatigue in Rainbow and Cerambow actuators show that these high displacement actuators have definite fatigue rates and lifetimes depending upon (1) the amount of displacement generated, (2) how hard they are driven electrically, and (3) the microstructure (grain size) of the ceramic material. Lifetimes for some actuators were on the order of 10(exp 7) cycles at near dc (1 Hz) frequencies while others still retained up to 74% of their displacement at 2.1 x 10(exp 7) Hz.

Numerical Simulations of Flow Separation Control in Low-Pressure Turbines using Plasma Actuators

NASA Technical Reports Server (NTRS)

Suzen, Y. B.; Huang, P. G.; Ashpis, D. E.

2007-01-01

A recently introduced phenomenological model to simulate flow control applications using plasma actuators has been further developed and improved in order to expand its use to complicated actuator geometries. The new modeling approach eliminates the requirement of an empirical charge density distribution shape by using the embedded electrode as a source for the charge density. The resulting model is validated against a flat plate experiment with quiescent environment. The modeling approach incorporates the effect of the plasma actuators on the external flow into Navier Stokes computations as a body force vector which is obtained as a product of the net charge density and the electric field. The model solves the Maxwell equation to obtain the electric field due to the applied AC voltage at the electrodes and an additional equation for the charge density distribution representing the plasma density. The new modeling approach solves the charge density equation in the computational domain assuming the embedded electrode as a source therefore automatically generating a charge density distribution on the surface exposed to the flow similar to that observed in the experiments without explicitly specifying an empirical distribution. The model is validated against a flat plate experiment with quiescent environment.

Programmable and functional electrothermal bimorph actuators based on large-area anisotropic carbon nanotube paper

NASA Astrophysics Data System (ADS)

Li, Qingwei; Liu, Changhong; Fan, Shoushan

2018-04-01

Electro-active polymer (EAP) actuators, such as electronic, ionic and electrothermal (ET) actuators, have become an important branch of next-generation soft actuators in bionic robotics. However, most reported EAP actuators could realize only simple movements, being restricted by the small area of flexible electrodes and simple designs. We prepared large-area flexible electrodes of high anisotropy, made of oriented carbon nanotube (CNT) paper, and carried out artful graphic designs and processing on the electrodes to make functional ET bimorph actuators which can realize large bending deformations (over 220°, curvature > 1.5 cm-1) and bionic movements driven by electricity. The anisotropy of CNT paper benefits electrode designs and multiform actuations for complex actuators. Based on the large-area CNT paper, more interesting and functional actuators can be designed and prepared which will have practical applications in the fields of artificial muscles, complicated actuations, and soft and bionic robotics.

Nanoporous carbon actuator and methods of use thereof

DOEpatents

Biener, Juergen [San Leandro, CA; Baumann, Theodore F [Discovery Bay, CA; Shao, Lihua [Karlsruhe, DE; Weissmueller, Joerg [Stutensee, DE

2012-07-31

An electrochemically driveable actuator according to one embodiment includes a nanoporous carbon aerogel composition capable of exhibiting charge-induced reversible strain when wetted by an electrolyte and a voltage is applied thereto. An electrochemically driven actuator according to another embodiment includes a nanoporous carbon aerogel composition wetted by an electrolyte; and a mechanism for causing charge-induced reversible strain of the composition. A method for electrochemically actuating an object according to one embodiment includes causing charge-induced reversible strain of a nanoporous carbon aerogel composition wetted with an electrolyte to actuate the object by the strain.

Stimuli-Responsive Polymers for Actuation.

PubMed

Zhang, Qiang Matthew; Serpe, Michael J

2017-06-02

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

Design and characterization of a nano-Newton resolution thrust stand

NASA Astrophysics Data System (ADS)

Soni, J.; Roy, S.

2013-09-01

The paper describes the design, calibration, and characterization of a thrust stand capable of nano-Newton resolution. A low uncertainty calibration method is proposed and demonstrated. A passive eddy current based damper, which is non-contact and vacuum compatible, is employed. Signal analysis techniques are used to perform noise characterization, and potential sources are identified. Calibrated system noise floor suggests thrust measurement resolution of the order of 10 nN is feasible under laboratory conditions. Force measurement from this balance for a standard macroscale dielectric barrier discharge (DBD) plasma actuator is benchmarked with a commercial precision balance of 9.8 μN resolution and is found to be in good agreement. Published results of a microscale DBD plasma actuator force measurement and low pressure characterization of conventional plasma actuators are presented for completeness.

Separation control of NACA0015 airfoil using plasma actuators

NASA Astrophysics Data System (ADS)

Harada, Daisuke; Sakakibara, Jun

2017-11-01

Separation control of NACA0015 airfoil by means of plasma actuators was investigated. Plasma actuators in spanwise intermittent layout on the suction surface of the airfoil were activated with spanwise phase difference φ = 0 or φ = π in the case of dimensionless burst frequencyF+ = 6 and F+ = 0.5 at Re = 6.3 ×104 . The lift and drag of the airfoil were measured using a two component force balance. The flow around the airfoil was measured by PIV analysis. In the condition of F+ = 6 and φ = π at around stall angle, which is 10 degrees, the lift-to-drag ratio was higher than that ofF+ = 6 and φ = 0 . Therefore, it was confirmed that aerodynamic characteristics of the airfoil improved by disturbances with temporal and spatial phase difference.

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

PubMed

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

2012-09-01

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

Thermo- and photo-driven soft actuators based on crosslinked liquid crystalline polymers

NASA Astrophysics Data System (ADS)

Gu, Wei; Wei, Jia; Yu, Yanlei

2016-09-01

Crosslinked liquid crystalline polymers (CLCPs) are a type of promising material that possess both the order of liquid crystals and the properties of polymer networks. The anisotropic deformation of the CLCPs takes place when the mesogens experience order to disorder change in response to external stimuli; therefore, they can be utilized to fabricate smart actuators, which have potential applications in artificial muscles, micro-optomechanical systems, optics, and energy-harvesting fields. In this review the recent development of thermo- and photo-driven soft actuators based on the CLCPs are summarized. Project supported by the National Natural Science Foundation of China (Grant Nos. 21134003, 21273048, 51225304, and 51203023) and Shanghai Outstanding Academic Leader Program, China (Grant No. 15XD1500600).

Bio-inspired polymer composite actuator and generator driven by water gradients.

PubMed

Ma, Mingming; Guo, Liang; Anderson, Daniel G; Langer, Robert

2013-01-11

Here we describe the development of a water-responsive polymer film. Combining both a rigid matrix (polypyrrole) and a dynamic network (polyol-borate), strong and flexible polymer films were developed that can exchange water with the environment to induce film expansion and contraction, resulting in rapid and continuous locomotion. The film actuator can generate contractile stress up to 27 megapascals, lift objects 380 times heavier than itself, and transport cargo 10 times heavier than itself. We have assembled a generator by associating this actuator with a piezoelectric element. Driven by water gradients, this generator outputs alternating electricity at ~0.3 hertz, with a peak voltage of ~1.0 volt. The electrical energy is stored in capacitors that could power micro- and nanoelectronic devices.

Electrostatic micromembrane actuator arrays as motion generator

NASA Astrophysics Data System (ADS)

Wu, X. T.; Hui, J.; Young, M.; Kayatta, P.; Wong, J.; Kennith, D.; Zhe, J.; Warde, C.

2004-05-01

A rigid-body motion generator based on an array of micromembrane actuators is described. Unlike previous microelectromechanical systems (MEMS) techniques, the architecture employs a large number (typically greater than 1000) of micron-sized (10-200 μm) membrane actuators to simultaneously generate the displacement of a large rigid body, such as a conventional optical mirror. For optical applications, the approach provides optical design freedom of MEMS mirrors by enabling large-aperture mirrors to be driven electrostatically by MEMS actuators. The micromembrane actuator arrays have been built using a stacked architecture similar to that employed in the Multiuser MEMS Process (MUMPS), and the motion transfer from the arrayed micron-sized actuators to macro-sized components was demonstrated.

Nonlinear dynamic modeling of a V-shaped metal based thermally driven MEMS actuator for RF switches

NASA Astrophysics Data System (ADS)

Bakri-Kassem, Maher; Dhaouadi, Rached; Arabi, Mohamed; Estahbanati, Shahabeddin V.; Abdel-Rahman, Eihab

2018-05-01

In this paper, we propose a new dynamic model to describe the nonlinear characteristics of a V-shaped (chevron) metallic-based thermally driven MEMS actuator. We developed two models for the thermal actuator with two configurations. The first MEMS configuration has a small tip connected to the shuttle, while the second configuration has a folded spring and a wide beam attached to the shuttle. A detailed finite element model (FEM) and a lumped element model (LEM) are proposed for each configuration to completely characterize the electro-thermal and thermo-mechanical behaviors. The nonlinear resistivity of the polysilicon layer is extracted from the measured current-voltage (I-V) characteristics of the actuator and the simulated corresponding temperatures in the FEM model, knowing the resistivity of the polysilicon at room temperature from the manufacture’s handbook. Both developed models include the nonlinear temperature-dependent material properties. Numerical simulations in comparison with experimental data using a dedicated MEMS test apparatus verify the accuracy of the proposed LEM model to represent the complex dynamics of the thermal MEMS actuator. The LEM and FEM simulation results show an accuracy ranging from a maximum of 13% error down to a minimum of 1.4% error. The actuator with the lower thermal load to air that includes a folded spring (FS), also known as high surface area actuator is compared to the actuator without FS, also known as low surface area actuator, in terms of the I-V characteristics, power consumption, and experimental static and dynamic responses of the tip displacement.

IPMC-driven thrust generation: a new conceptual design (Conference Presentation)

NASA Astrophysics Data System (ADS)

Olsen, Zakai; Kim, Kwang Jin

2017-04-01

Ionic Polymer-Metal Composites (IPMC) are highly functional actuators that find many uses in the field of soft robotics due to their low actuation voltage and ability to operate in aquatic environments. The actuation of an IPMC relies on the swelling of the negatively charged side when a potential is applied, due to the free-moving cations and water molecules migrating to that half. While this bending type actuation can be utilized to perform many tasks, it is ill suited for the primary propulsion mechanism in certain soft robotic applications. Here, a new conceptual design is presented which utilizes the bending of IPMC materials to achieve complex actuation motion in an attempt to generate a non-zero net thrust for propulsion of soft robots. The design capitalizes on advances in the manufacturing processes of electroactive polymer materials, which now allow for more complex shapes and thus new and unique modes of actuation. By utilizing the consistent bending deformation of IPMC actuators, in conjunction with carefully considered geometry, an IPMC driven body may serve as a primary mode of propulsion through a positive net thrust generation. This work consists of the initial feasibility study, concept testing, and optimization for such an actuator through computer modeling and simulation. COMSOL will be used for the finite element analysis to design the most efficient and optimized design for a positive net thrust generation. Such an IPMC design may find a great deal of applications, and the potential of future integration into other soft robotic systems is considered.

LES of a Jet Excited by the Localized Arc Filament Plasma Actuators

NASA Technical Reports Server (NTRS)

Brown, Clifford A.

2011-01-01

The fluid dynamics of a high-speed jet are governed by the instability waves that form in the free-shear boundary layer of the jet. Jet excitation manipulates the growth and saturation of particular instability waves to control the unsteady flow structures that characterize the energy cascade in the jet.The results may include jet noise mitigation or a reduction in the infrared signature of the jet. The Localized Arc Filament Plasma Actuators (LAFPA) have demonstrated the ability to excite a high-speed jets in laboratory experiments. Extending and optimizing this excitation technology, however, is a complex process that will require many tests and trials. Computational simulations can play an important role in understanding and optimizing this actuator technology for real-world applications. Previous research has focused on developing a suitable actuator model and coupling it with the appropriate computational fluid dynamics (CFD) methods using two-dimensional spatial flow approximations. This work is now extended to three-dimensions (3-D) in space. The actuator model is adapted to a series of discrete actuators and a 3-D LES simulation of an excited jet is run. The results are used to study the fluid dynamics near the actuator and in the jet plume.

Four-plate piezoelectric actuator driving a large-diameter special optical fiber for nonlinear optical microendoscopy.

PubMed

Wang, Ying; Li, Zhi; Liang, Xiaobao; Fu, Ling

2016-08-22

In nonlinear optical microendoscope (NOME), a fiber with excellent optical characteristics and a miniature scanning mechanism at the distal end are two key components. Double-clad fibers (DCFs) and double-clad photonic crystal fibers (DCPCFs) have shown great optical characteristics but limited vibration amplitude due to large diameter. Besides reducing the damping of fiber cantilever, optimizing the structural of the actuator for lower energy dissipation also contributes to better driving capability. This paper presented an optimized actuator for driving a particular fiber cantilever in the view point of energy. Firstly, deformation energy of a bending fiber cantilever operating in resonant mode is investigated. Secondly, strain and stress analyses revealed that the four-plate actuator achieved lower energy dissipation. Then, finite-element simulations showed that the large-diameter fiber yielded an adequate vibration amplitude driven by a four-plate actuator, which was confirmed by experiments of our home-made four-plate actuator prototypes. Additionally, a NOME based on a DCPCF with a diameter of 350 μm driven by four-plate piezoelectric actuator has been developed. The NOME can excite and collect intrinsic second-harmonic and two-photon fluorescence signals with the excitation power of 10-30 mW and an adequate field of view of 200 μm, which suggest great potential applications in neuroscience and clinical diagnoses.

Design of membrane actuators based on ferromagnetic shape memory alloy composite for the synthetic jet actuator

NASA Astrophysics Data System (ADS)

Liang, Yuanchang; Taya, Minoru; Kuga, Yasuo

2004-07-01

A new membrane actuator based on our previous diaphragm actuator was designed and constructed to improve the dynamic performance. The finite element analysis was used to estimate the frequency response of the composite membrane which will be driven close to its resonance to obtain a large stroke. The membrane is made of ferromagnetic shape memory alloy (FSMA) composite including a ferromagnetic soft iron pad and a superelastic grade of NiTi shape memory alloy (SMA). The actuation mechanism for the FSMA composite membrane of the actuator is the hybrid mechanism that we proposed previously. This membrane actuator is designed for a new synthetic jet actuator package that will be used for active flow control technology on airplane wings. Based on the FEM results, the new membrane actuator system was assembled and its static and dynamic performance was experimentally evaluated including the dynamic magnetic response of the hybrid magnet.

Artificial muscles driven by the cooperative actuation of electrochemical molecular machines. Persistent discrepancies and challenges

NASA Astrophysics Data System (ADS)

Otero

2017-10-01

Here we review the persisting conceptual discrepancies between different research groups working on artificial muscles based on conducting polymers and other electroactive material. The basic question is if they can be treated as traditional electro-mechanical (physical) actuators driven by electric fields and described by some adaptation of their physical models or if, replicating natural muscles, they are electro-chemo-mechanical actuators driven by electrochemical reaction of the constitutive molecular machines: the polymeric chains. In that case the charge consumed by the reaction will control the volume variation of the muscular material and the motor displacement, following the basic and single Faraday's laws: the charge consumed by the reaction determines the number of exchanged ions and solvent, the film volume variation to lodge/expel them and the amplitude of the movement. Deviations from the linear relationships are due to the osmotic exchange of solvent and to the presence of parallel reactions from the electrolyte, which originate creeping effects. Challenges and limitations are underlined.

Torque Control of Underactuated Tendon-driven Robotic Fingers

NASA Technical Reports Server (NTRS)

Ihrke, Chris A. (Inventor); Wampler, Charles W. (Inventor); Abdallah, Muhammad E. (Inventor); Reiland, Matthew J. (Inventor); Diftler, Myron A. (Inventor); Bridgwater, Lyndon (Inventor); Platt, Robert (Inventor)

2013-01-01

A robotic system includes a robot having a total number of degrees of freedom (DOF) equal to at least n, an underactuated tendon-driven finger driven by n tendons and n DOF, the finger having at least two joints, being characterized by an asymmetrical joint radius in one embodiment. A controller is in communication with the robot, and controls actuation of the tendon-driven finger using force control. Operating the finger with force control on the tendons, rather than position control, eliminates the unconstrained slack-space that would have otherwise existed. The controller may utilize the asymmetrical joint radii to independently command joint torques. A method of controlling the finger includes commanding either independent or parameterized joint torques to the controller to actuate the fingers via force control on the tendons.

Nonlinear Burn Control in Tokamaks using Heating, Non-axisymmetric Magnetic Fields, Isotopic fueling and Impurity injection

NASA Astrophysics Data System (ADS)

Pajares, Andres; Schuster, Eugenio

2016-10-01

Plasma density and temperature regulation in future tokamaks such as ITER is arising as one of the main problems in nuclear-fusion control research. The problem, known as burn control, is to regulate the amount of fusion power produced by the burning plasma while avoiding thermal instabilities. Prior work in the area of burn control considered different actuators, such as modulation of the auxiliary power, modulation of the fueling rate, and controlled impurity injection. More recently, the in-vessel coil system was suggested as a feasible actuator since it has the capability of modifying the plasma confinement by generating non-axisymmetric magnetic fields. In this work, a comprehensive, model-based, nonlinear burn control strategy is proposed to integrate all the previously mentioned actuators. A model to take into account the influence of the in-vessel coils on the plasma confinement is proposed based on the plasma collisionality and the density. A simulation study is carried out to show the capability of the controller to drive the system between different operating points while rejecting perturbations. Supported by the US DOE under DE-SC0010661.

Space and surface charge behavior analysis of charge-eliminated polymer films

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

Oda, Tetsuji; Takashima, Kazunori; Ichiyama, Shinichiro

1995-12-31

Charge behavior of corona-charged or charge eliminated polymer films being dipped in the city water were studied. They were polytetrafluoroethylene (PTFE teflon{trademark}), polypropylene (PP), low density or high density polyethylene (LDPE or HDPE) thin films which are as grown (native) or plasma-processed. The plasma processing at low pressure was tested as antistatic processing. Charge elimination was done by being dipped in alcohol or city water. TSDC analysis and surface charge profile measurement were done for both charged and charge eliminated polymer films. Surface charge density of plasma processed polymer films just after corona charging is roughly the same as thatmore » of an original film. There is little difference between surface charge density profile of a native film and that of a plasma processed film. A large hetero current peak of TSDC was observed at room temperature for a processed film. It was found that the hetero peak disappears after charge elimination process. A pressure pulse wave method by using a pulse-driven piezoelectric PVDF polymer film as a piezoelectric actuator was newly developed to observe real space charge distribution. A little difference of internal space charge distribution between the plasma processed film and the native one after corona charging is found.« less

Force Measurements on Plasma Actuators Using Phase-locked Particle Image Velocimetry

DTIC Science & Technology

2015-05-01

structured as follows. In Section 2, the details of the experimental apparatus and procedures, including the plasma actuator, the electronics used for...was placed ing the plasm wire gauge ( tage probe. l, which wa a ratio of 2 on signal wa he excitation ft) and the di DRDC-RDD on the force a...a Trek Mod t 2.5 kHz an e plasma cope (right). 1 a t el d DRDC F Durin using metho magn plasm -RDDC-2015 igure 4: Sche Figu g each exper the

Flow control of an elongated jet in cross-flow: Film cooling effectiveness enhancement using surface dielectric barrier discharge plasma actuator

NASA Astrophysics Data System (ADS)

Audier, P.; Fénot, M.; Bénard, N.; Moreau, E.

2016-02-01

The case presented here deals with plasma flow control applied to a cross-flow configuration, more specifically to a film cooling system. The ability of a plasma dielectric barrier discharge actuator for film cooling effectiveness enhancement is investigated through an experimental set-up, including a film injection from an elongated slot into a thermally uniform cross-flow. Two-dimensional particle image velocimetry and infrared-thermography measurements are performed for three different blowing ratios of M = 0.4, 0.5, and 1. Results show that the effectiveness can be increased when the discharge is switched on, as predicted by the numerical results available in literature. Whatever the blowing ratio, the actuator induces a deflection of the jet flow towards the wall, increases its momentum, and delays its diffusion in the cross-flow.

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.

HF DBD plasma actuators for reduction of cylinder noise in flow

NASA Astrophysics Data System (ADS)

Kopiev, V. F.; Kazansky, P. N.; Kopiev, V. A.; Moralev, I. A.; Zaytsev, M. Yu

2017-11-01

Surface high frequency dielectric barrier discharge (HF DBD) was used to reduce flow-induced noise, radiated by circular cylinder in cross flow. Effect of HF DBD actuators is studied for flow velocity up to 80 m s-1 (Reynolds numbers up to 2.18 · 105), corresponding to the typical aircraft landing approach speed. Noise measurements were performed by microphone array in anechoic chamber; averaged flow parameters were studied by particle image velocimetry (PIV). Actuator was powered by high-frequency voltage in hundreds kHz range in steady or modulated mode with the modulation frequency of 0.3-20 kHz (Strouhal number St of 0.4 to 20). It is demonstrated that upstream directed plasma actuators are able to reduce the vortex noise of a cylinder by 10 dB. Noise reduction is accompanied by significant reorganization of the wake behind a cylinder, decreasing both wake width and turbulence level. The physical mechanism related to broadband noise control by HF DBD actuator is also discussed.

Influence of grid resolution in fluid-model simulation of nanosecond dielectric barrier discharge plasma actuator

NASA Astrophysics Data System (ADS)

Hua, Weizhuo; Fukagata, Koji

2018-04-01

Two-dimensional numerical simulation of a surface dielectric barrier discharge (SDBD) plasma actuator, driven by a nanosecond voltage pulse, is conducted. A special focus is laid upon the influence of grid resolution on the computational result. It is found that the computational result is not very sensitive to the streamwise grid spacing, whereas the wall-normal grid spacing has a critical influence. In particular, the computed propagation velocity changes discontinuously around the wall-normal grid spacing about 2 μm due to a qualitative change of discharge structure. The present result suggests that a computational grid finer than that was used in most of previous studies is required to correctly capture the structure and dynamics of streamer: when a positive nanosecond voltage pulse is applied to the upper electrode, a streamer forms in the vicinity of upper electrode and propagates along the dielectric surface with a maximum propagation velocity of 2 × 108 cm/s, and a gap with low electron and ion density (i.e., plasma sheath) exists between the streamer and dielectric surface. Difference between the results obtained using the finer and the coarser grid is discussed in detail in terms of the electron transport at a position near the surface. When the finer grid is used, the low electron density near the surface is caused by the absence of ionization avalanche: in that region, the electrons generated by ionization is compensated by drift-diffusion flux. In contrast, when the coarser grid is used, underestimated drift-diffusion flux cannot compensate the electrons generated by ionization, and it leads to an incorrect increase of electron density.

Characteristics of Plasma Synthetic Jet Actuators in Crossflow

NASA Astrophysics Data System (ADS)

Santhanakrishnan, Arvind; Jacob, Jamey

2006-11-01

The plasma synthetic jet actuator (PSJA) consists of two annular electrodes separated by dielectric material that results in a circular region of dielectric barrier discharge plasma. In quiescent conditions, this plasma ring produces a synthetic jet which can be used for active flow control applications. Unsteady pulsing of the actuator results in the formation of multiple primary and secondary vortex rings, the latter remaining fixed or trapped in space. The jet is observed to be formed by the advection and interaction of the primary vortices, resembling a conventional synthetic jet. This presentation examines the operation of the PSJA in a crossflow at three different jet to freestream velocity ratios. PIV measurements in the streamwise and cross-stream planes are used to illustrate the three dimensionality of the jet and associated vortical structures. The strength of the vortex ring is found to vary along its circumference due to interaction with the freestream. The boundary layer characteristics obtained from these experiments suggest that the mechanism of the PSJA in crossflow is similar to an active boundary layer trip. Both the penetration of the jet and effectiveness of the trip action are found to decrease with increase in freestream velocity. The effects of unsteady pulsing and increasing input power on actuator created crossflow vortices will also be presented.

Numerical study of acoustophoretic motion of particles in a PDMS microchannel driven by surface acoustic waves.

PubMed

Nama, Nitesh; Barnkob, Rune; Mao, Zhangming; Kähler, Christian J; Costanzo, Francesco; Huang, Tony Jun

2015-06-21

We present a numerical study of the acoustophoretic motion of particles suspended in a liquid-filled PDMS microchannel on a lithium niobate substrate acoustically driven by surface acoustic waves. We employ a perturbation approach where the flow variables are divided into first- and second-order fields. We use impedance boundary conditions to model the PDMS microchannel walls and we model the acoustic actuation by a displacement function from the literature based on a numerical study of piezoelectric actuation. Consistent with the type of actuation, the obtained first-order field is a horizontal standing wave that travels vertically from the actuated wall towards the upper PDMS wall. This is in contrast to what is observed in bulk acoustic wave devices. The first-order fields drive the acoustic streaming, as well as the time-averaged acoustic radiation force acting on suspended particles. We analyze the motion of suspended particles driven by the acoustic streaming drag and the radiation force. We examine a range of particle diameters to demonstrate the transition from streaming-drag-dominated acoustophoresis to radiation-force-dominated acoustophoresis. Finally, as an application of our numerical model, we demonstrate the capability to tune the position of the vertical pressure node along the channel width by tuning the phase difference between two incoming surface acoustic waves.

The DIII-D Plasma Control System as a Scientific Research Tool

NASA Astrophysics Data System (ADS)

Hyatt, A. W.; Ferron, J. R.; Humphreys, D. A.; Leuer, J. A.; Walker, M. L.; Welander, A. S.

2006-10-01

The digital plasma control system (PCS) is an essential element of the DIII-D tokamak as a scientific research instrument, providing experimenters with real-time measurement and control of the plasma equilibrium, heating, current drive, transport, stability, and plasma-wall interactions. A wide range of sensors and actuators allow feedback control not only of global quantities such as discharge shape, plasma energy, and toroidal rotation, but also of non-axisymmetric magnetic fields and features of the internal profiles of temperature and current density. These diverse capabilities of the PCS improve the effectiveness of tokamak operation and enable unique physics experiments. We will present an overview of the PCS and the systems it controls and interacts with, and show examples of various plasma parameters controlled by the PCS and its actuators.

Röntgen’s electrode-free elastomer actuators without electromechanical pull-in instability

PubMed Central

Keplinger, Christoph; Kaltenbrunner, Martin; Arnold, Nikita; Bauer, Siegfried

2010-01-01

Electrical actuators made from films of dielectric elastomers coated on both sides with stretchable electrodes may potentially be applied in microrobotics, tactile and haptic interfaces, as well as in adaptive optical elements. Such actuators with compliant electrodes are sensitive to the pull-in electromechanical instability, limiting operational voltages and attainable deformations. Electrode-free actuators driven by sprayed-on electrical charges were first studied by Röntgen in 1880. They withstand much higher voltages and deformations and allow for electrically clamped (charge-controlled) thermodynamic states preventing electromechanical instabilities. The absence of electrodes allows for direct optical monitoring of the actuated elastomer, as well as for designing new 3D actuator configurations and adaptive optical elements. PMID:20173097

Bio-inspired Polymer Composite Actuator and Generator Driven by Water Gradients

PubMed Central

Ma, Mingming; Guo, Liang; Anderson, Daniel G.; Langer, Robert

2013-01-01

Here we describe the development of a water-responsive polymer film; combining both a rigid matrix (polypyrrole) and a dynamic network (polyol-borate), strong and flexible polymer films were developed that can exchange water with the environment to induce film expansion and contraction, resulting in rapid and continuous locomotion. The film actuator can generate contractile stress up to 27 MPa, lift objects 380 times heavier than itself, and transport cargo 10 times heavier than itself. We have assembled a generator by associating this actuator with a piezoelectric element. Driven by water gradients, this generator outputs alternating electricity at ∼0.3 Hz, with a peak voltage of ∼1.0 V. The electrical energy is stored in capacitors that could power micro- and nano-electronic devices. PMID:23307738

Hydraulic hydrogel actuators and robots optically and sonically camouflaged in water

PubMed Central

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

2017-01-01

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

Dielectric elastomer actuators for facial expression

NASA Astrophysics Data System (ADS)

Wang, Yuzhe; Zhu, Jian

2016-04-01

Dielectric elastomer actuators have the advantage of mimicking the salient feature of life: movements in response to stimuli. In this paper we explore application of dielectric elastomer actuators to artificial muscles. These artificial muscles can mimic natural masseter to control jaw movements, which are key components in facial expressions especially during talking and singing activities. This paper investigates optimal design of the dielectric elastomer actuator. It is found that the actuator with embedded plastic fibers can avert electromechanical instability and can greatly improve its actuation. Two actuators are then installed in a robotic skull to drive jaw movements, mimicking the masseters in a human jaw. Experiments show that the maximum vertical displacement of the robotic jaw, driven by artificial muscles, is comparable to that of the natural human jaw during speech activities. Theoretical simulations are conducted to analyze the performance of the actuator, which is quantitatively consistent with the experimental observations.

Evaluation of piezoceramic actuators for control of aircraft interior noise

NASA Technical Reports Server (NTRS)

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

1992-01-01

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

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

PubMed

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

2017-02-01

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

Hydraulic hydrogel actuators and robots optically and sonically camouflaged in water

NASA Astrophysics Data System (ADS)

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

2017-02-01

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

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.

Nonlinear dynamic modeling for smart material electro-hydraulic actuator development

NASA Astrophysics Data System (ADS)

Larson, John P.; Dapino, Marcelo J.

2013-03-01

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

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

PubMed Central

Inou, Norio

2013-01-01

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

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

PubMed

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

2013-01-01

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

Control of twisted and coiled polymer actuator with anti-windup compensator

NASA Astrophysics Data System (ADS)

Suzuki, Motoya; Kamamichi, Norihiro

2018-07-01

A twisted and coiled polymer actuator (TCPA) is a novel soft actuator. It is fabricated by twisting nylon thread or fishing line. It can be thermally activated and has remarkable properties such as high power/mass ratio and large deformation. By applying conductive nylon fibers to the actuator, it can be electrically driven by Joule heating. However, if a controller of the actuator is designed without considering an input saturation, the control performance may be descended by windup phenomena. In this paper, to solve this problem, a feedback control with an anti-windup compensator is applied. The validity of the applied method is investigated through numerical simulations and experiments.

Operation of electrothermal and electrostatic MUMPs microactuators underwater

NASA Astrophysics Data System (ADS)

Sameoto, Dan; Hubbard, Ted; Kujath, Marek

2004-10-01

Surface-micromachined actuators made in multi-user MEMS processes (MUMPs) have been operated underwater without modifying the manufacturing process. Such actuators have generally been either electro-thermally or electro-statically actuated and both actuator styles are tested here for suitability underwater. This is believed to be the first time that thermal and electrostatic actuators have been compared for deflection underwater relative to air performance. A high-frequency ac square wave is used to replicate a dc-driven actuator output without the associated problem of electrolysis in water. This method of ac activation, with frequencies far above the mechanical resonance frequencies of the MEMS actuators, has been termed root mean square (RMS) operation. Both thermal and electrostatic actuators have been tested and proved to work using RMS control. Underwater performance has been evaluated by using in-air operation of these actuators as a benchmark. When comparing deflection per volt applied, thermal actuators operate between 5 and 9% of in-air deflection and electrostatic actuators show an improvement in force per volt applied of upwards of 6000%. These results agree with predictions based on the physical properties of the surrounding medium.

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

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

Dong, Kaichen, E-mail: dkc12@mails.tsinghua.edu.cn, E-mail: wuj@berkeley.edu; Materials Sciences Division, Lawrence Berkeley National Laboratory, Berkeley, California 94720; State Key Laboratory of Precision Measurement Technology and Instruments, Department of Precision Instrument, Tsinghua University, Beijing 100084

2016-07-11

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

An instant multi-responsive porous polymer actuator driven by solvent molecule sorption.

PubMed

Zhao, Qiang; Dunlop, John W C; Qiu, Xunlin; Huang, Feihe; Zhang, Zibin; Heyda, Jan; Dzubiella, Joachim; Antonietti, Markus; Yuan, Jiayin

2014-07-01

Fast actuation speed, large-shape deformation and robust responsiveness are critical to synthetic soft actuators. A simultaneous optimization of all these aspects without trade-offs remains unresolved. Here we describe porous polymer actuators that bend in response to acetone vapour (24 kPa, 20 °C) at a speed of an order of magnitude faster than the state-of-the-art, coupled with a large-scale locomotion. They are meanwhile multi-responsive towards a variety of organic vapours in both the dry and wet states, thus distinctive from the traditional gel actuation systems that become inactive when dried. The actuator is easy-to-make and survives even after hydrothermal processing (200 °C, 24 h) and pressing-pressure (100 MPa) treatments. In addition, the beneficial responsiveness is transferable, being able to turn 'inert' objects into actuators through surface coating. This advanced actuator arises from the unique combination of porous morphology, gradient structure and the interaction between solvent molecules and actuator materials.

Calibration of force actuators on an adaptive secondary prototype.

PubMed

Ricci, Davide; Riccardi, Armando; Zanotti, Daniela

2008-07-10

In the context of the Large Binocular Telescope project, we present the results of force actuator calibrations performed on an adaptive secondary prototype called P45, a thin deformable glass with magnets glued onto its back. Electromagnetic actuators, controlled in a closed loop with a system of internal metrology based on capacitive sensors, continuously deform its shape to correct the distortions of the wavefront. Calibrations of the force actuators are needed because of the differences between driven forces and measured forces. We describe the calibration procedures and the results, obtained with errors of less than 1.5%.

A flexible metallic actuator using reduced graphene oxide as a multifunctional component.

PubMed

Meng, Junxing; Mu, Jiuke; Hou, Chengyi; Zhang, Qinghong; Li, Yaogang; Wang, Hongzhi

2017-09-14

Flexible actuators are widely in demand for many real-life applications. Considering that existing actuators based on polymers, low-dimensional materials and pore-rich materials are mostly limited by slow response rate, high driving voltage and poor stability, we report here a novel metal based flexible actuator which is fabricated simply through partial oxidation and nano-function of copper foil with the assistance of reduced graphene oxide. The obtained asymmetric metallic actuator is (electric-)thermally driven and exhibits fast response rate (∼2 s) and large curvature (2.4 cm -1 ) under a low voltage (∼1 V) with a sustainable operation of up to ∼50 000 cycles. The actuator can also be triggered by infrared irradiation and direct-heating under various conditions including air, water, and vacuum.

Thrust Measurement of Dielectric Barrier Discharge (DBD) Plasma Actuators: New Anti-Thrust Hypothesis, Frequency Sweeps Methodology, Humidity and Enclosure Effects

NASA Technical Reports Server (NTRS)

Ashpis, David E.; Laun, Matthew C.

2014-01-01

We discuss thrust measurements of Dielectric Barrier Discharge (DBD) plasma actuators devices used for aerodynamic active flow control. After a review of our experience with conventional thrust measurement and significant non-repeatability of the results, we devised a suspended actuator test setup, and now present a methodology of thrust measurements with decreased uncertainty. The methodology consists of frequency scans at constant voltages. The procedure consists of increasing the frequency in a step-wise fashion from several Hz to the maximum frequency of several kHz, followed by frequency decrease back down to the start frequency of several Hz. This sequence is performed first at the highest voltage of interest, then repeated at lower voltages. The data in the descending frequency direction is more consistent and selected for reporting. Sample results show strong dependence of thrust on humidity which also affects the consistency and fluctuations of the measurements. We also observed negative values of thrust, or "anti-thrust", at low frequencies between 4 Hz and up to 64 Hz. The anti-thrust is proportional to the mean-squared voltage and is frequency independent. Departures from the parabolic anti-thrust curve are correlated with appearance of visible plasma discharges. We propose the anti-thrust hypothesis. It states that the measured thrust is a sum of plasma thrust and anti-thrust, and assumes that the anti-thrust exists at all frequencies and voltages. The anti-thrust depends on actuator geometry and materials and on the test installation. It enables the separation of the plasma thrust from the measured total thrust. This approach enables more meaningful comparisons between actuators at different installations and laboratories. The dependence on test installation was validated by surrounding the actuator with a grounded large-diameter metal sleeve. Strong dependence on humidity is also shown; the thrust significantly increased with decreasing humidity, e.g., 44 percent increase as relative humidity changed from 18 percent and dew point 33 degF to 50 percent and dew point of 57 degF.

Fast-acting valve actuator

DOEpatents

Cho, Nakwon

1980-01-01

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

Flexible Low-Mass Devices and Mechanisms Actuated by Electroactive Polymers

NASA Technical Reports Server (NTRS)

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

1999-01-01

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

Cable-driven elastic parallel humanoid head with face tracking for Autism Spectrum Disorder interventions.

PubMed

Su, Hao; Dickstein-Fischer, Laurie; Harrington, Kevin; Fu, Qiushi; Lu, Weina; Huang, Haibo; Cole, Gregory; Fischer, Gregory S

2010-01-01

This paper presents the development of new prismatic actuation approach and its application in human-safe humanoid head design. To reduce actuator output impedance and mitigate unexpected external shock, the prismatic actuation method uses cables to drive a piston with preloaded spring. By leveraging the advantages of parallel manipulator and cable-driven mechanism, the developed neck has a parallel manipulator embodiment with two cable-driven limbs embedded with preloaded springs and one passive limb. The eye mechanism is adapted for low-cost webcam with succinct "ball-in-socket" structure. Based on human head anatomy and biomimetics, the neck has 3 degree of freedom (DOF) motion: pan, tilt and one decoupled roll while each eye has independent pan and synchronous tilt motion (3 DOF eyes). A Kalman filter based face tracking algorithm is implemented to interact with the human. This neck and eye structure is translatable to other human-safe humanoid robots. The robot's appearance reflects a non-threatening image of a penguin, which can be translated into a possible therapeutic intervention for children with Autism Spectrum Disorders.

Model-driven methodology for rapid deployment of smart spaces based on resource-oriented architectures.

PubMed

Corredor, Iván; Bernardos, Ana M; Iglesias, Josué; Casar, José R

2012-01-01

Advances in electronics nowadays facilitate the design of smart spaces based on physical mash-ups of sensor and actuator devices. At the same time, software paradigms such as Internet of Things (IoT) and Web of Things (WoT) are motivating the creation of technology to support the development and deployment of web-enabled embedded sensor and actuator devices with two major objectives: (i) to integrate sensing and actuating functionalities into everyday objects, and (ii) to easily allow a diversity of devices to plug into the Internet. Currently, developers who are applying this Internet-oriented approach need to have solid understanding about specific platforms and web technologies. In order to alleviate this development process, this research proposes a Resource-Oriented and Ontology-Driven Development (ROOD) methodology based on the Model Driven Architecture (MDA). This methodology aims at enabling the development of smart spaces through a set of modeling tools and semantic technologies that support the definition of the smart space and the automatic generation of code at hardware level. ROOD feasibility is demonstrated by building an adaptive health monitoring service for a Smart Gym.

Tip Clearance Control Using Plasma Actuators

DTIC Science & Technology

2007-03-01

Clearance Control Using Plasma Actuators 4 posed by Denton (1993). A number of investigators have used partial shrouds, or " winglet " designs to...main molded blade with a span of 3.42 in., a removable molded blade segment with a span of 0.1875 in., and removable blade tip winglets made of glass...segment and the main blade to vary the distance between the blade end and the front wall of the cascade section. The winglets were machined using a

Microwave Power for Smart Membrane Actuators

NASA Technical Reports Server (NTRS)

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

2002-01-01

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

Musclelike joint mechanism driven by dielectric elastomer actuator for robotic applications

NASA Astrophysics Data System (ADS)

Jung, Ho Sang; Cho, Kyeong Ho; Park, Jae Hyeong; Yang, Sang Yul; Kim, Youngeun; Kim, Kihyeon; Nguyen, Canh Toan; Phung, Hoa; Tien Hoang, Phi; Moon, Hyungpil; Koo, Ja Choon; Ryeol Choi, Hyouk

2018-07-01

The purpose of this study is to develop an artificial muscle actuator suitable for robotic applications, and to demonstrate the feasibility of applying this actuator to an arm mechanism, and controlling it delicately and smoothly like a human being. To accomplish this, we perform the procedures that integrate the soft actuator, called the single body dielectric elastomer actuator, which is very flexible and capable of high speed operation, and the displacement amplification mechanism called the sliding filament joint mechanism, which mimics the sliding filament model of human muscles. In this paper, we describe the characteristics and control method of the actuation system that consists of actuator, mechanism, and embedded controller, and show the experimental results of the closed-loop position and static stiffness control of the robotic arm application. Finally, based on the results, we evaluate the performance of this application.

Paper Actuators Made with Cellulose and Hybrid Materials

PubMed Central

Kim, Jaehwan; Yun, Sungryul; Mahadeva, Suresha K.; Yun, Kiju; Yang, Sang Yeol; Maniruzzaman, Mohammad

2010-01-01

Recently, cellulose has been re-discovered as a smart material that can be used as sensor and actuator materials, which is termed electro-active paper (EAPap). This paper reports recent advances in paper actuators made with cellulose and hybrid materials such as multi-walled carbon nanotubes, conducting polymers and ionic liquids. Two distinct actuator principles in EAPap actuators are demonstrated: piezoelectric effect and ion migration effect in cellulose. Piezoelectricity of cellulose EAPap is quite comparable with other piezoelectric polymers. But, it is biodegradable, biocompatible, mechanically strong and thermally stable. To enhance ion migration effect in the cellulose, polypyrrole conducting polymer and ionic liquids were nanocoated on the cellulose film. This hybrid cellulose EAPap nanocomposite exhibits durable bending actuation in an ambient humidity and temperature condition. Fabrication, characteristics and performance of the cellulose EAPap and its hybrid EAPap materials are illustrated. Also, its possibility for remotely microwave-driven paper actuator is demonstrated. PMID:22294882

Paper actuators made with cellulose and hybrid materials.

PubMed

Kim, Jaehwan; Yun, Sungryul; Mahadeva, Suresha K; Yun, Kiju; Yang, Sang Yeol; Maniruzzaman, Mohammad

2010-01-01

Recently, cellulose has been re-discovered as a smart material that can be used as sensor and actuator materials, which is termed electro-active paper (EAPap). This paper reports recent advances in paper actuators made with cellulose and hybrid materials such as multi-walled carbon nanotubes, conducting polymers and ionic liquids. Two distinct actuator principles in EAPap actuators are demonstrated: piezoelectric effect and ion migration effect in cellulose. Piezoelectricity of cellulose EAPap is quite comparable with other piezoelectric polymers. But, it is biodegradable, biocompatible, mechanically strong and thermally stable. To enhance ion migration effect in the cellulose, polypyrrole conducting polymer and ionic liquids were nanocoated on the cellulose film. This hybrid cellulose EAPap nanocomposite exhibits durable bending actuation in an ambient humidity and temperature condition. Fabrication, characteristics and performance of the cellulose EAPap and its hybrid EAPap materials are illustrated. Also, its possibility for remotely microwave-driven paper actuator is demonstrated.

Hierarchically arranged helical fibre actuators driven by solvents and vapours.

PubMed

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

2015-12-01

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

Series Elastic Actuators for legged robots

NASA Astrophysics Data System (ADS)

Pratt, Jerry E.; Krupp, Benjamin T.

2004-09-01

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

Design and demonstration of a fish robot actuated by a SMA-driven actuation system

NASA Astrophysics Data System (ADS)

Le, Chan H.; Nguyen, Quang S.; Park, Hoon C.

2010-04-01

This paper presents a concept of a fish robot actuated by an SMA-based actuator. The bending-type actuator system is composed of a 0.1mm diameter SMA wire and a 0.5mm thick glass/epoxy strip. The SMA wire is installed to the bent composite strip. The actuator can produce about 200gf of blocking force and 3.5mm displacement at the center of the glass/epoxy strip. The bending motion of the actuator is converted into the tail-beat motion of a fish robot through a linkage system. The fish robot is evaluated by measuring the tail-beat angle, swimming speed and thrust produced by the fish robot. The tail-beat angle is about 20° and the maximum swimming speed is about 1.6cm/s. The measured thrust is about 0.4gf when the fish robot is operated at 0.9Hz.

Hierarchically arranged helical fibre actuators driven by solvents and vapours

NASA Astrophysics Data System (ADS)

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

2015-12-01

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

A miniature cable-driven robot for crawling on the heart.

PubMed

Patronik, N A; Zenati, M A; Riviere, C N

2005-01-01

This document describes the design and preliminary testing of a cable-driven robot for the purpose of traveling on the surface of the beating heart to administer therapy. This methodology obviates mechanical stabilization and lung deflation, which are typically required during minimally invasive cardiac surgery. Previous versions of the robot have been remotely actuated through push-pull wires, while visual feedback was provided by fiber optic transmission. Although these early models were able to perform locomotion in vivo on porcine hearts, the stiffness of the wire-driven transmission and fiber optic camera limited the mobility of the robots. The new prototype described in this document is actuated by two antagonistic cable pairs, and contains a color CCD camera located in the front section of the device. These modifications have resulted in superior mobility and visual feedback. The cable-driven prototype has successfully demonstrated prehension, locomotion, and tissue dye injection during in vitro testing with a poultry model.

Progress Toward Accurate Measurements of Power Consumptions of DBD Plasma Actuators

NASA Technical Reports Server (NTRS)

Ashpis, David E.; Laun, Matthew C.; Griebeler, Elmer L.

2012-01-01

The accurate measurement of power consumption by Dielectric Barrier Discharge (DBD) plasma actuators is a challenge due to the characteristics of the actuator current signal. Micro-discharges generate high-amplitude, high-frequency current spike transients superimposed on a low-amplitude, low-frequency current. We have used a high-speed digital oscilloscope to measure the actuator power consumption using the Shunt Resistor method and the Monitor Capacitor method. The measurements were performed simultaneously and compared to each other in a time-accurate manner. It was found that low signal-to-noise ratios of the oscilloscopes used, in combination with the high dynamic range of the current spikes, make the Shunt Resistor method inaccurate. An innovative, nonlinear signal compression circuit was applied to the actuator current signal and yielded excellent agreement between the two methods. The paper describes the issues and challenges associated with performing accurate power measurements. It provides insights into the two methods including new insight into the Lissajous curve of the Monitor Capacitor method. Extension to a broad range of parameters and further development of the compression hardware will be performed in future work.

Design of synthetic jet actuator based on FSMA composite

NASA Astrophysics Data System (ADS)

Liang, Yuanchang; Kuga, Yasuo; Taya, Minoru

2005-05-01

An improved version of the membrane actuator has been designed and constructed based on our previous diaphragm actuator. It consists of ferromagnetic shape memory alloy composite (FSMA) diaphragm and an electromagnet system. The actuation mechanism of the membrane actuator is the hybrid mechanism that we proposed previously. The high momentum airflow will be produced by the oscillation of the circular FSMA composite diaphragm driven by electromagnets close to its resonance frequency. This membrane actuator is designed for the active flow control technology on airplane wings. The active flow control (AFC) technology has been studied and shown that it can help aircraft improve aerodynamic performance and jet noise reduction. AFC can be achieved by a synthetic jet actuator injecting high momentum air into the airflow at the appropriate locations on aircraft wings. Due to large force and martensitic transformation on the FSMA composite diaphragm, the membrane actuator can produce 190 m/s synthetic jets at 220 Hz. A series connection of several membrane actuators is proposed to construct a synthetic jet actuator package for distributing synthetic jet flow along the wing span.

Low backlash direct drive actuator

DOEpatents

Kuklo, Thomas C.

1994-01-01

A low backlash direct drive actuator is described which comprises a motor such as a stepper motor having at least 200 steps per revolution; a two part hub assembly comprising a drive hub coaxially attached to the shaft of the motor and having a plurality of drive pins; a driven hub having a plurality of bores in one end thereof in alignment with the drive pins in the drive hub and a threaded shaft coaxially mounted in an opposite end of the driven hub; and a housing having a central bore therein into which are fitted the drive hub and driven hub, the housing having a motor mount on one end thereof to which is mounted the stepper motor, and a closed end portion with a threaded opening therein coaxial with the central bore in the housing and receiving therein the threaded shaft attached to the driven hub. Limit switches mounted to the housing cooperate with an enlarged lip on the driven hub to limit the lateral travel of the driven hub in the housing, which also acts to limit the lateral travel of the threaded shaft which functions as a lead screw.

Heavy Lift Helicopter - Prototype Technical Summary

DTIC Science & Technology

1980-04-01

in an inte- grated design. The following paragraphs discuss the swash - plate actuator servo loops and provide details...instrumentation in the prototype aircraft. Development testing of the flight control module in conjunc- tion with the transmission-driven pump and the reservoir was...PFCS employed cockpit controllers and force-feel actuation developed in the ATC

Bio-inspired, Moisture-Powered Hybrid Carbon Nanotube Yarn Muscles

PubMed Central

Kim, Shi Hyeong; Kwon, Cheong Hoon; Park, Karam; Mun, Tae Jin; Lepró, Xavier; Baughman, Ray H.; Spinks, Geoffrey M.; Kim, Seon Jeong

2016-01-01

Hygromorph artificial muscles are attractive as self-powered actuators driven by moisture from the ambient environment. Previously reported hygromorph muscles have been largely limited to bending or torsional motions or as tensile actuators with low work and energy densities. Herein, we developed a hybrid yarn artificial muscle with a unique coiled and wrinkled structure, which can be actuated by either changing relative humidity or contact with water. The muscle provides a large tensile stroke (up to 78%) and a high maximum gravimetric work capacity during contraction (2.17 kJ kg−1), which is over 50 times that of the same weight human muscle and 5.5 times higher than for the same weight spider silk, which is the previous record holder for a moisture driven muscle. We demonstrate an automatic ventilation system that is operated by the tensile actuation of the hybrid muscles caused by dew condensing on the hybrid yarn. This self-powered humidity-controlled ventilation system could be adapted to automatically control the desired relative humidity of an enclosed space. PMID:26973137

Flow and Noise Control in High Speed and High Reynolds Number Jets Using Plasma Actuators

NASA Technical Reports Server (NTRS)

Samimy, M.; Kastner, J.; Kim, J.-H.; Utkin, Y.; Adamovich, I.; Brown, C. A.

2006-01-01

The idea of manipulating flow to change its characteristics is over a century old. Manipulating instabilities of a jet to increase its mixing and to reduce its radiated noise started in the 1970s. While the effort has been successful in low-speed and low Reynolds number jets, available actuators capabilities in terms of their amplitude, bandwidth, and phasing have fallen short in control of high-speed and high Reynolds number jets of practical interest. Localized arc filament plasma actuators have recently been developed and extensively used at Gas Dynamics and Turbulence Laboratory (GDTL) for control of highspeed and high Reynolds number jets. While the technique has been quite successful and is very promising, all the work up to this point had been carried out using small high subsonic and low supersonic jets from a 2.54 cm diameter nozzle exit with a Reynolds number of about a million. The preliminary work reported in this paper is a first attempt to evaluate the scalability of the technique. The power supply/plasma generator was designed and built in-house at GDTL to operate 8 actuators simultaneously over a large frequency range (0 to 200 kHz) with independent control over phase and duty cycle of each actuator. This allowed forcing the small jet at GDTL with azimuthal modes m = 0, 1, 2, 3, plus or minus 1, plus or minus 2, and plus or minus 4 over a large range of frequencies. This power supply was taken to and used, with minor modifications, at the NASA Nozzle Acoustic Test Rig (NATR). At NATR, 32 actuators were distributed around the 7.5 in. nozzle (a linear increase with nozzle exit diameter would require 60 actuators). With this arrangement only 8 actuators could operate simultaneously, thus limiting the forcing of the jet at NATR to only three azimuthal modes m = plus or minus 1, 4, and 8. Very preliminary results at NATR indicate that the trends observed in the larger NASA facility in terms of the effects of actuation frequency and azimuthal modes are similar in both small GDTL and larger NASA jets. However, the actuation authority seems to fall short in the larger jet at higher Mach numbers, resulting in decreased amplitude response compared to the small jet, which is attributed at this point to the lack of sufficient number of actuators. The preliminary results seem also to suggest that amplitude of actuation tones is similar in both the small and larger jets.

Electromechanical latch

DOEpatents

Buerger, Stephen; Marron, Lisa C.; Martinez, Michael A.; Spletzer, Barry Louis

2016-12-13

An electromechanical latch is described herein. The electromechanical latch is a dual-actuator latch, wherein a first actuator and a second actuator are driven with precise timing to move a first latch part relative to a second latch part, and vice versa. When the electromechanical latch is in a closed position, the first rotary latch part is positioned to prevent rotation of the second rotary latch part in a first direction. To transition the electromechanical latch from the closed position to an open position, the first actuator drives the first rotary latch part such that the second rotary latch part is able to rotate in the first direction. Thereafter, the second actuator drives the second rotary latch part in the first direction until the electromechanical latch is in the open position.

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.

Soft actuator based on Kraton with GO/Ag/Pani composite electrodes for robotic applications

NASA Astrophysics Data System (ADS)

Khan, Ajahar; Kant Jain, Ravi; Banerjee, Priyabrata; Inamuddin; Asiri, Abdullah M.

2017-11-01

In this work, electrochemically-driven Kraton/graphene oxide/Ag/polyaniline (Kraton/GO/Ag/Pani) polymer composite based ionic polymer metal composite (IPMC) was fabricated as a soft actuator. Silver nanopowder with polyaniline coating used as an electrode material is a novel approach in the fabrication of IPMC, which gives new opportunities for development of the electrode on ionic polymer actuator surfaces directly without electroless plating of Pt or Au metal. The Kraton/GO/Ag/Pani membrane showed much higher water-uptake (WU), ion exchange capacity (IEC), proton conductivity than those of several reported IPMC membranes. The enhanced actuation performance indicates that the Kraton/GO/Ag/Pani is a better alternative to the highly expensive commercialized IPMC actuator.

Conceptual Design of the ITER Plasma Control System

NASA Astrophysics Data System (ADS)

Snipes, J. A.

2013-10-01

The conceptual design of the ITER Plasma Control System (PCS) has been approved and the preliminary design has begun for the 1st plasma PCS. This is a collaboration of many plasma control experts from existing devices to design and test plasma control techniques applicable to ITER on existing machines. The conceptual design considered all phases of plasma operation, ranging from non-active H/He plasmas through high fusion gain inductive DT plasmas to fully non-inductive steady-state operation, to ensure that the PCS control functionality and architecture can satisfy the demands of the ITER Research Plan. The PCS will control plasma equilibrium and density, plasma heat exhaust, a range of MHD instabilities (including disruption mitigation), and the non-inductive current profile required to maintain stable steady-state scenarios. The PCS architecture requires sophisticated shared actuator management and event handling systems to prioritize control goals, algorithms, and actuators according to dynamic control needs and monitor plasma and plant system events to trigger automatic changes in the control algorithms or operational scenario, depending on real-time operating limits and conditions.

ADX: A high Power Density, Advanced RF-Driven Divertor Test Tokamak for PMI studies

NASA Astrophysics Data System (ADS)

Whyte, Dennis; ADX Team

2015-11-01

The MIT PSFC and collaborators are proposing an advanced divertor experiment, ADX; a divertor test tokamak dedicated to address critical gaps in plasma-material interactions (PMI) science, and the world fusion research program, on the pathway to FNSF/DEMO. Basic ADX design features are motivated and discussed. In order to assess the widest range of advanced divertor concepts, a large fraction (>50%) of the toroidal field volume is purpose-built with innovative magnetic topology control and flexibility for assessing different surfaces, including liquids. ADX features high B-field (>6 Tesla) and high global power density (P/S ~ 1.5 MW/m2) in order to access the full range of parallel heat flux and divertor plasma pressures foreseen for reactors, while simultaneously assessing the effect of highly dissipative divertors on core plasma/pedestal. Various options for efficiently achieving high field are being assessed including the use of Alcator technology (cryogenic cooled copper) and high-temperature superconductors. The experimental platform would also explore advanced lower hybrid current drive and ion-cyclotron range of frequency actuators located at the high-field side; a location which is predicted to greatly reduce the PMI effects on the launcher while minimally perturbing the core plasma. The synergistic effects of high-field launchers with high total B on current and flow drive can thus be studied in reactor-relevant boundary plasmas.

Active control of noise amplification in the flow over a square leading-edge flat plate utilizing DBD plasma actuator

NASA Astrophysics Data System (ADS)

Yadong, HUANG; Benmou, ZHOU

2018-05-01

Perturbation is generally considered as the flow noise, and its energy can gain transient growth in the separation bubble. The amplified perturbations may cause unstable Kelvin–Helmohltz vortices which induce the three-dimensional transition. Active control of noise amplification via dielectric barrier discharge plasma actuator in the flow over a square leading-edge flat plate is numerically studied. The actuator is installed near the plate leading-edge where the separation bubble is formed. The maximum energy amplification of perturbations is positively correlated with the separation bubble scale which decreases with the increasing control parameters. As the magnitude of noise amplification is reduced, the laminar-turbulent transition is successfully suppressed.

On the impact of self-clearing on electroactive polymer (EAP) actuators

NASA Astrophysics Data System (ADS)

Ahmed, Saad; Ounaies, Zoubeida; Lanagan, Michael T.

2017-10-01

Electroactive polymer (EAP)-based actuators have large potential for a wide array of applications; however, their practical implementation is still a challenge because of the requirement of high driving voltage, which most often leads to premature defect-driven electrical breakdown. Polymer-based capacitors have the ability to clear defects with partial electrical breakdown and subsequent removal of a localized electrode section near the defect. In this study, this process, which is known as self-clearing, is adopted for EAP technologies. We report a methodical approach to self-clear an EAP, more specifically P(VDF-TrFE-CTFE) terpolymer, to delay premature defect-driven electrical breakdown of the terpolymer actuators at high operating electric fields. Breakdown results show that electrical breakdown strength is improved up to 18% in comparison to a control sample after self-clearing. Furthermore, the electromechanical performance in terms of blocked force and free displacement of P(VDF-TrFE-CTFE) terpolymer-based bending actuators are examined after self-clearing and precleared samples show improved blocked force, free displacement and maximum sustainable electric field compared to control samples. The study demonstrates that controlled self-clearing of EAPs improves the breakdown limit and reliability of the EAP actuators for practical applications without impeding their electromechanical performance.

Preliminary study, analysis and design for a power switch for digital engine actuators

NASA Technical Reports Server (NTRS)

Beattie, E. C.; Zickwolf, H. C., Jr.

1979-01-01

Innovative control configurations using high temperature switches to operate actuator driving solenoids were studied. The impact on engine control system life cycle costs and reliability of electronic control and (ECU) heat dissipation due to power conditioning and interface drivers were addressed. Various power supply and actuation schemes were investigated, including optical signal transmission and electronics on the actuator, engine driven alternator, and inside the ECU. The use of a switching shunt power conditioner results in the most significant decrease in heat dissipation within the ECU. No overall control system reliability improvement is projected by the use of remote high temperature switches for solenoid drivers.

Scissor thrust valve actuator

DOEpatents

DeWall, Kevin G.; Watkins, John C; Nitzel, Michael E.

2006-08-29

Apparatus for actuating a valve includes a support frame and at least one valve driving linkage arm, one end of which is rotatably connected to a valve stem of the valve and the other end of which is rotatably connected to a screw block. A motor connected to the frame is operatively connected to a motor driven shaft which is in threaded screw driving relationship with the screw block. The motor rotates the motor driven shaft which drives translational movement of the screw block which drives rotatable movement of the valve driving linkage arm which drives translational movement of the valve stem. The valve actuator may further include a sensory control element disposed in operative relationship with the valve stem, the sensory control element being adapted to provide control over the position of the valve stem by at least sensing the travel and/or position of the valve stem.

Moisture-driven actuators inspired by motility of plants

NASA Astrophysics Data System (ADS)

Shin, Beomjune; Lee, Minhee; Kim, Ho-Young

2015-11-01

We report design and fabrication of moisture-driven actuators mimicking pine cones, wild wheats and seeds of Erodium cicutarium, which can bend and even helically coil with variation of environmental humidity. The actuators adopt a bilayer configuration, one of whose layers is hygroscopically active while the other is inactive. In order to enhance the degree and speed of deformation which critically depends on moisture-responsivity of the active layer, nanofibers of hydrogel are directionally deposited on the inactive layer via electrospinning. As a result, several designs of soft robots are demonstrated which are capable of locomotion by harvesting environmental humidity energy. The dynamics of the robots are analyzed by coupling moisture diffusion kinetics and elastic theory of multi-layer bending. The theoretical predictions are compared with the experimental results, to lead to the optimal design to maximize the locomotion speed measured by travel distance normalized by body length per unit time.

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.

Control of Transitional and Turbulent Flows Using Plasma-Based Actuators

DTIC Science & Technology

2006-06-01

by means of asymmetric dielectric-barrier-discharge ( DBD ) actuators is presented. The flow fields are simulated employ- ing an extensively validated...effective use of DBD devices. As a consequence, meaningful computations require the use of three-dimensional large-eddy simulation approaches capable of...counter-flow DBD actuator is shown to provide an effective on-demand tripping device . This prop- erty is exploited for the suppression of laminar

FAST ACTING CURRENT SWITCH

DOEpatents

Batzer, T.H.; Cummings, D.B.; Ryan, J.F.

1962-05-22

A high-current, fast-acting switch is designed for utilization as a crowbar switch in a high-current circuit such as used to generate the magnetic confinement field of a plasma-confining and heat device, e.g., Pyrotron. The device particularly comprises a cylindrical housing containing two stationary, cylindrical contacts between which a movable contact is bridged to close the switch. The movable contact is actuated by a differential-pressure, airdriven piston assembly also within the housing. To absorb the acceleration (and the shock imparted to the device by the rapidly driven, movable contact), an adjustable air buffer assembly is provided, integrally connected to the movable contact and piston assembly. Various safety locks and circuit-synchronizing means are also provided to permit proper cooperation of the invention and the high-current circuit in which it is installed. (AEC)

Enhanced electrohydrodynamic force generation in a two-stroke cycle dielectric-barrier-discharge plasma actuator

NASA Astrophysics Data System (ADS)

Sato, Shintaro; Takahashi, Masayuki; Ohnishi, Naofumi

2017-05-01

An approach for electrohydrodynamic (EHD) force production is proposed with a focus on a charge cycle on a dielectric surface. The cycle, consisting of positive-charging and neutralizing strokes, is completely different from the conventional methodology, which involves a negative-charging stroke, in that the dielectric surface charge is constantly positive. The two-stroke charge cycle is realized by applying a DC voltage combined with repetitive pulses. Simulation results indicate that the negative pulse eliminates the surface charge accumulated during constant voltage phase, resulting in repetitive EHD force generation. The time-averaged EHD force increases almost linearly with increasing repetitive pulse frequency and becomes one order of magnitude larger than that driven by the sinusoidal voltage, which has the same peak-to-peak voltage.

Measurement of corner separation zone response on a compression ramp to plasma actuation within the hypersonic boundary layer

NASA Astrophysics Data System (ADS)

Hedlund, Brock E.; Houpt, Alec W.; Gordeyev, Stanislav V.; Leonov, Sergey B.

2017-10-01

This study was performed to characterize the dominant frequencies present in the boundary layer uptsream of and in the corner separation zone of a compression surface in Mach 4.5 flow and to determine a control effect of transient plasma actuation on the boundary layer. Schlieren imaging was used to distinguish the corner separation zone for 20°, 25°, and 30° compression ramps mounted on flat plates. Spectra of the natural disturbances present in the boundary layer and separation zone were gathered using a high-speed Shack-Hartmann wavefront sensor and surface mounted PCBTM pressure sensors while varying flow parameters by adjusting total pressure, temperature, and ramp angle. Shallow cavity discharge plasma actuators were used as a high-frequency localized thermal forcing mechanism of the boundary layer. The plasma effect was negligible for forcing frequencies (50 kHz) below the natural dominant frequency (~55-80 kHz). High frequency perturbations that can promote the transition to turbulence were amplified when the plasma forcing frequency (100 kHz) was higher than the natural dominant frequency (~55-80 kHz). This technique can potentially be used for active control of hypersonic boundary layer transition and the supersonic flow structure on the compression surface.

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

NASA Astrophysics Data System (ADS)

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

2016-06-01

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

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.

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.

Carbon-based torsional and tensile artificial muscles driven by thermal expansion (presentation video)

NASA Astrophysics Data System (ADS)

Haines, Carter S.; Lima, Márcio D.; Li, Na; Spinks, Geoffrey M.; Foroughi, Javad; Madden, John D. W.; Kim, Shi-Hyeong; Fang, Shaoli; Jung de Andrade, Monica; Göktepe, Fatma; Göktepe, Ozer; Mirvakili, Seyed M.; Naficy, Sina; Lepró, Xavier; Oh, Jiyoung; Kozlov, Mikhail E.; Kim, Seon Jeong; Xu, Xiuru; Swedlove, Benjamin J.; Wallace, Gordon G.; Baughman, Ray H.

2014-03-01

High-performance artificial muscles have been produced from fibers having highly anisotropic thermal expansion. Inserting twist into these precursor fibers enables thermally-driven torsional actuation and can cause the formation of helical coils. Such coiled structures provide giant-stroke tensile actuation exceeding the 20% in-vivo contraction of natural muscles. This contraction is highly reversible, with over one million cycles demonstrated, and can occur without the hysteresis that plagues competing shape-memory and piezoelectric muscles. Several materials and composites are investigated, including low-cost, commercially-available muscle precursors, potentially facilitating thermally-responsive textiles that change porosity to provide wearer comfort.

Model-Driven Methodology for Rapid Deployment of Smart Spaces Based on Resource-Oriented Architectures

PubMed Central

Corredor, Iván; Bernardos, Ana M.; Iglesias, Josué; Casar, José R.

2012-01-01

Advances in electronics nowadays facilitate the design of smart spaces based on physical mash-ups of sensor and actuator devices. At the same time, software paradigms such as Internet of Things (IoT) and Web of Things (WoT) are motivating the creation of technology to support the development and deployment of web-enabled embedded sensor and actuator devices with two major objectives: (i) to integrate sensing and actuating functionalities into everyday objects, and (ii) to easily allow a diversity of devices to plug into the Internet. Currently, developers who are applying this Internet-oriented approach need to have solid understanding about specific platforms and web technologies. In order to alleviate this development process, this research proposes a Resource-Oriented and Ontology-Driven Development (ROOD) methodology based on the Model Driven Architecture (MDA). This methodology aims at enabling the development of smart spaces through a set of modeling tools and semantic technologies that support the definition of the smart space and the automatic generation of code at hardware level. ROOD feasibility is demonstrated by building an adaptive health monitoring service for a Smart Gym. PMID:23012544

Fluid-driven origami-inspired artificial muscles.

PubMed

Li, Shuguang; Vogt, Daniel M; Rus, Daniela; Wood, Robert J

2017-12-12

Artificial muscles hold promise for safe and powerful actuation for myriad common machines and robots. However, the design, fabrication, and implementation of artificial muscles are often limited by their material costs, operating principle, scalability, and single-degree-of-freedom contractile actuation motions. Here we propose an architecture for fluid-driven origami-inspired artificial muscles. This concept requires only a compressible skeleton, a flexible skin, and a fluid medium. A mechanical model is developed to explain the interaction of the three components. A fabrication method is introduced to rapidly manufacture low-cost artificial muscles using various materials and at multiple scales. The artificial muscles can be programed to achieve multiaxial motions including contraction, bending, and torsion. These motions can be aggregated into systems with multiple degrees of freedom, which are able to produce controllable motions at different rates. Our artificial muscles can be driven by fluids at negative pressures (relative to ambient). This feature makes actuation safer than most other fluidic artificial muscles that operate with positive pressures. Experiments reveal that these muscles can contract over 90% of their initial lengths, generate stresses of ∼600 kPa, and produce peak power densities over 2 kW/kg-all equal to, or in excess of, natural muscle. This architecture for artificial muscles opens the door to rapid design and low-cost fabrication of actuation systems for numerous applications at multiple scales, ranging from miniature medical devices to wearable robotic exoskeletons to large deployable structures for space exploration. Copyright © 2017 the Author(s). Published by PNAS.

Fluid-driven origami-inspired artificial muscles

PubMed Central

Li, Shuguang; Vogt, Daniel M.; Rus, Daniela; Wood, Robert J.

2017-01-01

Artificial muscles hold promise for safe and powerful actuation for myriad common machines and robots. However, the design, fabrication, and implementation of artificial muscles are often limited by their material costs, operating principle, scalability, and single-degree-of-freedom contractile actuation motions. Here we propose an architecture for fluid-driven origami-inspired artificial muscles. This concept requires only a compressible skeleton, a flexible skin, and a fluid medium. A mechanical model is developed to explain the interaction of the three components. A fabrication method is introduced to rapidly manufacture low-cost artificial muscles using various materials and at multiple scales. The artificial muscles can be programed to achieve multiaxial motions including contraction, bending, and torsion. These motions can be aggregated into systems with multiple degrees of freedom, which are able to produce controllable motions at different rates. Our artificial muscles can be driven by fluids at negative pressures (relative to ambient). This feature makes actuation safer than most other fluidic artificial muscles that operate with positive pressures. Experiments reveal that these muscles can contract over 90% of their initial lengths, generate stresses of ∼600 kPa, and produce peak power densities over 2 kW/kg—all equal to, or in excess of, natural muscle. This architecture for artificial muscles opens the door to rapid design and low-cost fabrication of actuation systems for numerous applications at multiple scales, ranging from miniature medical devices to wearable robotic exoskeletons to large deployable structures for space exploration. PMID:29180416

Fluid-driven origami-inspired artificial muscles

NASA Astrophysics Data System (ADS)

Li, Shuguang; Vogt, Daniel M.; Rus, Daniela; Wood, Robert J.

2017-12-01

Artificial muscles hold promise for safe and powerful actuation for myriad common machines and robots. However, the design, fabrication, and implementation of artificial muscles are often limited by their material costs, operating principle, scalability, and single-degree-of-freedom contractile actuation motions. Here we propose an architecture for fluid-driven origami-inspired artificial muscles. This concept requires only a compressible skeleton, a flexible skin, and a fluid medium. A mechanical model is developed to explain the interaction of the three components. A fabrication method is introduced to rapidly manufacture low-cost artificial muscles using various materials and at multiple scales. The artificial muscles can be programed to achieve multiaxial motions including contraction, bending, and torsion. These motions can be aggregated into systems with multiple degrees of freedom, which are able to produce controllable motions at different rates. Our artificial muscles can be driven by fluids at negative pressures (relative to ambient). This feature makes actuation safer than most other fluidic artificial muscles that operate with positive pressures. Experiments reveal that these muscles can contract over 90% of their initial lengths, generate stresses of ˜600 kPa, and produce peak power densities over 2 kW/kg—all equal to, or in excess of, natural muscle. This architecture for artificial muscles opens the door to rapid design and low-cost fabrication of actuation systems for numerous applications at multiple scales, ranging from miniature medical devices to wearable robotic exoskeletons to large deployable structures for space exploration.

Compliant displacement-multiplying apparatus for microelectromechanical systems

DOEpatents

Kota, Sridhar; Rodgers, M. Steven; Hetrick, Joel A.

2001-01-01

A pivotless compliant structure is disclosed that can be used to increase the geometric advantage or mechanical advantage of a microelectromechanical (MEM) actuator such as an electrostatic comb actuator, a capacitive-plate electrostatic actuator, or a thermal actuator. The compliant structure, based on a combination of interconnected flexible beams and cross-beams formed of one or more layers of polysilicon or silicon nitride, can provide a geometric advantage of from about 5:1 to about 60:1 to multiply a 0.25-3 .mu.m displacement provided by a short-stroke actuator so that such an actuator can be used to generate a displacement stroke of about 10-34 .mu.m to operate a ratchet-driven MEM device or a microengine. The compliant structure has less play than conventional displacement-multiplying devices based on lever arms and pivoting joints, and is expected to be more reliable than such devices. The compliant structure and an associated electrostatic or thermal actuator can be formed on a common substrate (e.g. silicon) using surface micromachining.

Networked Rectenna Array for Smart Material Actuators

NASA Technical Reports Server (NTRS)

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

2000-01-01

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

One-volt-driven superfast polymer actuators based on single-ion conductors

PubMed Central

Kim, Onnuri; Kim, Hoon; Choi, U. Hyeok; Park, Moon Jeong

2016-01-01

The key challenges in the advancement of actuator technologies related to artificial muscles include fast-response time, low operation voltages and durability. Although several researchers have tackled these challenges over the last few decades, no breakthrough has been made. Here we describe a platform for the development of soft actuators that moves a few millimetres under 1 V in air, with a superfast response time of tens of milliseconds. An essential component of this actuator is the single-ion-conducting polymers that contain well-defined ionic domains through the introduction of zwitterions; this achieved an exceptionally high dielectric constant of 76 and a 300-fold enhancement in ionic conductivity. Moreover, the actuator demonstrated long-term durability, with negligible changes in the actuator stroke over 20,000 cycles in air. Owing to its low-power consumption (only 4 mW), we believe that this actuator could pave the way for cutting-edge biomimetic technologies in the future. PMID:27857067

Numerical optimization of actuator trajectories for ITER hybrid scenario profile evolution

NASA Astrophysics Data System (ADS)

van Dongen, J.; Felici, F.; Hogeweij, G. M. D.; Geelen, P.; Maljaars, E.

2014-12-01

Optimal actuator trajectories for an ITER hybrid scenario ramp-up are computed using a numerical optimization method. For both L-mode and H-mode scenarios, the time trajectory of plasma current, EC heating and current drive distribution is determined that minimizes a chosen cost function, while satisfying constraints. The cost function is formulated to reflect two desired properties of the plasma q profile at the end of the ramp-up. The first objective is to maximize the ITG turbulence threshold by maximizing the volume-averaged s/q ratio. The second objective is to achieve a stationary q profile by having a flat loop voltage profile. Actuator and physics-derived constraints are included, imposing limits on plasma current, ramp rates, internal inductance and q profile. This numerical method uses the fast control-oriented plasma profile evolution code RAPTOR, which is successfully benchmarked against more complete CRONOS simulations for L-mode and H-mode mode ITER hybrid scenarios. It is shown that the optimized trajectories computed using RAPTOR also result in an improved ramp-up scenario for CRONOS simulations using the same input trajectories. Furthermore, the optimal trajectories are shown to vary depending on the precise timing of the L-H transition.

POD analysis of flow over a backward-facing step forced by right-angle-shaped plasma actuator.

PubMed

Wang, Bin; Li, Huaxing

2016-01-01

This study aims to present flow control over the backward-facing step with specially designed right-angle-shaped plasma actuator and analyzed the influence of various scales of flow structures on the Reynolds stress through snapshot proper orthogonal decomposition (POD). 2D particle image velocimetry measurements were conducted on region (x/h = 0-2.25) and reattachment zone in the x-y plane over the backward-facing step at a Reynolds number of Re h  = 27,766 (based on step height [Formula: see text] and free stream velocity [Formula: see text]. The separated shear layer was excited by specially designed right-angle-shaped plasma actuator under the normalized excitation frequency St h  ≈ 0.345 along the 45° direction. The spatial distribution of each Reynolds stress component was reconstructed using an increasing number of POD modes. The POD analysis indicated that the flow dynamic downstream of the step was dominated by large-scale flow structures, which contributed to streamwise Reynolds stress and Reynolds shear stress. The intense Reynolds stress localized to a narrow strip within the shear layer was mainly affected by small-scale flow structures, which were responsible for the recovery of the Reynolds stress peak. With plasma excitation, a significant increase was obtained in the vertical Reynolds stress peak. Under the dimensionless frequencies St h  ≈ 0.345 and [Formula: see text] which are based on the step height and momentum thickness, the effectiveness of the flow control forced by the plasma actuator along the 45° direction was ordinary. Only the vertical Reynolds stress was significantly affected.

Effects of anchoring and arc structure on the control authority of a rail plasma actuator

NASA Astrophysics Data System (ADS)

Choi, Young-Joon; Gray, Miles; Sirohi, Jayant; Raja, Laxminarayan L.

2017-09-01

Experiments were conducted on a rail plasma actuator (RailPAc) with different electrode cross sections (rails or rods) to assess methods to improve the actuation authority, defined as the impulse generated for a given electrical input. The arc was characterized with electrical measurements and high-speed images, while impulse measurements quantified the actuation authority. A RailPAc power supply capable of delivering  ∼1 kA of current at  ∼100 V was connected to rod electrodes (free-floating with circular cross-section) and rail electrodes (flush-mounted in a flat plate with rectangular cross-section). High-speed images show that the rail electrodes cause the arc to anchor itself to the anode electrode and transit in discrete jumps, while rod electrodes permit the arc to transit smoothly without anchoring. The impulse measurements reveal that the anchoring reduces the actuation authority by  ∼21% compared to a smooth transit, and the effect of anchoring can be suppressed by reducing the gap between the rails to 2 mm. The study further demonstrates that if a smooth transit is achieved, the control authority can be increased with a larger gap and larger arc current. In conclusion, the actuation authority of a RailPAc can be maximized by carefully choosing a gap width that prevents anchoring. Further study is warranted to increase the RailPAc actuation authority by introducing multiple turns of wires beneath the RailPAc to augment the induced magnetic field.

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.

Tough Nanocomposite Ionogel-based Actuator Exhibits Robust Performance

NASA Astrophysics Data System (ADS)

Liu, Xinhua; He, Bin; Wang, Zhipeng; Tang, Haifeng; Su, Teng; Wang, Qigang

2014-10-01

Ionogel electrolytes can be fabricated for electrochemical actuators with many desirable advantages, including direct low-voltage control in air, high electrochemical and thermal stability, and complete silence during actuation. However, the demands for active actuators with above features and load-driving ability remain a challenge; much work is necessary to enhance the mechanical strength of electrolyte materials. Herein, we describe a cross-linked supramolecular approach to prepare tough nanocomposite gel electrolytes from HEMA, BMIMBF4, and TiO2 via self-initiated UV polymerization. The tough and stable ionogels are emerging to fabricate electric double-layer capacitor-like soft actuators, which can be driven by electrically induced ion migration. The ionogel-based actuator shows a displacement response of 5.6 mm to the driving voltage of 3.5 V. After adding the additional mass weight of the same as the actuator, it still shows a large displacement response of 3.9 mm. Furthermore, the actuator can not only work in harsh temperature environments (100°C and -10°C) but also realize the goal of grabbing an object by adjusting the applied voltage.

Tough nanocomposite ionogel-based actuator exhibits robust performance.

PubMed

Liu, Xinhua; He, Bin; Wang, Zhipeng; Tang, Haifeng; Su, Teng; Wang, Qigang

2014-10-20

Ionogel electrolytes can be fabricated for electrochemical actuators with many desirable advantages, including direct low-voltage control in air, high electrochemical and thermal stability, and complete silence during actuation. However, the demands for active actuators with above features and load-driving ability remain a challenge; much work is necessary to enhance the mechanical strength of electrolyte materials. Herein, we describe a cross-linked supramolecular approach to prepare tough nanocomposite gel electrolytes from HEMA, BMIMBF4, and TiO2 via self-initiated UV polymerization. The tough and stable ionogels are emerging to fabricate electric double-layer capacitor-like soft actuators, which can be driven by electrically induced ion migration. The ionogel-based actuator shows a displacement response of 5.6 mm to the driving voltage of 3.5 V. After adding the additional mass weight of the same as the actuator, it still shows a large displacement response of 3.9 mm. Furthermore, the actuator can not only work in harsh temperature environments (100°C and -10°C) but also realize the goal of grabbing an object by adjusting the applied voltage.

Tough Nanocomposite Ionogel-based Actuator Exhibits Robust Performance

PubMed Central

Liu, Xinhua; He, Bin; Wang, Zhipeng; Tang, Haifeng; Su, Teng; Wang, Qigang

2014-01-01

Ionogel electrolytes can be fabricated for electrochemical actuators with many desirable advantages, including direct low-voltage control in air, high electrochemical and thermal stability, and complete silence during actuation. However, the demands for active actuators with above features and load-driving ability remain a challenge; much work is necessary to enhance the mechanical strength of electrolyte materials. Herein, we describe a cross-linked supramolecular approach to prepare tough nanocomposite gel electrolytes from HEMA, BMIMBF4, and TiO2 via self-initiated UV polymerization. The tough and stable ionogels are emerging to fabricate electric double-layer capacitor-like soft actuators, which can be driven by electrically induced ion migration. The ionogel-based actuator shows a displacement response of 5.6 mm to the driving voltage of 3.5 V. After adding the additional mass weight of the same as the actuator, it still shows a large displacement response of 3.9 mm. Furthermore, the actuator can not only work in harsh temperature environments (100°C and −10°C) but also realize the goal of grabbing an object by adjusting the applied voltage. PMID:25327414

Low backlash direct drive actuator

DOEpatents

Kuklo, T.C.

1994-10-25

A low backlash direct drive actuator is described which comprises a motor such as a stepper motor having at least 200 steps per revolution; a two part hub assembly comprising a drive hub coaxially attached to the shaft of the motor and having a plurality of drive pins; a driven hub having a plurality of bores in one end thereof in alignment with the drive pins in the drive hub and a threaded shaft coaxially mounted in an opposite end of the driven hub; and a housing having a central bore therein into which are fitted the drive hub and driven hub, the housing having a motor mount on one end thereof to which is mounted the stepper motor, and a closed end portion with a threaded opening therein coaxial with the central bore in the housing and receiving therein the threaded shaft attached to the driven hub. Limit switches mounted to the housing cooperate with an enlarged lip on the driven hub to limit the lateral travel of the driven hub in the housing, which also acts to limit the lateral travel of the threaded shaft which functions as a lead screw. 10 figs.

A high performance normally closed solenoid-actuated cold valve.

PubMed

Taminiau, I A J; Benningshof, O W B; Jochemsen, R

2009-08-01

An electromagnetically driven normally closed valve for liquid helium is presented, which is meant to regulate the input flow to a 1 K pot. An earlier design is modified to be normally closed (not actuated) and tuned for durability and reliability. A new feature is presented which prevents seat deformation at room temperature and provides comfort and durability for intensive use.

Fast Electrically Driven Capillary Rise Using Overdrive Voltage.

PubMed

Hong, Sung Jin; Hong, Jiwoo; Seo, Hee Won; Lee, Sang Joon; Chung, Sang Kug

2015-12-29

Enhancement of response speed (or reduction of response time) is crucial for the commercialization of devices based on electrowetting (EW), such as liquid lenses and reflective displays, and presents one of the main challenges in EW research studies. We demonstrate here that an overdrive EW actuation gives rise to a faster rise of a liquid column between parallel electrodes, compared to a DC EW actuation. Here, DC actuation is actually a simple applied step function, and overdrive is an applied step followed by reduction to a lower voltage. Transient behaviors and response time (i.e., the time required to reach the equilibrium height) of the rising liquid column are explored under different DC and overdrive EW actuations. When the liquid column rises up to a target height by means of an overdrive EW, the response time is reduced to as low as 1/6 of the response time using DC EW. We develop a theoretical model to simulate the EW-driven capillary rise by combining the kinetic equation of capillary flow (i.e., Lucas-Washburn equation) and the dynamic contact angle model considering contact line friction, contact angle hysteresis, contact angle saturation, and the EW effect. This theoretical model accurately predicts the outcome to within a ± 5% error in regard to the rising behaviors of the liquid column with a low viscosity, under both DC EW and overdrive actuation conditions, except for the early stage (

Microwave-Driven Multifunctional Capability of Membrane Structures

NASA Technical Reports Server (NTRS)

Choi, Sang H.; Chu, Sang-Hyong; Song, Kyo D.; King, Glen C.

2002-01-01

A large, ultra lightweight space structure, such as solar sails and Gossamer spacecrafts, requires a distributed power source to alleviate wire networks, unlike the localized on-board power infrastructures typically found in most small spacecrafts. The concept of microwave-driven multifunctional capability for membrane structures is envisioned as the best option to alleviate the complexity associated with hard-wired control circuitry and on-board power infrastructures. A rectenna array based on a patch configuration for high voltage output was developed to drive membrane actuators, sensors, probes, or other devices. Networked patch rectenna array receives and converts microwave power into a DC power for an array of smart actuators. To use microwave power effectively, the concept of a power allocation and distribution (PAD) circuit is adopted for networking a rectenna/actuator patch array. The use of patch rectennas adds a significant amount of rigidity to membrane flexibility and they are relatively heavy. A dipole rectenna array (DRA) appears to be ideal for thin-film membrane structures, since DRA is flexible and light. Preliminary design and fabrication of PAD circuitry that consists of a few nodal elements were made for laboratory testing. The networked actuators were tested to correlate the network coupling effect, power allocation and distribution, and response time.

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.

Optimization of actuator arrays for aircraft interior noise control

NASA Technical Reports Server (NTRS)

Cabell, R. H.; Lester, H. C.; Mathur, G. P.; Tran, B. N.

1993-01-01

A numerical procedure for grouping actuators in order to reduce the number of degrees of freedom in an active noise control system is evaluated using experimental data. Piezoceramic actuators for reducing aircraft interior noise are arranged into groups using a nonlinear optimization routine and clustering algorithm. An actuator group is created when two or more actuators are driven with the same control input. This procedure is suitable for active control applications where actuators are already mounted on a structure. The feasibility of this technique is demonstrated using measured data from the aft cabin of a Douglas DC-9 fuselage. The measured data include transfer functions between 34 piezoceramic actuators and 29 interior microphones and microphone responses due to the primary noise produced by external speakers. Control inputs for the grouped actuators were calculated so that a cost function, defined as a quadratic pressure term and a penalty term, was a minimum. The measured transfer functions and microphone responses are checked by comparing calculated noise reductions with measured noise reductions for four frequencies. The grouping procedure is then used to determine actuator groups that improve overall interior noise reductions by 5.3 to 15 dB, compared to the baseline experimental configuration.

CNT/conductive polymer composites for low-voltage driven EAP actuators

NASA Astrophysics Data System (ADS)

Sugino, Takushi; Shibata, Yoshiyuki; Kiyohara, Kenji; Asaka, Kinji

2012-04-01

We investigated the effects of additives incorporated into the electrode layer in order to improve the actuation performance of dry-type carbon nanotube (CNT) actuators. Especially, the addition of conductive nano-particles such as polyaniline (PANI) and polypyrrole (PPy) improves actuation performance very much rather than the addition of nonconductive nano-particles such as mesoprous silica (MCM-41 type). In this paper, we studied on the influences of applied voltage, species of ionic liquid (IL), amounts of IL, thickness of actuator to optimize actuation performance. Imidazolium type ionic liquids with three different anions, that is, 1-ethyl-3-methylimidazolium (EMI) as a cation and tetrafluoroborate (BF4), trifluoromethanesulfonate (OTf), and bis(trifluoromethanesulfonyl)imide (TFSI) as anions were chosen in this study. EMIBF4 is the most suitable IL for our CNT actuator including PANI in the electrode layer. We tuned the amount of IL and the thickness of actuator. As a result, the strain was improved to be 2.2% at 0.1 Hz by applying the voltage of 2.5 V. This improved value is almost 2 times larger than our previous results. We also show the potential of improved CNT actuators for a thin and light Braille display.

Performance Assessment of Model-Based Optimal Feedforward and Feedback Current Profile Control in NSTX-U using the TRANSP Code

NASA Astrophysics Data System (ADS)

Ilhan, Z.; Wehner, W. P.; Schuster, E.; Boyer, M. D.; Gates, D. A.; Gerhardt, S.; Menard, J.

2015-11-01

Active control of the toroidal current density profile is crucial to achieve and maintain high-performance, MHD-stable plasma operation in NSTX-U. A first-principles-driven, control-oriented model describing the temporal evolution of the current profile has been proposed earlier by combining the magnetic diffusion equation with empirical correlations obtained at NSTX-U for the electron density, electron temperature, and non-inductive current drives. A feedforward + feedback control scheme for the requlation of the current profile is constructed by embedding the proposed nonlinear, physics-based model into the control design process. Firstly, nonlinear optimization techniques are used to design feedforward actuator trajectories that steer the plasma to a desired operating state with the objective of supporting the traditional trial-and-error experimental process of advanced scenario planning. Secondly, a feedback control algorithm to track a desired current profile evolution is developed with the goal of adding robustness to the overall control scheme. The effectiveness of the combined feedforward + feedback control algorithm for current profile regulation is tested in predictive simulations carried out in TRANSP. Supported by PPPL.

Engine speed control apparatus

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

Ishii, M.; Miyazaki, M.; Nakamura, N.

1986-11-04

This patent describes an engine speed control apparatus. The system comprises an actuator for adjusting an engine speed, a first unit for computing a desired engine speed, a second unit for detecting the actual engine speed, and a third unit for detecting the difference between the outputs of the first and second units. The system also includes a fourth unit for computing a control pulse width for the actuator in accordance with the output of the third unit, a fifth unit for generating a control signal, a sixth unit for driving the actuator in response to the output of themore » fifth unit, and a seventh unit for computing an optimal halt time to interrupt the driving of the actuator. The actuator is driven intermittently in conformity in the control pulse width and the halt time.« less

Design and simulation of control algorithms for stored energy and plasma current in non-inductive scenarios on NSTX-U

NASA Astrophysics Data System (ADS)

Boyer, Mark; Andre, Robert; Gates, David; Gerhardt, Stefan; Menard, Jonathan; Poli, Francesca

2015-11-01

One of the major goals of NSTX-U is to demonstrate non-inductive operation. To facilitate this and other program goals, the center stack has been upgraded and a second neutral beam line has been added with three sources aimed more tangentially to provide higher current drive efficiency and the ability to shape the current drive profile. While non-inductive start-up and ramp-up scenarios are being developed, initial non-inductive studies will likely rely on clamping the Ohmic coil current after the plasma current has been established inductively. In this work the ability to maintain control of stored energy and plasma current once the Ohmic coil has been clamped is explored. The six neutral beam sources and the mid-plane outer gap of the plasma are considered as actuators. System identification is done using TRANSP simulations in which the actuators are modulated around a reference shot. The resulting reduced model is used to design an optimal control law with anti-windup and a recently developed framework for closed loop simulations in TRANSP is used to test the control. Limitations due to actuator saturation are assessed and robustness to beam modulation, changes in the plasma density and confinement, and changes in density and temperature profile shapes are studied. Supported by US DOE contract DE-AC02-09CH11466.

Implementing a finite-state off-normal and fault response system for disruption avoidance in tokamaks

NASA Astrophysics Data System (ADS)

Eidietis, N. W.; Choi, W.; Hahn, S. H.; Humphreys, D. A.; Sammuli, B. S.; Walker, M. L.

2018-05-01

A finite-state off-normal and fault response (ONFR) system is presented that provides the supervisory logic for comprehensive disruption avoidance and machine protection in tokamaks. Robust event handling is critical for ITER and future large tokamaks, where plasma parameters will necessarily approach stability limits and many systems will operate near their engineering limits. Events can be classified as off-normal plasmas events, e.g. neoclassical tearing modes or vertical displacements events, or faults, e.g. coil power supply failures. The ONFR system presented provides four critical features of a robust event handling system: sequential responses to cascading events, event recovery, simultaneous handling of multiple events and actuator prioritization. The finite-state logic is implemented in Matlab®/Stateflow® to allow rapid development and testing in an easily understood graphical format before automated export to the real-time plasma control system code. Experimental demonstrations of the ONFR algorithm on the DIII-D and KSTAR tokamaks are presented. In the most complex demonstration, the ONFR algorithm asynchronously applies ‘catch and subdue’ electron cyclotron current drive (ECCD) injection scheme to suppress a virulent 2/1 neoclassical tearing mode, subsequently shuts down ECCD for machine protection when the plasma becomes over-dense, and enables rotating 3D field entrainment of the ensuing locked mode to allow a safe rampdown, all in the same discharge without user intervention. When multiple ONFR states are active simultaneously and requesting the same actuator (e.g. neutral beam injection or gyrotrons), actuator prioritization is accomplished by sorting the pre-assigned priority values of each active ONFR state and giving complete control of the actuator to the state with highest priority. This early experience makes evident that additional research is required to develop an improved actuator sharing protocol, as well as a methodology to minimize the number and topological complexity of states as the finite-state ONFR system is scaled to a large, highly constrained device like ITER.

Implementing a finite-state off-normal and fault response system for disruption avoidance in tokamaks

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

Eidietis, N. W.; Choi, W.; Hahn, S. H.

A finite-state off-normal and fault response (ONFR) system is presented that provides the supervisory logic for comprehensive disruption avoidance and machine protection in tokamaks. Robust event handling is critical for ITER and future large tokamaks, where plasma parameters will necessarily approach stability limits and many systems will operate near their engineering limits. Events can be classified as off-normal plasmas events, e.g. neoclassical tearing modes or vertical displacements events, or faults, e.g. coil power supply failures. The ONFR system presented provides four critical features of a robust event handling system: sequential responses to cascading events, event recovery, simultaneous handling of multiplemore » events and actuator prioritization. The finite-state logic is implemented in Matlab*/Stateflow* to allow rapid development and testing in an easily understood graphical format before automated export to the real-time plasma control system code. Experimental demonstrations of the ONFR algorithm on the DIII-D and KSTAR tokamaks are presented. In the most complex demonstration, the ONFR algorithm asynchronously applies “catch and subdue” electron cyclotron current drive (ECCD) injection scheme to suppress a virulent 2/1 neoclassical tearing mode, subsequently shuts down ECCD for machine protection when the plasma becomes over-dense, and enables rotating 3D field entrainment of the ensuing locked mode to allow a safe rampdown, all in the same discharge without user intervention. When multiple ONFR states are active simultaneously and requesting the same actuator (e.g. neutral beam injection or gyrotrons), actuator prioritization is accomplished by sorting the pre-assigned priority values of each active ONFR state and giving complete control of the actuator to the state with highest priority. This early experience makes evident that additional research is required to develop an improved actuator sharing protocol, as well as a methodology to minimize the number and topological complexity of states as the finite-state ONFR system is scaled to a large, highly constrained device like ITER.« less

Implementing a finite-state off-normal and fault response system for disruption avoidance in tokamaks

DOE PAGES

Eidietis, N. W.; Choi, W.; Hahn, S. H.; ...

2018-03-29

A finite-state off-normal and fault response (ONFR) system is presented that provides the supervisory logic for comprehensive disruption avoidance and machine protection in tokamaks. Robust event handling is critical for ITER and future large tokamaks, where plasma parameters will necessarily approach stability limits and many systems will operate near their engineering limits. Events can be classified as off-normal plasmas events, e.g. neoclassical tearing modes or vertical displacements events, or faults, e.g. coil power supply failures. The ONFR system presented provides four critical features of a robust event handling system: sequential responses to cascading events, event recovery, simultaneous handling of multiplemore » events and actuator prioritization. The finite-state logic is implemented in Matlab*/Stateflow* to allow rapid development and testing in an easily understood graphical format before automated export to the real-time plasma control system code. Experimental demonstrations of the ONFR algorithm on the DIII-D and KSTAR tokamaks are presented. In the most complex demonstration, the ONFR algorithm asynchronously applies “catch and subdue” electron cyclotron current drive (ECCD) injection scheme to suppress a virulent 2/1 neoclassical tearing mode, subsequently shuts down ECCD for machine protection when the plasma becomes over-dense, and enables rotating 3D field entrainment of the ensuing locked mode to allow a safe rampdown, all in the same discharge without user intervention. When multiple ONFR states are active simultaneously and requesting the same actuator (e.g. neutral beam injection or gyrotrons), actuator prioritization is accomplished by sorting the pre-assigned priority values of each active ONFR state and giving complete control of the actuator to the state with highest priority. This early experience makes evident that additional research is required to develop an improved actuator sharing protocol, as well as a methodology to minimize the number and topological complexity of states as the finite-state ONFR system is scaled to a large, highly constrained device like ITER.« less

Torsional actuator motor using solid freeform fabricated PZT ceramics

NASA Astrophysics Data System (ADS)

Kim, Chulho; Wu, Carl C. M.; Bender, Barry

2004-07-01

A torsional actuator has been developed at NRL utilizing the high piezoelectric shear coefficient, d15. This torsional actuator uses an even number of alternately poled segments of electroactive PZT. Under an applied electric field, the torsional actuator produces large angular displacement and a high torque. The solid freeform fabrication technique of the laminated object manufacturing (LOM) is used for rapid prototyping of torsional actuator with potential cost and time saving. First step to demonstrate the feasibility of the LOM technique for the torsional actuator device fabrication is to make near net shape segments. We report a prototype PZT torsional actuator using LOM prepared PZT-5A segments. Fabrication processes and test results are described. The torsional actuator PZT-5A tube has dimensions of 13 cm long, 2.54 cm OD and 1.9 cm ID. Although the piezoelectric strain is small, it may be converted into large displacement via accumulation of the small single cycle displacements over many cycles using AC driving voltage such as with a rotary 'inchworm' actuator or an ultrasonic rotary motor. A working prototype of a full-cycle motor driven by the piezoelectric torsional actuator has been achieved. The rotational speed is 1,200 rpm under 200 V/cm field at the resonant frequency of 4.5 kHz.

Large-Deformation Curling Actuators Based on Carbon Nanotube Composite: Advanced-Structure Design and Biomimetic Application.

PubMed

Chen, Luzhuo; Weng, Mingcen; Zhou, Zhiwei; Zhou, Yi; Zhang, Lingling; Li, Jiaxin; Huang, Zhigao; Zhang, Wei; Liu, Changhong; Fan, Shoushan

2015-12-22

In recent years, electroactive polymers have been developed as actuator materials. As an important branch of electroactive polymers, electrothermal actuators (ETAs) demonstrate potential applications in the fields of artificial muscles, biomimetic devices, robotics, and so on. Large-shape deformation, low-voltage-driven actuation, and ultrafast fabrication are critical to the development of ETA. However, a simultaneous optimization of all of these advantages has not been realized yet. Practical biomimetic applications are also rare. In this work, we introduce an ultrafast approach to fabricate a curling actuator based on a newly designed carbon nanotube and polymer composite, which completely realizes all of the above required advantages. The actuator shows an ultralarge curling actuation with a curvature greater than 1.0 cm(-1) and bending angle larger than 360°, even curling into a tubular structure. The driving voltage is down to a low voltage of 5 V. The remarkable actuation is attributed not only to the mismatch in the coefficients of thermal expansion but also to the mechanical property changes of materials during temperature change. We also construct an S-shape actuator to show the possibility of building advanced-structure actuators. A weightlifting walking robot is further designed that exhibits a fast-moving motion while lifting a sample heavier than itself, demonstrating promising biomimetic applications.

Microelectromechanical reciprocating-tooth indexing apparatus

DOEpatents

Allen, James J.

1999-01-01

An indexing apparatus is disclosed that can be used to rotate a gear or move a rack in a precise, controllable manner. The indexing apparatus, based on a reciprocating shuttle driven by one or more actuators, can be formed either as a micromachine, or as a millimachine. The reciprocating shuttle of the indexing apparatus can be driven by a thermal, electrostatic or electromagnetic actuator, with one or more wedge-shaped drive teeth of the shuttle being moveable to engage and slide against indexing teeth on the gear or rack, thereby moving the gear or rack. The indexing apparatus can be formed by either surface micromachining processes or LIGA processes, depending on the size of the apparatus that is to be formed.

Synthetic Bursae for Robots

NASA Technical Reports Server (NTRS)

Lovchik, Christopher S.

2005-01-01

Synthetic bursae are under development for incorporation into robot joints that are actuated by motor-driven cables in a manner similar to that of arthropod joints actuated by muscle-driven tendons. Like natural bursae, the synthetic bursae would serve as cushions and friction reducers. A natural bursa is a thin bladder filled with synovial fluid, which serves to reduce friction and provide a cushion between a bone and a muscle or a tendon. A synthetic bursa would be similar in form and function: It would be, essentially, a compact, soft roller consisting of a bladder filled with a non-Newtonian fluid. The bladder would be constrained to approximately constant volume. The synthetic bursa would cushion an actuator cable against one of the members of a robot joint and would reduce the friction between the cable and the member. Under load, the pressure in the bladder would hold the opposite walls of the bladder apart, making it possible for them to move freely past each other without rubbing.

Topological structures of vortex flow on a flying wing aircraft, controlled by a nanosecond pulse discharge plasma actuator

NASA Astrophysics Data System (ADS)

Du, Hai; Shi, Zhiwei; Cheng, Keming; Wei, Dechen; Li, Zheng; Zhou, Danjie; He, Haibo; Yao, Junkai; He, Chengjun

2016-06-01

Vortex control is a thriving research area, particularly in relation to flying wing or delta wing aircraft. This paper presents the topological structures of vortex flow on a flying wing aircraft controlled by a nanosecond plasma dielectric barrier discharge actuator. Experiments, including oil flow visualization and two-dimensional particle image velocimetry (PIV), were conducted in a wind tunnel with a Reynolds number of 0.5 × 106. Both oil and PIV results show that the vortex can be controlled. Oil topological structures on the aircraft surface coincide with spatial PIV flow structures. Both indicate vortex convergence and enhancement when the plasma discharge is switched on, leading to a reduced region of separated flow.

The Influence of Peer Tutors and Technology-Actuated Reading Instruction Process on Third-Grade Students' Self-Perceptions as Readers: A Multiple Case Study

ERIC Educational Resources Information Center

Daw, Brenda Shill

2011-01-01

Driven by Lev Vygotsky's Sociocultural Theory (1986), my study investigated the self-perceptions and interactions of seven underperforming, third-grade readers while using Technology-Actuated Reading Instruction (TARI). Partnered with same-age peer tutors, readers used digital tools to listen to, read/record, and playback oral reading passages.…

The MJS-77 magnetometer actuator

NASA Technical Reports Server (NTRS)

Stange, W. C.

1977-01-01

A two-position (0 deg and 180 deg) actuating mechanism (flipper) driven by alternately-heated wax motors (pellets) used to rotate the low field triaxial fluxgate magnetometer experiment on the 1977 Mariner Jupiter-Saturn spacecraft to its 0 deg and 180 deg positions is described. The magnetic field, power requirements, weight and volume of this device are discussed. The problems encountered in design and development of this mechanism are presented.

Piston-Driven Fluid Ejectors In Silicon Mems

DOEpatents

Galambos, Paul C.; Benavides, Gilbert L.; Jokiel, Jr., Bernhard; Jakubczak II, Jerome F.

2005-05-03

A surface-micromachined fluid-ejection apparatus is disclosed which utilizes a piston to provide for the ejection of jets or drops of a fluid (e.g. for ink-jet printing). The piston, which is located at least partially inside a fluid reservoir, is moveable into a cylindrical fluid-ejection chamber connected to the reservoir by a microelectromechanical (MEM) actuator which is located outside the reservoir. In this way, the reservoir and fluid-ejection chamber can be maintained as electric-field-free regions thereby allowing the apparatus to be used with fluids that are electrically conductive or which may react or break down in the presence of a high electric field. The MEM actuator can comprise either an electrostatic actuator or a thermal actuator.

Powered Upper Limb Orthosis Actuation System Based on Pneumatic Artificial Muscles

NASA Astrophysics Data System (ADS)

Chakarov, Dimitar; Veneva, Ivanka; Tsveov, Mihail; Venev, Pavel

2018-03-01

The actuation system of a powered upper limb orthosis is studied in the work. To create natural safety in the mutual "man-robot" interaction, an actuation system based on pneumatic artificial muscles (PAM) is selected. Experimentally obtained force/contraction diagrams for bundles, consisting of different number of muscles are shown in the paper. The pooling force and the stiffness of the pneumatic actuators is assessed as a function of the number of muscles in the bundle and the supply pressure. Joint motion and torque is achieved by antagonistic actions through pulleys, driven by bundles of pneumatic muscles. Joint stiffness and joint torques are determined on condition of a power balance, as a function of the joint position, pressure, number of muscles and muscles

Hybrid flow control of a transport truck side-mirror using AC-DBD plasma actuated guide vane

NASA Astrophysics Data System (ADS)

Michelis, Theodoros; Kotsonis, Marios

2014-11-01

A wind-tunnel study is conducted towards hybrid flow control of a full-scale transport truck side-mirror (Re = 4 ×105) . The mirror is mounted on a structure that models the truck cabin. PIV measurements are performed at a range of velocities from 15 to 25 m/s and from leeward to windward angles of -5° to +5° . A slim guide vane of 6cm chord is employed along the span of the hub of the mirror for redirecting high momentum flow towards the wake region. Separation from the leading edge of the guide vane is reduced or eliminated by means of AC-DBD plasma actuator, operating at voltage of 35 kV peak-to-peak and frequency of 200 Hz. Time-averaged velocity fields are obtained at the centre of the mirror for three scenarios: a) reference case lacking any control elements; b) guide vane only and c) combination of the guide vane and the AC-DBD. The comparison of cases demonstrates that at 25 m/s windward conditions (-5°) the guide vane is capable of increasing momentum (+20%) in the wake of the mirror with additional improvement when plasma actuation is applied (+21%). In contrast, at leeward conditions (+5°) , the guide vane reduces momentum (-20%), though with actuation an increase is observed (+5%). Total recovered momentum is 25%.

Electroactive Polymers as Artificial Muscles - Reality and Challenges

NASA Technical Reports Server (NTRS)

Bar-Cohen, Y.

2001-01-01

Electroactive Polymers (EAPs) are emerging as effective displacement actuators. These materials offer the closest resemblance of biological muscle potentially enabling unique capabilities changing the paradigm about robots construction. Under a NASA task, several EAP driven mechanisms were developed including dust wiper, gripper, and robotic arm EAP are inducing a low actuation force limiting the applications that can use their current capability. In recognition of this limitation a series of international forums were established including SPIE conference, Webhub, Newsletter, and Newsgroup. A challenge was posed to the EAP community to have an arm wrestling between robot that is equipped with EAP actuators and human.

Aerospace induction motor actuators driven from a 20-kHz power link

NASA Technical Reports Server (NTRS)

Hansen, Irving G.

1990-01-01

Aerospace electromechanical actuators utilizing induction motors are under development in sizes up to 40 kW. While these actuators have immediate application to the Advanced Launch System (ALS) program, several potential applications are currently under study including the Advanced Aircraft Program. Several recent advances developed for the Space Station Freedom have allowed induction motors to be selected as a first choice for such applications. Among these technologies are bi-directional electronics and high frequency power distribution techniques. Each of these technologies are discussed with emphasis on their impact upon induction motor operation.

On the pulsating electric wind of a Single Dielectric Barrier Discharge (SDBD) plasma actuator

NASA Astrophysics Data System (ADS)

Vernet, Julie; Örlü, Ramis; Alfredsson, P. Henrik

2014-11-01

An experimental study is conducted on the electric wind produced by a Single Dielectric Barrier Discharge (SDBD) plasma actuator placed at the top of a half cylinder. Laser Doppler Velocimetry (LDV) measurements were performed and results show that increasing the driving voltage (6-16 kV peak-to-peak) and frequency (0.5-2 kHz) of the actuator increases the induced jet velocity (up to 4 m/s) and thus the momentum added by the actuator. The focus of the present study is on the phase-resolved behavior of the electric wind, in particular, its two strokes. Phase-averaged LDV data reveals that while the velocity during both strokes remains positive, there is nearly a factor of two in amplitude. The difference of behavior between the two strokes and its downstream and wall-normal evolution are mapped for various driving voltages. Results indicate that this difference is restricted to the vicinity of the actuator, thereby justifying the assumption of a steady force in simulations to model the induced force. The study is part of a larger investigation aiming at separation control on the A-pillar of a truck cabin. The support of the Swedish Energy Agency and SCANIA CV of the project Flow Research on Active and Novel Control Efficiency (FRANCE) is greatly acknowledged.

Design and energetic evaluation of a prosthetic knee joint actuator with a lockable parallel spring.

PubMed

Geeroms, J; Flynn, L; Jimenez-Fabian, R; Vanderborght, B; Lefeber, D

2017-02-03

There are disadvantages to existing damping knee prostheses which cause an asymmetric gait and higher metabolic cost during level walking compared to non-amputees. Most existing active knee prostheses which could benefit the amputees use a significant amount of energy and require a considerable motor. In this work, a novel semi-active actuator with a lockable parallel spring for a prosthetic knee joint has been developed and tested. This actuator is able to provide an approximation of the behavior of a healthy knee during most of the gait cycle of level walking. This actuator is expanded with a series-elastic actuator to mimic the full gait cycle and enable its use in other functional tasks like stair climbing and sit-to-stance. The proposed novel actuator reduces the energy consumption for the same trajectory with respect to a compliant or directly-driven prosthetic active knee joint and improves the approximation of healthy knee behavior during level walking compared to passive or variable damping knee prostheses.

High-displacement spiral piezoelectric actuators

NASA Astrophysics Data System (ADS)

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

1999-10-01

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

Controllable helical deformations on printed anisotropic composite soft actuators

NASA Astrophysics Data System (ADS)

Wang, Dong; Li, Ling; Serjouei, Ahmad; Dong, Longteng; Weeger, Oliver; Gu, Guoying; Ge, Qi

2018-04-01

Helical shapes are ubiquitous in both nature and engineering. However, the development of soft actuators and robots that mimic helical motions has been hindered primarily due to the lack of efficient modeling approaches that take into account the material anisotropy and the directional change of the external loading point. In this work, we present a theoretical framework for modeling controllable helical deformations of cable-driven, anisotropic, soft composite actuators. The framework is based on the minimum potential energy method, and its model predictions are validated by experiments, where the microarchitectures of the soft composite actuators can be precisely defined by 3D printing. We use the developed framework to investigate the effects of material and geometric parameters on helical deformations. The results show that material stiffness, volume fraction, layer thickness, and fiber orientation can be used to control the helical deformation of a soft actuator. In particular, we found that a critical fiber orientation angle exists at which the twist of the actuator changes the direction. Thus, this work can be of great importance for the design and fabrication of soft actuators with tailored deformation behavior.

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.

Novel aspects of plasma control in ITER

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

Humphreys, D.; Jackson, G.; Walker, M.

2015-02-15

ITER plasma control design solutions and performance requirements are strongly driven by its nuclear mission, aggressive commissioning constraints, and limited number of operational discharges. In addition, high plasma energy content, heat fluxes, neutron fluxes, and very long pulse operation place novel demands on control performance in many areas ranging from plasma boundary and divertor regulation to plasma kinetics and stability control. Both commissioning and experimental operations schedules provide limited time for tuning of control algorithms relative to operating devices. Although many aspects of the control solutions required by ITER have been well-demonstrated in present devices and even designed satisfactorily formore » ITER application, many elements unique to ITER including various crucial integration issues are presently under development. We describe selected novel aspects of plasma control in ITER, identifying unique parts of the control problem and highlighting some key areas of research remaining. Novel control areas described include control physics understanding (e.g., current profile regulation, tearing mode (TM) suppression), control mathematics (e.g., algorithmic and simulation approaches to high confidence robust performance), and integration solutions (e.g., methods for management of highly subscribed control resources). We identify unique aspects of the ITER TM suppression scheme, which will pulse gyrotrons to drive current within a magnetic island, and turn the drive off following suppression in order to minimize use of auxiliary power and maximize fusion gain. The potential role of active current profile control and approaches to design in ITER are discussed. Issues and approaches to fault handling algorithms are described, along with novel aspects of actuator sharing in ITER.« less

Novel aspects of plasma control in ITER

DOE PAGES

Humphreys, David; Ambrosino, G.; de Vries, Peter; ...

2015-02-12

ITER plasma control design solutions and performance requirements are strongly driven by its nuclear mission, aggressive commissioning constraints, and limited number of operational discharges. In addition, high plasma energy content, heat fluxes, neutron fluxes, and very long pulse operation place novel demands on control performance in many areas ranging from plasma boundary and divertor regulation to plasma kinetics and stability control. Both commissioning and experimental operations schedules provide limited time for tuning of control algorithms relative to operating devices. Although many aspects of the control solutions required by ITER have been well-demonstrated in present devices and even designed satisfactorily formore » ITER application, many elements unique to ITER including various crucial integration issues are presently under development. We describe selected novel aspects of plasma control in ITER, identifying unique parts of the control problem and highlighting some key areas of research remaining. Novel control areas described include control physics understanding (e.g. current profile regulation, tearing mode suppression (TM)), control mathematics (e.g. algorithmic and simulation approaches to high confidence robust performance), and integration solutions (e.g. methods for management of highly-subscribed control resources). We identify unique aspects of the ITER TM suppression scheme, which will pulse gyrotrons to drive current within a magnetic island, and turn the drive off following suppression in order to minimize use of auxiliary power and maximize fusion gain. The potential role of active current profile control and approaches to design in ITER are discussed. Finally, issues and approaches to fault handling algorithms are described, along with novel aspects of actuator sharing in ITER.« less

Covalent-supramolecular hybrid polymers as muscle-inspired anisotropic actuators.

PubMed

Chin, Stacey M; Synatschke, Christopher V; Liu, Shuangping; Nap, Rikkert J; Sather, Nicholas A; Wang, Qifeng; Álvarez, Zaida; Edelbrock, Alexandra N; Fyrner, Timmy; Palmer, Liam C; Szleifer, Igal; Olvera de la Cruz, Monica; Stupp, Samuel I

2018-06-19

Skeletal muscle provides inspiration on how to achieve reversible, macroscopic, anisotropic motion in soft materials. Here we report on the bottom-up design of macroscopic tubes that exhibit anisotropic actuation driven by a thermal stimulus. The tube is built from a hydrogel in which extremely long supramolecular nanofibers are aligned using weak shear forces, followed by radial growth of thermoresponsive polymers from their surfaces. The hierarchically ordered tube exhibits reversible anisotropic actuation with changes in temperature, with much greater contraction perpendicular to the direction of nanofiber alignment. We identify two critical factors for the anisotropic actuation, macroscopic alignment of the supramolecular scaffold and its covalent bonding to polymer chains. Using finite element analysis and molecular calculations, we conclude polymer chain confinement and mechanical reinforcement by rigid supramolecular nanofibers are responsible for the anisotropic actuation. The work reported suggests strategies to create soft active matter with molecularly encoded capacity to perform complex tasks.

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.

Surface-micromachined and high-aspect ratio electrostatic actuators for aeronautic and space applications: design and lifetime considerations

NASA Astrophysics Data System (ADS)

Vescovo, P.; Joseph, E.; Bourbon, G.; Le Moal, P.; Minotti, P.; Hibert, C.; Pont, G.

2003-09-01

This paper focuses on recent advances in the field of MEMS-based actuators and distributed microelectromechanical systems (MEMS). IC-processed actuators (e.g. actuators that are machined using integrated circuit batch processes) are expected to open a wide range of industrial applications on the near term. The most promising investigations deal with high-aspect ratio electric field driven microactuators suitable for use in numerous technical fields such as aeronautics and space industry. Because the silicon micromachining technology have the potential to integrate both mechanical components and control circuits within a single process, MEMS-based active control of microscopic and macroscopic structures appears to be one of the most promising challenges for the next decade. As a first step towards new generations of MEMS-based smart structures, recent investigations dealing with silicon mechanisms involving MEMS-based actuators are briefly discussed in this paper.

A one-stage, high-load capacity separation actuator using anti-friction rollers and redundant shape memory alloy wires.

PubMed

Xiaojun, Yan; Dawei, Huang; Xiaoyong, Zhang; Ying, Liu; Qiaolong, Yang

2015-12-01

This paper proposes a SMA (shape memory alloy) wire-based separation actuator with high-load capacity and simple structure. The novel actuator is based on a one-stage locking mechanism, which means that the separation is directly driven by the SMA wire. To release a large preload, a group of anti-friction rollers are adopted to reduce the force for triggering. In addition, two SMA wires are used redundantly to ensure a high reliability. After separation, the actuator can be reset automatically without any auxiliary tool or manual operation. Three prototypes of the separation actuator are fabricated and tested. According to the performance test results, the actuator can release a maximum preload of 40 kN. The separation time tends to decrease as the operation current increases and it can be as short as 0.5 s under a 7.5 A (the voltage is 5.8 V) current. Lifetime test indicates that the actuator has a lifetime of more than 50 cycles. The environmental tests demonstrate that the actuator can endure the typical thermal and vibration environment tests without unexpected separation or structure damage, and separate normally after these environment tests.

Piezoelectric-based actuators for improved tractor-trailer performance (Conference Presentation)

NASA Astrophysics Data System (ADS)

Menicovich, David; Amitay, Michael; Gallardo, Daniele

2017-04-01

The application of piezo-electrically-driven synthetic-jet-based active flow control to reduce drag on tractor-trailers and to improve thermal mixing in refrigerated trailers was explored on full-scale tests. The active flow control technique that is being used relies on a modular system comprised of distributed, small, highly efficient actuators. These actuators, called synthetic jets, are jets that are synthesized at the edge of an orifice by a periodic motion of a piezoelectric diaphragm(s) mounted on one (or more) walls of a sealed cavity. The synthetic jet is zero net mass flux (ZNMF), but it allows momentum transfer to flow. It is typically driven near diaphragm and/or cavity resonance, and therefore, small electric input [O(10W)] is required. Another advantage of this actuator is that no plumbing is required. The system doesn't require changes to the body of the truck, can be easily reconfigured to various types of vehicles, and consumes small amounts of electrical power from the existing electrical system of the truck. The actuators are operated in a closed feedback loop based on inputs received from the tractor's electronic control unit, various system components and environmental sensors. The data are collected and processed on-board and transmitted to a cloud-based data management platform for further big data analytics and diagnostics. The system functions as a smart connected product through the interchange of data between the physical truck-mounted system and its cloud platform.

Physics-model-based nonlinear actuator trajectory optimization and safety factor profile feedback control for advanced scenario development in DIII-D

DOE PAGES

Barton, Justin E.; Boyer, Mark D.; Shi, Wenyu; ...

2015-07-30

DIII-D experimental results are reported to demonstrate the potential of physics-model-based safety factor profile control for robust and reproducible sustainment of advanced scenarios. In the absence of feedback control, variability in wall conditions and plasma impurities, as well as drifts due to external disturbances, can limit the reproducibility of discharges with simple pre-programmed scenario trajectories. The control architecture utilized is a feedforward + feedback scheme where the feedforward commands are computed off-line and the feedback commands are computed on-line. In this work, firstly a first-principles-driven (FPD), physics-based model of the q profile and normalized beta (β N) dynamics is embeddedmore » into a numerical optimization algorithm to design feedforward actuator trajectories that sheer the plasma through the tokamak operating space to reach a desired stationary target state that is characterized by the achieved q profile and β N. Good agreement between experimental results and simulations demonstrates the accuracy of the models employed for physics-model-based control design. Secondly, a feedback algorithm for q profile control is designed following a FPD approach, and the ability of the controller to achieve and maintain a target q profile evolution is tested in DIII-D high confinement (H-mode) experiments. The controller is shown to be able to effectively control the q profile when β N is relatively close to the target, indicating the need for integrated q profile and β N control to further enhance the ability to achieve robust scenario execution. Furthermore, the ability of an integrated q profile + β N feedback controller to track a desired target is demonstrated through simulation.« less

Extensional ionomeric polymer conductor composite actuators with ionic liquids

NASA Astrophysics Data System (ADS)

Liu, Sheng; Lin, Minren; Zhang, Qiming

2008-03-01

Although the Ionic Polymer-Metal Composite (IPMC) actuators developed up to date are in the form of bending actuators, development of extensional actuators based on IMPC is highly desirable from practical applications and fundamental understanding points of view. This talk presents the design, fabrication and characterization of a recent work on an extensional Ionic Polymer-Metal Composite actuator. The extensional actuator consists of the Nafion ionomer as the matrix and the sub-micron size RuO II particles as the conductive filler for the conductor/ionomr composites. In this investigation, several ionic liquids (IL) were investigated. For a Nafion/RuO II composite with 1-Ethyl-3-methylimidazolium trifluoromethanesulfonate (EMI-Tf) IL, it was found that as the ions are driven into the ionomer/RuO II composite (the composite under negative voltage), an extensional strain of 0.9% was observed; while as the ions were expelled from the ionomer/RuO II composite (under positive voltage), a contraction of -1.2% was observed. The results indicate that multiple ions are participating in charge transport and actuation process. In this paper, we also discuss several design considerations for future extensional actuators with fast response, much improved strain and stress level. Especially an actuator based on multilayer configuration can significantly increase the electric field level in the actuator and consequently significantly improve the actuator speed. The extensional actuator investigated here provides a unique platform to investigate various phenomena related to ion transport and their interaction with the ionomer/conductor matrix to realize high electromechanical performance.

Characterization of interdigitated electrode piezoelectric fiber composites under high electrical and mechanical loading

NASA Astrophysics Data System (ADS)

Rodgers, John P.; Bent, Aaron A.; Hagood, Nesbitt W.

1996-05-01

The primary objective of this work is to develop a standard methodology for characterizing structural actuation systems intended for operation in high electrical and mechanical loading environments. The designed set of tests evaluates the performance of the active materials system under realistic operating conditions. The tests are also used to characterize piezoelectric fiber composites which have been developed as an alternative to monolithic piezoceramic wafers for structural actuation applications. The performance of this actuator system has been improved using an interdigitated electrode pattern, which orients the primary component of the electric field into the plane of the structure, enabling the use of the primary piezoelectric effect along the active fibers. One possible application of this technology is in the integral twist actuation of helicopter rotor blades for higher harmonic control. This application requires actuators which can withstand the harsh rotor blade operating environment. This includes large numbers of electrical and mechanical cycles with considerable centripetal and bending loads. The characterization tests include standard active material tests as well as application-driven tests which evaluate the performance of the actuators during simulated operation. Test results for several actuator configurations are provided, including S2 glass- reinforced and E-glass laminated actuators. The study concludes that the interdigitated electrode piezoelectric fiber composite actuator has great potential for high loading applications.

The MJS-77 magnetometer actuator

NASA Technical Reports Server (NTRS)

Stange, W. C.

1977-01-01

A two-position (0 deg and 180 deg) actuating mechanism (flipper) driven by alternately-heated wax motors (pellets) will be used to rotate the low field triaxial fluxgate magnetometer experiment on the 1977 Mariner Jupiter-Saturn spacecraft to its 0 deg and 180 deg positions. The magnetic field, power requirements, weight and volume of this device are very restrictive. The problems encountered in design and development of this mechanism are presented.

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.

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

PubMed

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

2014-03-01

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

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.

One-Dimensional Spacecraft Formation Flight Testbed for Terrestrial Charged Relative Motion Experiments

NASA Astrophysics Data System (ADS)

Seubert, Carl R.

Spacecraft operating in a desired formation offers an abundance of attractive mission capabilities. One proposed method of controlling a close formation of spacecraft is with Coulomb (electrostatic) forces. The Coulomb formation flight idea utilizes charge emission to drive the spacecraft to kilovolt-level potentials and generate adjustable, micronewton- to millinewton-level Coulomb forces for relative position control. In order to advance the prospects of the Coulomb formation flight concept, this dissertation presents the design and implementation of a unique one-dimensional testbed. The disturbances of the testbed are identified and reduced below 1 mN. This noise level offers a near-frictionless platform that is used to perform relative motion actuation with electrostatics in a terrestrial atmospheric environment. Potentials up to 30 kV are used to actuate a cart over a translational range of motion of 40 cm. A challenge to both theoretical and hardware implemented electrostatic actuation developments is correctly modeling the forces between finite charged bodies, outside a vacuum. To remedy this, studies of Earth orbit plasmas and Coulomb force theory is used to derive and propose a model of the Coulomb force between finite spheres in close proximity, in a plasma. This plasma force model is then used as a basis for a candidate terrestrial force model. The plasma-like parameters of this terrestrial model are estimated using charged motion data from fixed-potential, single-direction experiments on the testbed. The testbed is advanced to the level of autonomous feedback position control using solely Coulomb force actuation. This allows relative motion repositioning on a flat and level track as well as an inclined track that mimics the dynamics of two charged spacecraft that are aligned with the principal orbit axis. This controlled motion is accurately predicted with simulations using the terrestrial force model. This demonstrates similarities between the partial charge shielding of space-based plasmas to the electrostatic screening in the laboratory atmosphere.

Torsional Properties of TiNi Shape Memory Alloy Tape for Rotary Actuator

NASA Astrophysics Data System (ADS)

Takeda, K.; Tobushi, H.; Mitsui, K.; Nishimura, Y.; Miyamoto, K.

2012-12-01

In order to develop novel shape memory actuators, the torsional deformation of a shape memory alloy (SMA) tape and the actuator models driven by the tape were investigated. The results obtained can be summarized as follows. In the SMA tape subjected to torsion, the martensitic transformation appears along both edges of the tape due to elongation of these elements and grows to the central part. The fatigue life in both the pulsating torsion and alternating torsion is expressed by the unified relationship of the dissipated work in each cycle. Based on an opening and closing door model and a solar-powered active blind model, the two-way rotary driving actuator with a small and simple mechanism can be developed by using torsion of the SMA tape.

Transition Control with Dielectric Barrier Discharge Plasmas

DTIC Science & Technology

2010-10-01

AFRL-AFOSR-UK-TR-2011-0007 Transition Control with Dielectric Barrier Discharge Plasmas Cameron Tropea Technische...Discharge Plasmas 5a. CONTRACT NUMBER FA8655-08-1-3032 5b. GRANT NUMBER Grant 08-3032 5c. PROGRAM ELEMENT NUMBER 61102F 6. AUTHOR(S...is to control natural boundary-layer transition through the use of plasma actuators. Transition delay or even suppression has its merits not only in

Experimental investigation on a vectorized aerodynamic dielectric barrier discharge plasma actuator array

NASA Astrophysics Data System (ADS)

Neretti, Gabriele; Cristofolini, Andrea; Borghi, Carlo A.

2014-04-01

The Electro-Hydro-Dynamics (EHD) interaction, induced in atmospheric pressure still air by a surface dielectric barrier discharge (DBD) actuator, had been experimentally studied. A plasma aerodynamic actuator array, able to produce a vectorized jet, with the induced airflow oriented toward the desired direction, had been developed. The array was constituted by a sequence of single surface DBD actuators with kapton as dielectric material. An ac voltage in the range of 0-6 kV peak at 15 kHz had been used. The vectorization had been obtained by feeding the upper electrodes with different voltages and by varying the electrical connections. The lower electrodes had been connected either to ground or to the high voltage source, to produce the desired jet orientation and to avoid plasma formation acting in an undesired direction. Voltage and current measurements had been carried out to evaluate waveforms and to estimate the active power delivered to the discharge. Schlieren imaging allowed to visualize the induced jet and to estimate its orientation. Pitot measurements had been performed to obtain velocity profiles for all jet configurations. A proportional relation between the jet deflection angle and the applied voltage had been found. Moreover, a linear relation had been obtained between the maximum speed in the jet direction and the applied voltage. The active power of the discharge is approximated by both a power law function and an exponential function of the applied voltage.

A new concept for actuating space mechanisms. [for the Mariner Jupiter-Saturn spacecraft magnetometer

NASA Technical Reports Server (NTRS)

Stange, W. C.

1975-01-01

A two position (0 and 180 deg) actuating mechanism driven by two alternately heated opposing flat NITINOL springs is proposed for rotating the low field triaxial fluxgate magnetometer experiment on the 1977 Mariner Jupiter-Saturn spacecraft to its 0 deg and 180 deg positions. The magnetic field, power requirements, weight, and volume of this device are very restrictive. The problems encountered in design and development are presented.

Electromechanical actuator for the tongs of a servomanipulator

DOEpatents

Martin, H. Lee; Killough, Stephen M.

1986-01-01

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

Active vibrations and noise control for turboprop application research program activities

NASA Technical Reports Server (NTRS)

Paonessa, A.; Concilio, A.; Lecce, Leonardo V.

1992-01-01

The objectives of this work include the following: (1) development of active noise control techniques to alleviate inefficiencies and drawbacks of passive noise control approach especially at low frequencies; (2) reduction of structurally radiated noise applying external forces to the vibrating structure by means of force actuators made of piezoelectric material; and (3) reduction of fuselage vibration levels in propeller driven aircraft by means of distributed piezoelectric actuators that are actively controlled.

Active vibrations and noise control for turboprop application research program activities

NASA Astrophysics Data System (ADS)

Paonessa, A.; Concilio, A.; Lecce, Leonardo V.

1992-07-01

The objectives of this work include the following: (1) development of active noise control techniques to alleviate inefficiencies and drawbacks of passive noise control approach especially at low frequencies; (2) reduction of structurally radiated noise applying external forces to the vibrating structure by means of force actuators made of piezoelectric material; and (3) reduction of fuselage vibration levels in propeller driven aircraft by means of distributed piezoelectric actuators that are actively controlled.

Protein-based microhydraulic transport for controllable actuation

NASA Astrophysics Data System (ADS)

Sundaresan, Vishnu Baba; Leo, Donald J.

2006-03-01

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

First-Principles-Driven Model-Based Optimal Control of the Current Profile in NSTX-U

NASA Astrophysics Data System (ADS)

Ilhan, Zeki; Barton, Justin; Wehner, William; Schuster, Eugenio; Gates, David; Gerhardt, Stefan; Kolemen, Egemen; Menard, Jonathan

2014-10-01

Regulation in time of the toroidal current profile is one of the main challenges toward the realization of the next-step operational goals for NSTX-U. A nonlinear, control-oriented, physics-based model describing the temporal evolution of the current profile is obtained by combining the magnetic diffusion equation with empirical correlations obtained at NSTX-U for the electron density, electron temperature, and non-inductive current drives. In this work, the proposed model is embedded into the control design process to synthesize a time-variant, linear-quadratic-integral, optimal controller capable of regulating the safety factor profile around a desired target profile while rejecting disturbances. Neutral beam injectors and the total plasma current are used as actuators to shape the current profile. The effectiveness of the proposed controller in regulating the safety factor profile in NSTX-U is demonstrated via closed-loop predictive simulations carried out in PTRANSP. Supported by PPPL.

A survey on dielectric elastomer actuators for soft robots.

PubMed

Gu, Guo-Ying; Zhu, Jian; Zhu, Li-Min; Zhu, Xiangyang

2017-01-23

Conventional industrial robots with the rigid actuation technology have made great progress for humans in the fields of automation assembly and manufacturing. With an increasing number of robots needing to interact with humans and unstructured environments, there is a need for soft robots capable of sustaining large deformation while inducing little pressure or damage when maneuvering through confined spaces. The emergence of soft robotics offers the prospect of applying soft actuators as artificial muscles in robots, replacing traditional rigid actuators. Dielectric elastomer actuators (DEAs) are recognized as one of the most promising soft actuation technologies due to the facts that: i) dielectric elastomers are kind of soft, motion-generating materials that resemble natural muscle of humans in terms of force, strain (displacement per unit length or area) and actuation pressure/density; ii) dielectric elastomers can produce large voltage-induced deformation. In this survey, we first introduce the so-called DEAs emphasizing the key points of working principle, key components and electromechanical modeling approaches. Then, different DEA-driven soft robots, including wearable/humanoid robots, walking/serpentine robots, flying robots and swimming robots, are reviewed. Lastly, we summarize the challenges and opportunities for the further studies in terms of mechanism design, dynamics modeling and autonomous control.

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.

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.

Design and experimental evaluation of a lightweight, high-torque and compliant actuator for an active ankle foot orthosis.

PubMed

Moltedo, Marta; Bacek, Tomislav; Langlois, Kevin; Junius, Karen; Vanderborght, Bram; Lefeber, Dirk

2017-07-01

The human ankle joint plays a crucial role during walking. At the push-off phase the ankle plantarflexors generate the highest torque among the lower limb joints during this activity. The potential of the ankle plantarflexors is affected by numerous pathologies and injuries, which cause a decrease in the ability of the subject to achieve a natural gait pattern. Active orthoses have shown to have potential in assisting these subjects. The design of such robots is very challenging due to the contrasting design requirements of wearability (light weight and compact) and high torques capacity. This paper presents the development of a high-torque ankle actuator to assist the ankle joint in both dorsiflexion and plantarflexion. The compliant actuator is a spindle-driven MACCEPA (Mechanically Adjustable Compliance and Controllable Equilibrium Position Actuator). The design of the actuator was made to keep its weight as low as possible, while being able to provide high torques. As a result of this novel design, the actuator weighs 1.18kg. Some static characterization tests were perfomed on the actuator and their results are shown in the paper.

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.

Various design approaches to achieve electric field-driven segmented folding actuation of electroactive polymer (EAP) sheets

NASA Astrophysics Data System (ADS)

Ahmed, Saad; Hong, Jonathan; Zhang, Wei; Kopatz, Jessica; Ounaies, Zoubeida; Frecker, Mary

2018-03-01

Electroactive polymer (EAPs) based technologies have shown promise in areas such as artificial muscles, aerospace, medical and soft robotics. In this work, we demonstrate ways to harness on-demand segmented folding actuation from pure bending of relaxor-ferroelectric P(VDF-TrFE-CTFE) based films, using various design approaches, such as `stiffener' and `notch' based approaches. The in-plane actuation of the P(VDF-TrFE-CTFE) is converted into bending actuation using unimorph configurations, where one passive substrate layer is attached to the active polymer. First, we experimentally show that placement of thin metal strips as stiffener in between active EAPs and passive substrates leads to segmented actuation as opposed to pure bending actuation; stiffeners made of different materials, such as nickel, copper and aluminum, are studied which reveals that a higher Young's modulus favors more pronounced segmented actuation. Second, notched samples are prepared by mounting passive substrate patches of various materials on top of the passive layers of the unimorph EAP actuators. Effect of notch materials, size of the notches and position of the notches on the folding actuation are studied. The motion of the human finger inspires a finger-like biomimetic actuator, which is realized by assigning multiple notches on the structure; finite element analysis (FEA) is also performed using COMSOL Multiphysics software for the notched finger actuator. Finally, a versatile soft-gripper is developed using the notched approach to demonstrate the capability of a properly designed EAP actuator to hold objects of various sizes and shapes.

Protein Self-Assemblies That Can Generate, Hold, and Discharge Electric Potential in Response to Changes in Relative Humidity.

PubMed

Carter, Nathan A; Grove, Tijana Z

2018-05-30

Generation of electric potential upon external stimulus has attracted much attention for the development of highly functional sensors and devices. Herein, we report large-displacement, fast actuation in the self-assembled engineered repeat protein Consensus Tetratricopeptide Repeat protein (CTPR18) materials. The ionic nature of the CTPR18 protein coupled to the long-range alignment upon self-assembly results in the measured conductivity of 7.1 × 10 -2 S cm -1 , one of the highest reported for protein materials. The change of through-thickness morphological gradient in the self-assembled materials provides the means to select between faster, highly water-sensitive actuation or vastly increased mechanical strength. Tuning of the mode of motion, e.g., bending, twisting, and folding, is achieved by changing the morphological director. We further show that the highly ionic character of CTPR18 gives rise to piezo-like behavior in these materials, exemplified by low-voltage, ionically driven actuation and mechanically driven generation/discharge of voltage. This work contributes to our understanding of the emergence of stimuli-responsiveness in biopolymer assemblies.

Transparent actuators and robots based on single-layer superaligned carbon nanotube sheet and polymer composites.

PubMed

Chen, Luzhuo; Weng, Mingcen; Zhang, Wei; Zhou, Zhiwei; Zhou, Yi; Xia, Dan; Li, Jiaxin; Huang, Zhigao; Liu, Changhong; Fan, Shoushan

2016-03-28

Transparent actuators have been attracting emerging interest recently, as they demonstrate potential applications in the fields of invisible robots, tactical displays, variable-focus lenses, and flexible cellular phones. However, previous technologies did not simultaneously realize macroscopic transparent actuators with advantages of large-shape deformation, low-voltage-driven actuation and fast fabrication. Here, we develop a fast approach to fabricate a high-performance transparent actuator based on single-layer superaligned carbon nanotube sheet and polymer composites. Various advantages of single-layer nanotube sheets including high transparency, considerable conductivity, and ultra-thin dimensions together with selected polymer materials completely realize all the above required advantages. Also, this is the first time that a single-layer nanotube sheet has been used to fabricate actuators with high transparency, avoiding the structural damage to the single-layer nanotube sheet. The transparent actuator shows a transmittance of 72% at the wavelength of 550 nm and bends remarkably with a curvature of 0.41 cm(-1) under a DC voltage for 5 s, demonstrating a significant advance in technological performances compared to previous conventional actuators. To illustrate their great potential usage, a transparent wiper and a humanoid robot "hand" were elaborately designed and fabricated, which initiate a new direction in the development of high-performance invisible robotics and other intelligent applications with transparency.

Tough Hydrogel Robots: High-Speed, High-Force and Opto-sonically Invisible in Water

NASA Astrophysics Data System (ADS)

Zhao, Xuanhe

Sea animals such as leptocephali develop tissues and organs composed of active transparent hydrogels to achieve agile motions and natural camouflage in water. Hydrogel-based actuators that can imitate the capabilities of leptocephali will enable new applications in diverse fields. However, existing hydrogel actuators, mostly osmotic-driven, are intrinsically low-speed and/or low-force; and their camouflage capabilities have not been explored. Here we show that hydraulic actuations of tough hydrogels with designed structures and properties can give soft actuators and robots that are high-speed, high-force, and optically and sonically camouflaged in water. We invent a simple method capable of assembling physically-crosslinked hydrogel parts followed by covalent crosslinking to fabricate large-scale hydraulic hydrogel actuators and robots with robust bodies and interfaces. The hydrogel actuators and robots can maintain their robustness and functionality over multiple cycles of actuations, owning to the anti-fatigue property of the hydrogel under moderate stresses. A multiscale theoretical framework has been developed to guide the design and optimization of the hydrogel robots. We further demonstrate that the agile and transparent hydrogel actuators and robots perform extraordinary functions including swimming, kicking rubber-balls and catching a live fish in water. The work was supported by NSF(No. CMMI- 1253495) and ONR (No. N00014-14-1-0528).

Model-based Optimization and Feedback Control of the Current Density Profile Evolution in NSTX-U

NASA Astrophysics Data System (ADS)

Ilhan, Zeki Okan

Nuclear fusion research is a highly challenging, multidisciplinary field seeking contributions from both plasma physics and multiple engineering areas. As an application of plasma control engineering, this dissertation mainly explores methods to control the current density profile evolution within the National Spherical Torus eXperiment-Upgrade (NSTX-U), which is a substantial upgrade based on the NSTX device, which is located in Princeton Plasma Physics Laboratory (PPPL), Princeton, NJ. Active control of the toroidal current density profile is among those plasma control milestones that the NSTX-U program must achieve to realize its next-step operational goals, which are characterized by high-performance, long-pulse, MHD-stable plasma operation with neutral beam heating. Therefore, the aim of this work is to develop model-based, feedforward and feedback controllers that can enable time regulation of the current density profile in NSTX-U by actuating the total plasma current, electron density, and the powers of the individual neutral beam injectors. Motivated by the coupled, nonlinear, multivariable, distributed-parameter plasma dynamics, the first step towards control design is the development of a physics-based, control-oriented model for the current profile evolution in NSTX-U in response to non-inductive current drives and heating systems. Numerical simulations of the proposed control-oriented model show qualitative agreement with the high-fidelity physics code TRANSP. The next step is to utilize the proposed control-oriented model to design an open-loop actuator trajectory optimizer. Given a desired operating state, the optimizer produces the actuator trajectories that can steer the plasma to such state. The objective of the feedforward control design is to provide a more systematic approach to advanced scenario planning in NSTX-U since the development of such scenarios is conventionally carried out experimentally by modifying the tokamak's actuator trajectories and analyzing the resulting plasma evolution. Finally, the proposed control-oriented model is embedded in feedback control schemes based on optimal control and Model Predictive Control (MPC) approaches. Integrators are added to the standard Linear Quadratic Gaussian (LQG) and MPC formulations to provide robustness against various modeling uncertainties and external disturbances. The effectiveness of the proposed feedback controllers in regulating the current density profile in NSTX-U is demonstrated in closed-loop nonlinear simulations. Moreover, the optimal feedback control algorithm has been implemented successfully in closed-loop control simulations within TRANSP through the recently developed Expert routine. (Abstract shortened by ProQuest.).

Trade-offs between driving nodes and time-to-control in complex networks

PubMed Central

Pequito, Sérgio; Preciado, Victor M.; Barabási, Albert-László; Pappas, George J.

2017-01-01

Recent advances in control theory provide us with efficient tools to determine the minimum number of driving (or driven) nodes to steer a complex network towards a desired state. Furthermore, we often need to do it within a given time window, so it is of practical importance to understand the trade-offs between the minimum number of driving/driven nodes and the minimum time required to reach a desired state. Therefore, we introduce the notion of actuation spectrum to capture such trade-offs, which we used to find that in many complex networks only a small fraction of driving (or driven) nodes is required to steer the network to a desired state within a relatively small time window. Furthermore, our empirical studies reveal that, even though synthetic network models are designed to present structural properties similar to those observed in real networks, their actuation spectra can be dramatically different. Thus, it supports the need to develop new synthetic network models able to replicate controllability properties of real-world networks. PMID:28054597

Trade-offs between driving nodes and time-to-control in complex networks

NASA Astrophysics Data System (ADS)

Pequito, Sérgio; Preciado, Victor M.; Barabási, Albert-László; Pappas, George J.

2017-01-01

Recent advances in control theory provide us with efficient tools to determine the minimum number of driving (or driven) nodes to steer a complex network towards a desired state. Furthermore, we often need to do it within a given time window, so it is of practical importance to understand the trade-offs between the minimum number of driving/driven nodes and the minimum time required to reach a desired state. Therefore, we introduce the notion of actuation spectrum to capture such trade-offs, which we used to find that in many complex networks only a small fraction of driving (or driven) nodes is required to steer the network to a desired state within a relatively small time window. Furthermore, our empirical studies reveal that, even though synthetic network models are designed to present structural properties similar to those observed in real networks, their actuation spectra can be dramatically different. Thus, it supports the need to develop new synthetic network models able to replicate controllability properties of real-world networks.

Processing and characterization of oval piezoelectric actuators

NASA Astrophysics Data System (ADS)

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

2002-03-01

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

Transparent actuators and robots based on single-layer superaligned carbon nanotube sheet and polymer composites

NASA Astrophysics Data System (ADS)

Chen, Luzhuo; Weng, Mingcen; Zhang, Wei; Zhou, Zhiwei; Zhou, Yi; Xia, Dan; Li, Jiaxin; Huang, Zhigao; Liu, Changhong; Fan, Shoushan

2016-03-01

Transparent actuators have been attracting emerging interest recently, as they demonstrate potential applications in the fields of invisible robots, tactical displays, variable-focus lenses, and flexible cellular phones. However, previous technologies did not simultaneously realize macroscopic transparent actuators with advantages of large-shape deformation, low-voltage-driven actuation and fast fabrication. Here, we develop a fast approach to fabricate a high-performance transparent actuator based on single-layer superaligned carbon nanotube sheet and polymer composites. Various advantages of single-layer nanotube sheets including high transparency, considerable conductivity, and ultra-thin dimensions together with selected polymer materials completely realize all the above required advantages. Also, this is the first time that a single-layer nanotube sheet has been used to fabricate actuators with high transparency, avoiding the structural damage to the single-layer nanotube sheet. The transparent actuator shows a transmittance of 72% at the wavelength of 550 nm and bends remarkably with a curvature of 0.41 cm-1 under a DC voltage for 5 s, demonstrating a significant advance in technological performances compared to previous conventional actuators. To illustrate their great potential usage, a transparent wiper and a humanoid robot ``hand'' were elaborately designed and fabricated, which initiate a new direction in the development of high-performance invisible robotics and other intelligent applications with transparency.Transparent actuators have been attracting emerging interest recently, as they demonstrate potential applications in the fields of invisible robots, tactical displays, variable-focus lenses, and flexible cellular phones. However, previous technologies did not simultaneously realize macroscopic transparent actuators with advantages of large-shape deformation, low-voltage-driven actuation and fast fabrication. Here, we develop a fast approach to fabricate a high-performance transparent actuator based on single-layer superaligned carbon nanotube sheet and polymer composites. Various advantages of single-layer nanotube sheets including high transparency, considerable conductivity, and ultra-thin dimensions together with selected polymer materials completely realize all the above required advantages. Also, this is the first time that a single-layer nanotube sheet has been used to fabricate actuators with high transparency, avoiding the structural damage to the single-layer nanotube sheet. The transparent actuator shows a transmittance of 72% at the wavelength of 550 nm and bends remarkably with a curvature of 0.41 cm-1 under a DC voltage for 5 s, demonstrating a significant advance in technological performances compared to previous conventional actuators. To illustrate their great potential usage, a transparent wiper and a humanoid robot ``hand'' were elaborately designed and fabricated, which initiate a new direction in the development of high-performance invisible robotics and other intelligent applications with transparency. Electronic supplementary information (ESI) available: Video records of the actuation process of the transparent wiper and the grabbing-releasing process of the transparent robot ``hand'', transmittance spectra of the PET and BOPP films, the SEM image showing the thickness of the SACNT sheet, calculation of the curvature, calculation of energy efficiency, experimental results of the control experiment, modeling of the SACNT/PET and PET/BOPP composites and experimental results of the repeatability test. See DOI: 10.1039/c5nr07237a

Simple triple-state polymer actuators with controllable folding characteristics

NASA Astrophysics Data System (ADS)

Chen, Shuyang; Li, Jing; Fang, Lichen; Zhu, Zeyu; Kang, Sung Hoon

2017-03-01

Driven by the interests in self-folding, there have been studies developing artificial self-folding structures at different length scales based on various polymer actuators that can realize dual-state actuation. However, their unidirectional nature limits the applicability of the actuators for a wide range of multi-state self-folding behaviors. In addition, complex fabrication and programming procedures hinder broad applications of existing polymer actuators. Moreover, few of the existing polymer actuators are able to show the self-folding behaviors with the precise control of curvature and force. To address these issues, we report an easy-to-fabricate triple-state actuator with controllable folding behaviors based on bilayer polymer composites with different glass transition temperatures. Initially, the fabricated actuator is in the flat state, and it can sequentially self-fold to angled folding states of opposite directions as it is heated up. Based on an analytical model and measured partial recovery behaviors of polymers, we can accurately control the folding characteristics (curvature and force) for the rational design. To demonstrate an application of our triple-state actuator, we have developed a self-folding transformer robot which self-folds from a two-dimensional sheet into a three-dimensional boat-like configuration and transforms from the boat shape to a car shape with the increase in the temperature applied to the actuator. Our findings offer a simple approach to generate multiple configurations from a single system by harnessing behaviors of polymers with the rational design.

In situ electron microscopy of Braille microsystems: photo-actuation of ethylene vinyl acetate/carbon nanotube composites

NASA Astrophysics Data System (ADS)

Czaniková, Klaudia; Krupa, Igor; Račko, Dušan; Šmatko, Vasilij; Campo, Eva M.; Pavlova, Ewa; Omastová, Mária

2015-02-01

The development of new types of tactile displays based on the actuation of composite materials can aid the visually impaired. Micro/nano systems based on ethylene vinyl acetate (EVA) polymeric matrices enriched with multiwalled carbon nanotubes (MWCNT) can produce ensembles capable of light-induced actuation. In this report, we investigate two types of commercial EVA copolymers matrices containing 28 and 50 wt% vinyl-acetate (VA). Non-covalent modification of carbon nanotubes was achieved through a compatibilization technique that appends the pyrenenyl and cholesteryl groups on the carbon nanotubes (CNTs) surface. EVA/MWCNT nanocomposites were prepared by casting from a solution. These composites were shaped into Braille elements using molds. The deformation of the Braille element (BE) under light-emitting diode (LED) illumination was observed for the first time by in situ scanning electron microscopy (SEM). The superior actuation performance promoted by the EVA/MWCNT nanocomposites indicates that these materials will be useful in the future as light-driven micro/nano system actuators.

Differentially-driven MEMS spatial light modulator

DOEpatents

Stappaerts, Eddy A.

2004-09-14

A MEMS SLM and an electrostatic actuator associated with a pixel in an SLM. The actuator has three electrodes: a lower electrode; an upper electrode fixed with respect to the lower electrode; and a center electrode suspended and actuable between the upper and lower electrodes. The center electrode is capable of resiliently-biasing to restore the center electrode to a non-actuated first equilibrium position, and a mirror is operably connected to the center electrode. A first voltage source provides a first bias voltage across the lower and center electrodes and a second voltage source provides a second bias voltage across the upper and center electrodes, with the first and second bias voltages determining the non-actuated first equilibrium position of the center electrode. A third voltage source provides a variable driver voltage across one of the lower/center and upper/center electrode pairs in series with the corresponding first or second bias voltage, to actuate the center electrode to a dynamic second equilibrium position.

Resonant-type Smooth Impact Drive Mechanism (SIDM) actuator using a bolt-clamped Langevin transducer.

PubMed

Nishimura, Takuma; Hosaka, Hiroshi; Morita, Takeshi

2012-01-01

The Smooth Impact Drive Mechanism (SIDM) is a linear piezoelectric actuator that has seen practically applied to camera lens modules. Although previous SIDM actuators are easily miniaturized and enable accurate positioning, these actuators cannot actuate at high speed and cannot provide powerful driving because they are driven at an off-resonant frequency using a soft-type PZT. In the present study, we propose a resonant-type SIDM using a bolt-clamped Langevin transducer (BLT) with a hard-type PZT. The resonant-type SIDM overcomes the above-mentioned problems and high-power operation becomes possible with a very simple structure. As a result, we confirmed the operation of resonant-type SIDM by designing a bolt-clamped Langevin transducer. The properties of no-load maximum speed was 0.28m/s at driving voltages of 80V(p-p) for 44.9kHz and 48V(p-p) for 22.45kHz with a pre-load of 3.1N. Copyright © 2011 Elsevier B.V. All rights reserved.

A light-driven artificial flytrap

PubMed Central

Wani, Owies M.; Zeng, Hao; Priimagi, Arri

2017-01-01

The sophistication, complexity and intelligence of biological systems is a continuous source of inspiration for mankind. Mimicking the natural intelligence to devise tiny systems that are capable of self-regulated, autonomous action to, for example, distinguish different targets, remains among the grand challenges in biomimetic micro-robotics. Herein, we demonstrate an autonomous soft device, a light-driven flytrap, that uses optical feedback to trigger photomechanical actuation. The design is based on light-responsive liquid-crystal elastomer, fabricated onto the tip of an optical fibre, which acts as a power source and serves as a contactless probe that senses the environment. Mimicking natural flytraps, this artificial flytrap is capable of autonomous closure and object recognition. It enables self-regulated actuation within the fibre-sized architecture, thus opening up avenues towards soft, autonomous small-scale devices. PMID:28534872

Remote manual operator for space station intermodule ventilation valve

NASA Technical Reports Server (NTRS)

Guyaux, James R.

1996-01-01

The Remote Manual Operator (RMO) is a mechanism used for manual operation of the Space Station Intermodule Ventilation (IMV) valve and for visual indication of valve position. The IMV is a butterfly-type valve, located in the ventilation or air circulation ducts of the Space Station, and is used to interconnect or isolate the various compartments. The IMV valve is normally operated by an electric motor-driven actuator under computer or astronaut control, but it can also be operated manually with the RMO. The IMV valve RMO consists of a handle with a deployment linkage, a gear-driven flexible shaft, and a linkage to disengage the electric motor actuator during manual operation. It also provides visual indication of valve position. The IMV valve RMO is currently being prepared for qualification testing.

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

PubMed Central

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

2014-01-01

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

A Resonant Pulse Detonation Actuator for High-Speed Boundary Layer Separation Control

NASA Technical Reports Server (NTRS)

Beck, B. T.; Cutler, A. D.; Drummond, J. P.; Jones, S. B.

2004-01-01

A variety of different types of actuators have been previously investigated as flow control devices. Potential applications include the control of boundary layer separation in external flows, as well as jet engine inlet and diffuser flow control. The operating principles for such devices are typically based on either mechanical deflection of control surfaces (which include MEMS flap devices), mass injection (which includes combustion driven jet actuators), or through the use of synthetic jets (diaphragm devices which produce a pulsating jet with no net mass flow). This paper introduces some of the initial flow visualization work related to the development of a relatively new type of combustion-driven jet actuator that has been proposed based on a pulse detonation principle. The device is designed to utilize localized detonation of a premixed fuel (Hydrogen)-air mixture to periodically inject a jet of gas transversely into the primary flow. Initial testing with airflow successfully demonstrated resonant conditions within the range of acoustic frequencies expected for the design. Schlieren visualization of the pulsating air jet structure revealed axially symmetric vortex flow, along with the formation of shocks. Flow visualization of the first successful sustained oscillation condition is also demonstrated for one configuration of the current test section. Future testing will explore in more detail the onset of resonant combustion and the approach to conditions of sustained resonant detonation.

LEM Characterization of Synthetic Jet Actuators Driven by Piezoelectric Element: A Review

PubMed Central

Chiatto, Matteo; Capuano, Francesco; Coppola, Gennaro; de Luca, Luigi

2017-01-01

In the last decades, Synthetic jet actuators have gained much interest among the flow control techniques due to their short response time, high jet velocity and absence of traditional piping, which matches the requirements of reduced size and low weight. A synthetic jet is generated by the diaphragm oscillation (generally driven by a piezoelectric element) in a relatively small cavity, producing periodic cavity pressure variations associated with cavity volume changes. The pressured air exhausts through an orifice, converting diaphragm electrodynamic energy into jet kinetic energy. This review paper considers the development of various Lumped-Element Models (LEMs) as practical tools to design and manufacture the actuators. LEMs can quickly predict device performances such as the frequency response in terms of diaphragm displacement, cavity pressure and jet velocity, as well as the efficiency of energy conversion of input Joule power into useful kinetic power of air jet. The actuator performance is also analyzed by varying typical geometric parameters such as cavity height and orifice diameter and length, through a suited dimensionless form of the governing equations. A comprehensive and detailed physical modeling aimed to evaluate the device efficiency is introduced, shedding light on the different stages involved in the process. Overall, the influence of the coupling degree of the two oscillators, the diaphragm and the Helmholtz frequency, on the device performance is discussed throughout the paper. PMID:28587141

Near-infrared light-controlled tunable grating based on graphene/elastomer composites

NASA Astrophysics Data System (ADS)

Wang, Fei; Jia, Shuhai; Wang, Yonglin; Tang, Zhenhua

2018-02-01

A near-infrared (nIR) light actuated tunable transmission optical grating based on graphene nanoplatelet (GNP)/polydimethylsiloxane (PDMS) and PDMS is proposed. A simple fabrication protocol is studied that allows integration of the grating with the actuation mechanism; both components are made from soft elastomers, and this ensure the tunability and the light-driven operation of the grating. The resulting grating structure demonstrates continuous period tunability of 2.7% under an actuation power density of 220 mW cm-2 within a period of 3 s and also demonstrates a time-independent characteristic. The proposed infrared activated grating can be developed for wireless remote light splitting in bio/chemical sensing and optical telecommunications applications.

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

NASA Technical Reports Server (NTRS)

Allan, Brian G.

2000-01-01

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

Experimental investigation on frequency characteristics of plasma synthetic jets

NASA Astrophysics Data System (ADS)

Zong, Haohua; Kotsonis, Marios

2017-11-01

The performance of a two-electrode plasma synthetic jet actuator (PSJA) is investigated for a wide range of dimensionless actuation frequencies ( f*) using high-speed phase-locked particle imaging velocimetry measurements. The jet-induced velocity fields in the axisymmetric plane are measured during both transient and steady working stages of the PSJA. When f* increases, the jet duration time (Tjet) is reduced, while the peak suction velocity (Us) increases consistently. Three integral parameters including the total expelled gas mass, impulse, and issued mechanical energy also decline considerably with increasing frequency, which is shown to relate to both the reduced cavity density and the decreasing jet duration. Theoretical analysis reveals that the mean cavity density decreases monotonically with the square root of the discharge frequency. The decreasing rate is inversely proportional to a thermal cut-off frequency ( fc, 210 Hz for the current study), which scales with the convective heat transfer coefficient between the actuator cavity walls and the cavity gas, as well as the area of the cavity internal surface. In the time-averaged velocity fields, the jet centreline velocity (U¯ c) exhibits a local maximum in the axial coordinate. The nondimensional maximum centreline velocity reduces with increasing frequency of operation. The jet spreading rate of the plasma synthetic jets (PSJs) decreases from 0.14 to 0.09 with increasing frequency. During the transient working stage of a PSJ, the exit velocity trace elapses 20 successive actuation cycles to stabilize. In contrast to the exit velocity, approximately 130 cycles are needed for the mean cavity density/temperature to reach steady values.

Thrust Measurement of Dielectric Barrier Discharge (DBD) Plasma Actuators

NASA Astrophysics Data System (ADS)

Ashpis, David E.; Laun, Matthew C.

2013-11-01

DBD plasma actuators generate a wall-jet that can be used for active flow control. We used an analytical balance to measure the thrust generated by the actuator, it is a common metric of its performance without external flow. We found that the measured force is afflicted by several problems; it drifts in time, not always repeatable, is unstable, and depends on the manner the voltage is applied. We report results of investigations of these issues. Tests were conducted on an actuator constructed of 1/4 inch thick high-density polyethylene (HDPE) dielectric with 100 mm long offset electrodes, with applied voltages up to 48 kV p-p and frequencies from 32 Hz to 2.5 kHz, and pure Sine and Trapezoidal waveforms. The relative humidity was in the range of 51-55%, corresponding to moisture range of 10,500 to13,000 ppm mass. Force readings were up to 500 mg, (approximately 50 mN/m). We found that the measured force is the net of the positive thrust generated by the wall-jet and an ``anti-thrust'' acting in the opposite direction. We propose a correction procedure that yields the plasma-generated thrust. The correction is based on voltage-dependent anti-thrust measured in the low frequency range of 20-40 Hz. We found that adjacent objects in a test setup affect the measured thrust, and verified it by comparing experiments with and without a metal enclosure, grounded and ungrounded. Uncorrected thrust varied by up to approximately +/-100%, and the corrected thrust variations were up to approximately 30%. Supported by NASA's FAP/Aerospace Sciences Project.

International Workshop on Magneto-Plasma Aerodynamics (8th)

DTIC Science & Technology

2010-05-14

outer conductor of coaxial waveguide. (b) (1 − 3) − different positions of a plasma channel in nonsteady-state plasmatron. The microwave power is...out at MIPT. Nanosecond DBD discharge in a special coaxial geometry of electrodes was used to produce a thin layer of quasi-uniform plasma in the...discharge cell, diagnostics means, high-voltage sources and commutation units. Cell commutation was effected by a plasma gun actuated by a start unit

Fabrication Methods for Adaptive Deformable Mirrors

NASA Technical Reports Server (NTRS)

Toda, Risaku; White, Victor E.; Manohara, Harish; Patterson, Keith D.; Yamamoto, Namiko; Gdoutos, Eleftherios; Steeves, John B.; Daraio, Chiara; Pellegrino, Sergio

2013-01-01

Previously, it was difficult to fabricate deformable mirrors made by piezoelectric actuators. This is because numerous actuators need to be precisely assembled to control the surface shape of the mirror. Two approaches have been developed. Both approaches begin by depositing a stack of piezoelectric films and electrodes over a silicon wafer substrate. In the first approach, the silicon wafer is removed initially by plasmabased reactive ion etching (RIE), and non-plasma dry etching with xenon difluoride (XeF2). In the second approach, the actuator film stack is immersed in a liquid such as deionized water. The adhesion between the actuator film stack and the substrate is relatively weak. Simply by seeping liquid between the film and the substrate, the actuator film stack is gently released from the substrate. The deformable mirror contains multiple piezoelectric membrane layers as well as multiple electrode layers (some are patterned and some are unpatterned). At the piezolectric layer, polyvinylidene fluoride (PVDF), or its co-polymer, poly(vinylidene fluoride trifluoroethylene P(VDF-TrFE) is used. The surface of the mirror is coated with a reflective coating. The actuator film stack is fabricated on silicon, or silicon on insulator (SOI) substrate, by repeatedly spin-coating the PVDF or P(VDFTrFE) solution and patterned metal (electrode) deposition. In the first approach, the actuator film stack is prepared on SOI substrate. Then, the thick silicon (typically 500-micron thick and called handle silicon) of the SOI wafer is etched by a deep reactive ion etching process tool (SF6-based plasma etching). This deep RIE stops at the middle SiO2 layer. The middle SiO2 layer is etched by either HF-based wet etching or dry plasma etch. The thin silicon layer (generally called a device layer) of SOI is removed by XeF2 dry etch. This XeF2 etch is very gentle and extremely selective, so the released mirror membrane is not damaged. It is possible to replace SOI with silicon substrate, but this will require tighter DRIE process control as well as generally longer and less efficient XeF2 etch. In the second approach, the actuator film stack is first constructed on a silicon wafer. It helps to use a polyimide intermediate layer such as Kapton because the adhesion between the polyimide and silicon is generally weak. A mirror mount ring is attached by using adhesive. Then, the assembly is partially submerged in liquid water. The water tends to seep between the actuator film stack and silicon substrate. As a result, the actuator membrane can be gently released from the silicon substrate. The actuator membrane is very flat because it is fixed to the mirror mount prior to the release. Deformable mirrors require extremely good surface optical quality. In the technology described here, the deformable mirror is fabricated on pristine substrates such as prime-grade silicon wafers. The deformable mirror is released by selectively removing the substrate. Therefore, the released deformable mirror surface replicates the optical quality of the underlying pristine substrate.

High-frequency counter-flow plasma synthetic jet actuator and its application in suppression of supersonic flow separation

NASA Astrophysics Data System (ADS)

Wang, Hongyu; Li, Jun; Jin, Di; Tang, Mengxiao; Wu, Yun; Xiao, Lianghua

2018-01-01

We come up with a control strategy for suppression of supersonic flow separation based on high-frequency Counter-flow Plasma Synthetic Jet Actuator (CPSJA). The main purpose of this investigation is to verify if its control authority can be enhanced by the jet/shock interaction. We use a blunt nose to generate a bow shock, a step on a flat plate to introduce a massive separation in a Mach 2 wind tunnel, and the CPSJA to generate Plasma Synthetic Jet (PSJ). In this study, pulsed capacitive discharge is provided for an array of CPSJAs, which makes the actuation (discharge) frequency f1 = 1 kHz, f2 = 2 kHz and f3 = 3 kHz. We use the high-speed schlieren imaging and fast response pressure transducers as well as a numerical simulation to investigate the quiescent PSJ properties, the interaction between the jet and bow shock, and its disturbance effect on the downstream separated region. The schlieren images show that PSJ is characterized by a succession of vortex rings; the jet strength weakens with the increase of frequency. A 4.5 mN jet thrust is found for all the frequencies. The simulation results show that jet/shock interaction produces vorticity in the vortex ring of the jet, enhancing turbulent mixing in PSJ so that a great deal of momentum is produced into the flow. We found the downstream flow is significantly disturbed by the enhanced actuation. Actuation with frequency of f2, f3 which is close to the natural frequency fn of the separation bubble suppresses the separation with the upstream laminar boundary layer being periodically attenuated, which has a better control effect than f1. The control effect is sensitive to the position where PSJ interacts with the shear layer, but the amount of energy deposited in one pulse is not crucial in a separation reduction in the experiment.

Electrostatic actuation and electromechanical switching behavior of one-dimensional nanostructures.

PubMed

Subramanian, Arunkumar; Alt, Andreas R; Dong, Lixin; Kratochvil, Bradley E; Bolognesi, Colombo R; Nelson, Bradley J

2009-10-27

We report on the electromechanical actuation and switching performance of nanoconstructs involving doubly clamped, individual multiwalled carbon nanotubes. Batch-fabricated, three-state switches with low ON-state voltages (6.7 V average) are demonstrated. A nanoassembly architecture that permits individual probing of one device at a time without crosstalk from other nanotubes, which are originally assembled in parallel, is presented. Experimental investigations into device performance metrics such as hysteresis, repeatability and failure modes are presented. Furthermore, current-driven shell etching is demonstrated as a tool to tune the nanomechanical clamping configuration, stiffness, and actuation voltage of fabricated devices. Computational models, which take into account the nonlinearities induced by stress-stiffening of 1-D nanowires at large deformations, are presented. Apart from providing accurate estimates of device performance, these models provide new insights into the extension of stable travel range in electrostatically actuated nanowire-based constructs as compared to their microscale counterparts.

Grasp Assist Device with Shared Tendon Actuator Assembly

NASA Technical Reports Server (NTRS)

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

2015-01-01

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

High-speed broadband elastic actuator in water using induced-charge electro-osmosis with a skew structure.

PubMed

Sugioka, Hideyuki; Nakano, Naoki

2018-01-01

An artificial cilium using ac electro-osmosis (ACEO) is attractive because of its large potentiality for innovative microfluidic applications. However, the ACEO cilium has not been probed experimentally and has a shortcoming that the working frequency range is very narrow. Thus, we here propose an ACEO elastic actuator having a skew structure that broadens a working frequency range and experimentally demonstrate that the elastic actuator in water can be driven with a high-speed (∼10 Hz) and a wide frequency range (∼0.1 to ∼10 kHz). Moreover, we propose a simple self-consistent model that explains the broadband characteristic due to the skew structure with other characteristics. By comparing the theoretical results with the experimental results, we find that they agree fairly well. We believe that our ACEO elastic actuator will play an important role in microfluidics in the future.

High-speed broadband elastic actuator in water using induced-charge electro-osmosis with a skew structure

NASA Astrophysics Data System (ADS)

Sugioka, Hideyuki; Nakano, Naoki

2018-01-01

An artificial cilium using ac electro-osmosis (ACEO) is attractive because of its large potentiality for innovative microfluidic applications. However, the ACEO cilium has not been probed experimentally and has a shortcoming that the working frequency range is very narrow. Thus, we here propose an ACEO elastic actuator having a skew structure that broadens a working frequency range and experimentally demonstrate that the elastic actuator in water can be driven with a high-speed (˜10 Hz) and a wide frequency range (˜0.1 to ˜10 kHz). Moreover, we propose a simple self-consistent model that explains the broadband characteristic due to the skew structure with other characteristics. By comparing the theoretical results with the experimental results, we find that they agree fairly well. We believe that our ACEO elastic actuator will play an important role in microfluidics in the future.

Design of an Active Bumper with a Series Elastic Actuator for Pedestrian Protection of Small Unmanned Vehicles

NASA Astrophysics Data System (ADS)

Terumasa, Narukawa; Tomoki, Tsuge; Hiroshi, Yamamoto; Takahiro, Suzuki

2016-09-01

When autonomous unmanned vehicles are operated on sidewalks, the vehicles must have high safety standards such as avoiding injury when they come in contact with pedestrians. In this study, we established a design for preventing serious injury when such collisions occur. We designed an active bumper with a series elastic actuator, with the goal of avoiding serious injury to a pedestrian in a collision with a small unmanned vehicle. The series elastic actuator comprised an elastic element in series with a table driven by a ball screw and servo motor. The active bumper was used to control the contact force between a vehicle and a pedestrian. The optimal force for minimizing the deflection of the object of the collision was derived, and the actuator controlled to apply this optimal force. Numerical simulations showed that the active bumper was successful in improving the collision safety of small unmanned vehicles.

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.

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

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

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

2015-11-15

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

Turbulence Control Through Selective Surface Heating Using Microwave Radiation

DTIC Science & Technology

2013-05-01

models. This type of plasma actuators needs further development to follow aerodynamic requirements of wind -tunnel experiments. 5. Ring -type plasma...modes of MW-heated elements in the aerodynamic experiment. Design of a resistive vibrator array for the airfoil model to be tested in a wind tunnel...

Corrugated paraffin nanocomposite films as large stroke thermal actuators and self-activating thermal interfaces.

PubMed

Copic, Davor; Hart, A John

2015-04-22

High performance active materials are of rapidly growing interest for applications including soft robotics, microfluidic systems, and morphing composites. In particular, paraffin wax has been used to actuate miniature pumps, solenoid valves, and composite fibers, yet its deployment is typically limited by the need for external volume constraint. We demonstrate that compact, high-performance paraffin actuators can be made by confining paraffin within vertically aligned carbon nanotube (CNT) films. This large-stroke vertical actuation is enabled by strong capillary interaction between paraffin and CNTs and by engineering the CNT morphology by mechanical compression before capillary-driven infiltration of the molten paraffin. The maximum actuation strain of the corrugated CNT-paraffin films (∼0.02-0.2) is comparable to natural muscle, yet the maximum stress is limited to ∼10 kPa by collapse of the CNT network. We also show how a CNT-paraffin film can serve as a self-activating thermal interface that closes a gap when it is heated. These new CNT-paraffin film actuators could be produced by large-area CNT growth, infiltration, and lamination methods, and are attractive for use in miniature systems due to their self-contained design.

Multi-parameter actuation of a neutrally stable shell: a flexible gear-less motor.

PubMed

Hamouche, W; Maurini, C; Vidoli, S; Vincenti, A

2017-08-01

We have designed and tested experimentally a morphing structure consisting of a neutrally stable thin cylindrical shell driven by a multi-parameter piezoelectric actuation. The shell is obtained by plastically deforming an initially flat copper disc, so as to induce large isotropic and almost uniform inelastic curvatures. Following the plastic deformation, in a perfectly isotropic system, the shell is theoretically neutrally stable, having a continuous set of stable cylindrical shapes corresponding to the rotation of the axis of maximal curvature. Small imperfections render the actual structure bistable, giving preferred orientations. A three-parameter piezoelectric actuation, exerted through micro-fibre-composite actuators, allows us to add a small perturbation to the plastic inelastic curvature and to control the direction of maximal curvature. This actuation law is designed through a geometrical analogy based on a fully nonlinear inextensible uniform-curvature shell model. We report on the fabrication, identification and experimental testing of a prototype and demonstrate the effectiveness of the piezoelectric actuators in controlling its shape. The resulting motion is an apparent rotation of the shell, controlled by the voltages as in a 'gear-less motor', which is, in reality, a precession of the axis of principal curvature.

Multi-parameter actuation of a neutrally stable shell: a flexible gear-less motor

NASA Astrophysics Data System (ADS)

Hamouche, W.; Maurini, C.; Vidoli, S.; Vincenti, A.

2017-08-01

We have designed and tested experimentally a morphing structure consisting of a neutrally stable thin cylindrical shell driven by a multi-parameter piezoelectric actuation. The shell is obtained by plastically deforming an initially flat copper disc, so as to induce large isotropic and almost uniform inelastic curvatures. Following the plastic deformation, in a perfectly isotropic system, the shell is theoretically neutrally stable, having a continuous set of stable cylindrical shapes corresponding to the rotation of the axis of maximal curvature. Small imperfections render the actual structure bistable, giving preferred orientations. A three-parameter piezoelectric actuation, exerted through micro-fibre-composite actuators, allows us to add a small perturbation to the plastic inelastic curvature and to control the direction of maximal curvature. This actuation law is designed through a geometrical analogy based on a fully nonlinear inextensible uniform-curvature shell model. We report on the fabrication, identification and experimental testing of a prototype and demonstrate the effectiveness of the piezoelectric actuators in controlling its shape. The resulting motion is an apparent rotation of the shell, controlled by the voltages as in a `gear-less motor', which is, in reality, a precession of the axis of principal curvature.

Bidirectional drive and brake mechanism

NASA Technical Reports Server (NTRS)

Swan, Scott A. (Inventor)

1991-01-01

A space transport vehicle is disclosed as including a body which is arranged to be movably mounted on an elongated guide member disposed in outer space and driven therealong. A drive wheel is mounted on a drive shaft and arranged to be positioned in rolling engagement with the elongated guide carrying the vehicle. A brake member is arranged on the drive shaft for movement into and out of engagement with an adjacent surface of the drive wheel. An actuator is mounted on the body to be manually moved back and forth between spaced positions in an arc of movement. A ratchet-and-pawl mechanism is arranged to operate upon movements of the actuator in one direction between first and second positions for coupling the actuator to the drive wheel to incrementally rotate the wheel in one rotational direction and to operate upon movements of the actuator in the opposite direction for uncoupling the actuator from the wheel. The brake member is threadedly coupled to the drive shaft in order that the brake member will be operated only when the actuator is moved on beyond its first and second positions for shifting the brake member along the drive shaft and into frictional engagement with the adjacent surface on the drive wheel.

MHD limits and plasma response in high-beta hybrid operations in ASDEX Upgrade

NASA Astrophysics Data System (ADS)

Igochine, V.; Piovesan, P.; Classen, I. G. J.; Dunne, M.; Gude, A.; Lauber, P.; Liu, Y.; Maraschek, M.; Marrelli, L.; McDermott, R.; Reich, M.; Ryan, D.; Schneller, M.; Strumberger, E.; Suttrop, W.; Tardini, G.; Zohm, H.; The ASDEX Upgrade Team; The EUROfusion MST1 Team

2017-11-01

The improved H-mode scenario (or high β hybrid operations) is one of the main candidates for high-fusion performance tokamak operation that offers a potential steady-state scenario. In this case, the normalized pressure {{β }N} must be maximized and pressure-driven instabilities will limit the plasma performance. These instabilities could have either resistive ((m  =  2, n  =  1) and (3,2) neoclassical tearing modes (NTMs)) or ideal character (n  =  1 ideal kink mode). In ASDEX Upgrade (AUG), the first limit for maximum achievable {{β }N} is set by the NTMs. The application of pre-emptive electron cyclotron current drive at the q  =  2 and q  =  1.5 resonant surfaces reduces this problem, so that higher values of {{β }N} can be reached. AUG experiments have shown that, in spite of the fact that hybrids are mainly limited by NTMs, the proximity to the no-wall limit leads to amplification of the external fields that strongly influence the plasma profiles. For example, rotation braking is observed throughout the plasma and peaks in the core. In this situation, even small external fields are amplified and their effect becomes visible. To quantify these effects, the plasma response to the magnetic fields produced by B-coils is measured as {{β }N} approaches the no-wall limit. These experiments and corresponding modeling allow the identification of the main limiting factors, which depend on the stabilizing influence of the conducting components facing the plasma surface, the existence of external actuators, and the kinetic interaction between the plasma and the marginally stable ideal modes. Analysis of the plasma reaction to external perturbations allowed us to identify optimal correction currents for compensating the intrinsic error field in the device. Such correction, together with the analysis of kinetic effects, will help to increase {{β }N} further in future experiments.

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.

Artificial Nacre from Supramolecular Assembly of Graphene Oxide.

PubMed

Wang, Yang; Li, Ting; Ma, Piming; Zhang, Shengwen; Zhang, Hongji; Du, Mingliang; Xie, Yi; Chen, Mingqing; Dong, Weifu; Ming, Weihua

2018-06-14

Inspired by the "brick-and-mortar" structure and remarkable mechanical performance of nacre, many efforts have been devoted to fabricating nacre-mimicking materials. Herein, a class of graphene oxide (GO) based artificial nacre material with quadruple hydrogen-bonding interactions was fabricated by functionalization of polydopamine-capped graphene oxide (PDG) with 2-ureido-4[1 H]-pyrimidinone (UPy) self-complementary quadruple hydrogen-bonding units followed by supramolecular assembly process. The artificial nacre displays a strict "brick-and-mortar" structure, with PDG nanosheets as the brick and UPy units as the mortar. The resultant nanocomposite shows an excellent balance of strength and toughness. Because of the strong strengthening via quadruple hydrogen bonding, the tensile strength and toughness can reach 325.6 ± 17.8 MPa and 11.1 ± 1.3 MJ m -3 , respectively, thus exceeding natural nacre, and reaching 3.6 and 10 times that of a pure GO artificial nacre. Furthermore, after further H 2 O treatment, the resulting H 2 O-treated PDG-UPy actuator displays significant bending actuations when driven by heat. This work provides a pathway for the development of artificial nacre for their potential applications in energy conversion, temperature sensor, and thermo-driven actuator.

Design and analysis of a 3D Elliptical Micro-Displacement Motion Stage

NASA Astrophysics Data System (ADS)

Lin, Jieqiong; Zhao, Dongpo; Lu, Mingming; Zhou, Jiakang

2017-12-01

Micro-displacement motion stage driven by piezoelectric actuator has a significant demand in the field of ultra-precision machining in recent years, while the design of micro-displacement motion stage plays an important role to realize a large displacement output and high precision control. Thus, a 3D elliptical micro-displacement motion stage driven by three PZT actuators has been developed. Firstly, the 3D elliptical trajectory of this motion stage could be adjusted through the form of the PZT actuators input signal. Then, the desired trajectory was obtained by adjusting the micro displacement of the motion stage in 3D elliptical space. Finally, the trajectory simulation and the finite element simulation were applied in this motion stage. The experimental results shown that, the output displacement of the three directions under the input force of the 1600N were 14μm, 16μm and 74μm, respectively. And the first three modes were 1471.6Hz, 2698.4Hz and 2803.4Hz, respectively. Analysis and experiments were carried out to verify the performance, result proved that a large output displacement and high precision control could be obtained.

Searching for a new ionomer for 3D printable ionic polymer-metal composites: Aquivion as a candidate

NASA Astrophysics Data System (ADS)

Trabia, Sarah; Olsen, Zakai; Kim, Kwang J.

2017-11-01

The work presented in this paper introduces Aquivion as a potential candidate for additive manufacturing of ionomeric polymers for the application of IPMCs. First, Aquivion was characterized and compared with Nafion to show that it has the similar qualities, with the major difference being the ionic conductivity. Ionic polymer-metal composites (IPMCs) were fabricated using off-the-shelf membranes of Nafion and Aquivion. The actuation tests showed improved performance for an IPMC with Aquivion as the base compared to an IPMC with a Nafion base. With these results in mind, additive manufacturing of unique shapes using Aquivion filament was studied. A 3D printer was modified to work with Aquivion filament and the polymer was printed into various shapes. Using the printed membranes, IPMCs were fabricated using an electroless plating process. Nafion-based and printed Aquivion-based IPMCs were tested for their performance in back relaxation, frequency driven actuation, blocking force, and mechano-electric sensing. The printed Aquivion-based IPMCs performed comparably to Nafion-based IPMC in back relaxation and showed significantly improved performance in frequency driven actuation, blocking force generation, and mechano-electric sensing.

Development and Application of Plasma Actuators for Active Control of High-Speed and High Reynolds Number Flows

NASA Technical Reports Server (NTRS)

Sammy, Mo

2010-01-01

Active flow control is often used to manipulate flow instabilities to achieve a desired goal (e.g. prevent separation, enhance mixing, reduce noise, etc.). Instability frequencies normally scale with flow velocity scale and inversely with flow length scale (U/l). In a laboratory setting for such flow experiments, U is high, but l is low, resulting in high instability frequency. In addition, high momentum and high background noise & turbulence in the flow necessitate high amplitude actuation. Developing a high amplitude and high frequency actuator is a major challenge. Ironically, these requirements ease up in application (but other issues arise).

Nanomechanical resonators based on group IV element monolayers

NASA Astrophysics Data System (ADS)

He, Ji-Dong; Sun, Jia-Sheng; Jiang, Jin-Wu

2018-04-01

We perform molecular dynamics simulations to investigate the energy dissipation of the resonant oscillation for the group IV monolayers of puckered configuration, in which the oscillation is driven with different actuation velocities. We find that, in the moderate actuation velocity regime, the nonlinear coupling between the resonant oscillation mode and other high-frequency modes will lead to the non-resonant motion of the system. For the larger actuation velocity, the effective strain generated during the resonant oscillating causes a structural transition from the puckered configuration into the planar configuration, which is a characteristic energy dissipation mechanism for the resonant oscillation of these group IV puckered monolayers. Our findings shed light on mechanical applications of the group IV monolayers in the nanomechanical resonator field.

Concept for a 3D-printed soft rotary actuator driven by a shape-memory alloy

NASA Astrophysics Data System (ADS)

Yuan, Han; Chapelle, Frédéric; Fauroux, Jean-Christophe; Balandraud, Xavier

2018-05-01

In line with the recent development of soft actuators involving shape-memory alloys (SMAs) embedded in compliant structures, this paper proposes a concept for a rotary actuator driven by a SMA wire placed inside a 3D-printed helical structure. The concept consists of using the one-way memory effect of the SMA (activated by Joule heating) to create the rotation of a material point of the structure, while the inverse rotation is obtained during the return to ambient temperature thanks to the structure’s elasticity. The study was performed in three steps. First, a prototype was designed from a chain of design rules, and tested to validate the feasibility of the concept. Thermal and geometrical measurements were performed using infrared and visible-range stereo cameras. A clockwise rotation (250°) followed by an anti-clockwise rotation (‑200°) were obtained, enabling us to validate the concept despite the partial reversibility of the movement. Second, finite element simulations were performed to improve rotation reversibility. The high compliance of the mechanical system required a framework of large displacements for the calculations (in the strength of materials sense), due to the high structural flexibility. Finally, a second prototype was constructed and tested. Attention was paid to the rotation (fully reversible rotation of 150° reached) as well as to parasitic movements due to overall structural deformation. This study opens new prospects for the design and analysis of 3D-printed soft actuators activated by smart materials.

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.

Propulsion by passive filaments and active flagella near boundaries.

PubMed

Evans, Arthur A; Lauga, Eric

2010-10-01

Confinement and wall effects are known to affect the kinematics and propulsive characteristics of swimming microorganisms. When a solid body is dragged through a viscous fluid at constant velocity, the presence of a wall increases fluid drag, and thus the net force required to maintain speed has to increase. In contrast, recent optical trapping experiments have revealed that the propulsive force generated by human spermatozoa is decreased by the presence of boundaries. Here, we use a series of simple models to analytically elucidate the propulsive effects of a solid boundary on passively actuated filaments and model flagella. For passive flexible filaments actuated periodically at one end, the presence of the wall is shown to increase the propulsive forces generated by the filaments in the case of displacement-driven actuation, while it decreases the force in the case of force-driven actuation. In the case of active filaments as models for eukaryotic flagella, we demonstrate that the manner in which a solid wall affects propulsion cannot be known a priori, but is instead a nontrivial function of the flagellum frequency, wavelength, its material characteristics, the manner in which the molecular motors self-organize to produce oscillations (prescribed activity model or self-organized axonemal beating model), and the boundary conditions applied experimentally to the tethered flagellum. In particular, we show that in some cases, the increase in fluid friction induced by the wall can lead to a change in the waveform expressed by the flagella, which results in a decrease in their propulsive force.

Experiments with a pressure-driven Stirling refrigerator with flexible chambers

NASA Astrophysics Data System (ADS)

McFarlane, Patrick; Suire, Jonathan; Sen, Mihir; Semperlotti, Fabio

2014-06-01

We report on the design and experimental testing of a Stirling refrigerator that uses air as the working fluid, and where the conventional piston-cylinder assemblies are replaced by pressure-driven flexible chambers. The two chambers are periodically compressed by pneumatic actuators resulting in airflow through the regenerator and in a net temperature difference between the chambers. An experimental setup is used to investigate the performance of the refrigerator under different operating conditions with particular attention to actuation frequencies, driving pressure differences, and phase angles between the two inputs. The time constant of the temperature difference between the two chambers is determined, and the temperature difference is measured as a function of the system parameters. The results of several tests conducted under different operating conditions show that the refrigerating effect is very robust and allows good performance even for modulated inputs. The frequency response is radically different from that of a traditional motion-driven device. This work suggests that mechanical to thermal energy conversion devices based on this principle can be successfully powered by human motion.

Theoretical and experimental studies of a magnetically actuated valveless micropump

NASA Astrophysics Data System (ADS)

Ashouri, Majid; Behshad Shafii, Mohammad; Moosavi, Ali

2017-01-01

This paper presents the prototype design, fabrication, and characterization of a magnetically actuated micropump. The pump body consists of three nozzle/diffuser elements and two pumping chambers connected to the ends of a flat-wall pumping cylinder. A cylindrical permanent magnet placed inside the pumping cylinder acts as a piston which reciprocates by using an external magnetic actuator driven by a motor. The magnetic piston is covered by a ferrofluid to provide self-sealing capability. A prototype composed of three bonded layers of polymethyl-methacrylate (PMMA) has been fabricated. Water has been successfully pumped at pressures of up to 750 Pa and flow rates of up to 700 µl min-1 while working at the piston actuation frequency of 4 and 5 Hz, respectively. 3D numerical simulations are also carried out to study the performance of the pump. The best experimental and numerical volumetric efficiency of the pump are about 7 and 8%, respectively, at the piston speed of 0.03 m s-1. The contactless external actuation feature of the design enables integration of the pump with other PMMA-based microfluidic systems with low cost and disposability.

Spacecraft Hybrid (Mixed-Actuator) Attitude Control Experiences on NASA Science Missions

NASA Technical Reports Server (NTRS)

Dennehy, Cornelius J.

2014-01-01

There is a heightened interest within NASA for the design, development, and flight implementation of mixed-actuator hybrid attitude control systems for science spacecraft that have less than three functional reaction wheel actuators. This interest is driven by a number of recent reaction wheel failures on aging, but what could be still scientifically productive, NASA spacecraft if a successful hybrid attitude control mode can be implemented. Over the years, hybrid (mixed-actuator) control has been employed for contingency attitude control purposes on several NASA science mission spacecraft. This paper provides a historical perspective of NASA's previous engineering work on spacecraft mixed-actuator hybrid control approaches. An update of the current situation will also be provided emphasizing why NASA is now so interested in hybrid control. The results of the NASA Spacecraft Hybrid Attitude Control Workshop, held in April of 2013, will be highlighted. In particular, the lessons learned captured from that workshop will be shared in this paper. An update on the most recent experiences with hybrid control on the Kepler spacecraft will also be provided. This paper will close with some future considerations for hybrid spacecraft control.

An Explorative Study to Use DBD Plasma Generation for Aircraft Icing Mitigation

NASA Astrophysics Data System (ADS)

Hu, Hui; Zhou, Wenwu; Liu, Yang; Kolbakir, Cem

2017-11-01

An explorative investigation was performed to demonstrate the feasibility of utilizing thermal effect induced by Dielectric-Barrier-Discharge (DBD) plasma generation for aircraft icing mitigation. The experimental study was performed in an Icing Research Tunnel available at Iowa State University (i.e., ISU-IRT). A NACA0012 airfoil/wing model embedded with DBD plasma actuators was installed in ISU-IRT under typical glaze icing conditions pertinent to aircraft inflight icing phenomena. While a high-speed imaging system was used to record the dynamic ice accretion process over the airfoil surface for the test cases with and without switching on the DBD plasma actuators, an infrared (IR) thermal imaging system was utilized to map the corresponding temperature distributions to quantify the unsteady heat transfer and phase changing process over the airfoil surface. The thermal effect induced by DBD plasma generation was demonstrated to be able to keep the airfoil surface staying free of ice during the entire ice accretion experiment. The measured quantitative surface temperature distributions were correlated with the acquired images of the dynamic ice accretion and water runback processes to elucidate the underlying physics. National Science Foundation CBET-1064196 and CBET-1435590.

Large Stroke High Fidelity PZN-PT Single-Crystal "Stake" Actuator.

PubMed

Huang, Yu; Xia, Yuexue; Lin, Dian Hua; Yao, Kui; Lim, Leong Chew

2017-10-01

A new piezoelectric actuator design, called "Stake" actuator, is proposed and demonstrated in this paper. As an example, the stake actuator is made of four d 32 -mode PZN-5.5%PT single crystals (SCs), each of 25 mm ( L ) ×8 mm ( W ) ×0.4 mm (T) in dimensions, bonded with the aid of polycarbonate edge guide-cum-stiffeners into a square-pipe configuration for improved bending and twisting strengths and capped with top and bottom pedestals made of 1.5-mm-thick anodized aluminum. The resultant stake actuator measured 9 mm ×9 mm ×28 mm. The hollow structure is a key design feature, which optimizes SC usage efficiency and lowers the overall cost of the actuator. The displacement-voltage responses, blocking forces, resonance characteristics of the fabricated stake actuator, as well as the load and temperature effects, are measured and discussed. Since d 32 is negative for [011]-poled SC, the "Stake" actuator contracts in the axial direction when a positive-polarity field is applied to the crystals. Biased drive is thus recommended when extensional displacement is desired. The SC stake actuator has negligible (<1%) hysteresis and a large linear strain range of >0.13% when driven up to +300 V (i.e., 0.75 kV/mm), which is close to the rhombohedral-to-orthorhombic transformation field ( E RO ) of 0.85 kV/mm of the SC used. The stake actuator displays a stroke of [Formula: see text] (at +300 V) despite its small overall dimensions, and has a blocking force of 114 N. The SC d 32 stake actuator fabricated displays more than 30% larger axial strain than the state-of-the-art PZT stack actuators of comparable length as well as moderate blocking forces. Said actuators are thus ideal for applications when large displacements with simple open-loop control are preferred.

Turbulent Flow Modification With Thermoacoustic Waves for Separation Control

DTIC Science & Technology

2017-08-24

analyses using two different approaches in order to provide guidance to physics-based design of active flow control using thermal-based actuators. RPPR... control effects are also observed by Post & Corke (2004) on the same airfoil. The uses of plasma actuators on other shear layer setups have been...region may be a more practical approach than introducing control inputs externally. On the other hand, Barone & Lele (2005) studied the receptivity of the

Responsive Plasma Polymerized Ultrathin Nanocomposite Films

DTIC Science & Technology

2012-01-01

29 74 32 75 Ab so rb an ce (a .u .) Wavenumber, cm-1 pNIPAAM A B C D E Fig . 2. FTIR spectra of A) NIPAAM monomer B) Spun- cast P-NIPAAM film and...self- actuating response to specific stimuli are desirable in a wide range of applications including thermalandchemical sensing, tunableoptics...targeteddrug delivery, switchable surfaces and micro actuators [1e6]. Designing materials which are capable of generating a response from the stim- ulus

Note: Model-based identification method of a cable-driven wearable device for arm rehabilitation

NASA Astrophysics Data System (ADS)

Cui, Xiang; Chen, Weihai; Zhang, Jianbin; Wang, Jianhua

2015-09-01

Cable-driven exoskeletons have used active cables to actuate the system and are worn on subjects to provide motion assistance. However, this kind of wearable devices usually contains uncertain kinematic parameters. In this paper, a model-based identification method has been proposed for a cable-driven arm exoskeleton to estimate its uncertainties. The identification method is based on the linearized error model derived from the kinematics of the exoskeleton. Experiment has been conducted to demonstrate the feasibility of the proposed model-based method in practical application.

Exploring Titan with Autonomous, Buoyancy Driven Gliders

NASA Astrophysics Data System (ADS)

Morrow, M. T.; Woolsey, C. A.; Hagerman, G. M.

Buoyancy driven underwater gliders are highly efficient winged underwater vehicles which locomote by modifying their internal shape. The concept, which is already well-proven in Earth's oceans, is also an appealing technology for remote terrain exploration and environmental sampling on worlds with dense atmospheres. Because of their high efficiency and their gentle, vertical take-off and landing capability, buoyancy driven gliders might perform long duration, global mapping tasks as well as light-duty, local sampling tasks. Moreover, a sufficiently strong gradient in the planetary boundary layer may enable the vehicles to perform dynamic soaring, achieving even greater locomotive efficiency. Shape Change Actuated, Low Altitude Robotic Soarers (SCALARS) are an appealing alternative to more conventional vehicle technology for exploring planets with dense atmospheres. SCALARS are buoyancy driven atmospheric gliders with a twin-hulled, inboard wing configuration. The inboard wing generates lift, which propels the vehicle forward. Symmetric changes in mass distribution induce gravitational pitch moments that provide longitudinal control. Asymmetric changes in mass distribution induce twist in the inboard wing that provides directional control. The vehicle is actuated solely by internal shape change; there are no external seals and no exposed moving parts, save for the inflatable buoyancy ballonets. Preliminary sizing analysis and dynamic modeling indicate the viability of using SCALARS to map the surface of Titan and to investigate features of interest.

Compliant flow designs for optimum lift control of wind turbine rotors

NASA Astrophysics Data System (ADS)

Williams, Theodore J. H.

An optimization approach was formulated to determine geometric designs that are most compliant to flow control devices. Single dielectric barrier discharge (SDBD) plasma actuators are used in the flow control design optimization as they are able to be incorporated into CFD simulations. An adjoint formulation was derived in order to have a numerically efficient way of calculating the shape derivatives on the surface of the geometric design. The design of a wind turbine blade retrofit for the JIMP 25kW wind turbine at Notre Dame is used to motivate analyses that utilize the optimization approach. The CFD simulations of the existing wind turbine blade were validated against wind tunnel testing. A one-parameter optimization was performed in order to design a trailing edge addition for the current wind turbine blade. The trailing edge addition was designed to meet a desired lift target while maximizing the lift-to-drag ratio. This analysis was performed at seven radial locations on the wind turbine blade. The new trailing edge retrofits were able to achieve the lift target for the outboard radial locations. The designed geometry has been fabricated and is currently being validated on a full-scale turbine and it is predicted to have an increase in annual energy production of 4.30%. The design of a trailing edge retrofit that includes the use of a SDBD plasma actuator was performed using a two-parameter optimization. The objective of this analysis was to meet the lift target and maximize the controllability of the design. The controllability is defined as the difference in lift between plasma on and plasma off cases. A trailing edge retrofit with the plasma actuator located on the pressure side was able to achieve the target passive lift increase while using plasma flow control to reduce the lift to below the original design. This design resulted in a highly compliant flow.

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

NASA Astrophysics Data System (ADS)

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

2017-09-01

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

A hybrid electromechanical solid state switch for ac power control

NASA Technical Reports Server (NTRS)

1972-01-01

Bidirectional thyristor coupled to a series of actuator driven electromechanical contacts generates hybrid electromechanical solid state switch for ac power control. Device is useful in power control applications where zero crossover switching is required.

Pyrotechnic modeling for the NSI and pin puller

NASA Technical Reports Server (NTRS)

Powers, Joseph M.; Gonthier, Keith A.

1993-01-01

A discussion concerning the modeling of pyrotechnically driven actuators is presented in viewgraph format. The following topics are discussed: literature search, constitutive data for full-scale model, simple deterministic model, observed phenomena, and results from simple model.

Single mask, simple structure micro rotational motor driven by electrostatic comb-drive actuators

NASA Astrophysics Data System (ADS)

Pham, Phuc Hong; Viet Dao, Dzung; Dang, Lam Bao; Sugiyama, Susumu

2012-01-01

We report a design and fabrication of a new micro rotational motor (MRM) using silicon micromachining technology with the overall diameter of 2.4 mm. This motor utilizes four silicon electrostatic comb-drive actuators to drive the outer ring (or rotor) through ratchet teeth. The novel design of the anti-reverse structure helps us to overcome the gap problem after deep reactive ion etching of silicon. The MRM was fabricated by using silicon on insulator wafer with the thickness of the device layer being 30 µm and one mask only. The motor was successfully tested for performance. It was driven by periodic voltage with different frequencies ranging from 1 to 50 Hz. The angular velocity of the outer ratchet ring was proportional to the frequency. Moreover, when the driving frequency is lower than 30 Hz, the experiment results perfectly match the theoretical calculation.

Photogated humidity-driven motility

PubMed Central

Zhang, Lidong; Liang, Haoran; Jacob, Jolly; Naumov, Panče

2015-01-01

Hygroinduced motion is a fundamental process of energy conversion that is essential for applications that require contactless actuation in response to the day–night rhythm of atmospheric humidity. Here we demonstrate that mechanical bistability caused by rapid and anisotropic adsorption and desorption of water vapour by a flexible dynamic element that harnesses the chemical potential across very small humidity gradients for perpetual motion can be effectively modulated with light. A mechanically robust material capable of rapid exchange of water with the surroundings is prepared that undergoes swift locomotion in effect to periodic shape reconfiguration with turnover frequency of <150 min−1. The element can lift objects ∼85 times heavier and can transport cargos ∼20 times heavier than itself. Having an azobenzene-containing conjugate as a photoactive dopant, this entirely humidity-driven self-actuation can be controlled remotely with ultraviolet light, thus setting a platform for next-generation smart biomimetic hybrids. PMID:26067649

Photogated humidity-driven motility.

PubMed

Zhang, Lidong; Liang, Haoran; Jacob, Jolly; Naumov, Panče

2015-06-11

Hygroinduced motion is a fundamental process of energy conversion that is essential for applications that require contactless actuation in response to the day-night rhythm of atmospheric humidity. Here we demonstrate that mechanical bistability caused by rapid and anisotropic adsorption and desorption of water vapour by a flexible dynamic element that harnesses the chemical potential across very small humidity gradients for perpetual motion can be effectively modulated with light. A mechanically robust material capable of rapid exchange of water with the surroundings is prepared that undergoes swift locomotion in effect to periodic shape reconfiguration with turnover frequency of <150 min(-1). The element can lift objects ∼85 times heavier and can transport cargos ∼20 times heavier than itself. Having an azobenzene-containing conjugate as a photoactive dopant, this entirely humidity-driven self-actuation can be controlled remotely with ultraviolet light, thus setting a platform for next-generation smart biomimetic hybrids.

Photogated humidity-driven motility

NASA Astrophysics Data System (ADS)

Zhang, Lidong; Liang, Haoran; Jacob, Jolly; Naumov, Panče

2015-06-01

Hygroinduced motion is a fundamental process of energy conversion that is essential for applications that require contactless actuation in response to the day-night rhythm of atmospheric humidity. Here we demonstrate that mechanical bistability caused by rapid and anisotropic adsorption and desorption of water vapour by a flexible dynamic element that harnesses the chemical potential across very small humidity gradients for perpetual motion can be effectively modulated with light. A mechanically robust material capable of rapid exchange of water with the surroundings is prepared that undergoes swift locomotion in effect to periodic shape reconfiguration with turnover frequency of <150 min-1. The element can lift objects ~85 times heavier and can transport cargos ~20 times heavier than itself. Having an azobenzene-containing conjugate as a photoactive dopant, this entirely humidity-driven self-actuation can be controlled remotely with ultraviolet light, thus setting a platform for next-generation smart biomimetic hybrids.

Research regarding stiffness optimization of wires used for joints actuation from an elephant's trunk robotic arm

NASA Astrophysics Data System (ADS)

Ciofu, C.; Stan, G.

2016-11-01

Elephant's trunk robotic arms driven by wires and pulley mechanisms have issues with wires stiffness because of the entailed elastic deformations that is causing errors of positioning. Static and dynamic loads from each joint of the robotic arm affect the stiffness of driving wires and precision positioning. The influence of wires elastic deformation on precision positioning decreases with the increasing of wires stiffness by using different pre-tensioning devices. In this paper, we analyze the variation of driving wires stiffness particularly to each wire driven joint. We obtain optimum wires stiffness variation by using an analytical method that highlights the efficiency of pre-tensioning mechanism. The analysis of driving wires stiffness is necessary for taking appropriate optimization measures of robotic arm dynamic behavior and, thus, for decreasing positioning errors of the elephant's trunk robotic arm with inner actuation through wires/cables.

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

PubMed

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

2008-06-01

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

[Actuator placement for active sound and vibration control

NASA Technical Reports Server (NTRS)

1997-01-01

Two refereed journal publications and ten talks given at conferences, seminars, and colloquia resulted from research supported by NASA. They are itemized in this report. The two publications were entitled "Reactive Tabu and Search Sensor Selection in Active Structural Acoustic Control Problems" and "Quelling Cabin Noise in Turboprop Aircraft via Active Control." The conference presentations covered various aspects of actuator placement, including location problems, for active sound and vibration control of cylinders, of commuter jets, of propeller driven or turboprop aircraft, and for quelling aircraft cabin or interior noise.

Effect of a direct current bias on the electrohydrodynamic performance of a surface dielectric barrier discharge actuator for airflow control

NASA Astrophysics Data System (ADS)

Yan, Huijie; Yang, Liang; Qi, Xiaohua; Ren, Chunsheng

2015-02-01

The effect of a DC bias on the electrohydrodynamics (EHD) force induced by a surface dielectric barrier AC discharge actuator for airflow control at the atmospheric pressure is investigated. The measurement of the surface potential due to charge deposition at different DC biases is carried out by using a special designed corona like discharge potential probe. From the surface potential data, the plasma electromotive force is shown not affected much by the DC biases except for some reduction of the DC bias near the exposed electrode edge for the sheath-like configuration. The total thrust is measured by an analytical balance, and an almost linear relationship to the potential voltage at the exposed electrode edge is found for the direct thrust force. The temporally averaged ionic wind characteristics are investigated by Pitot tube sensor and schlieren visualization system. It is found that the ionic wind velocity profiles with different DC biases are almost the same in the AC discharge plasma area but gradually diversified in the further downstream area as well as the upper space away from the discharge plasma area. Also, the DC bias can significantly modify the topology of the ionic wind produced by the AC discharge actuator. These results can provide an insight into how the DC biases to affect the force generation.

Slope seeking for autonomous lift improvement by plasma surface discharge

NASA Astrophysics Data System (ADS)

Benard, Nicolas; Moreau, Eric; Griffin, John; Cattafesta, Louis N., III

2010-05-01

The present paper describes an experimental investigation of closed-loop separation control using plasma actuators. The post-stall-separated flow over a NACA 0015 airfoil is controlled using a single dielectric barrier discharge actuator located at the leading edge. Open-loop measurements are first performed to highlight the effects of the voltage amplitude on the control authority for freestream velocities of 10-30 m/s (chord Re = 1.3 × 105 to 4 × 105). The results indicate that partial or full reattachment can be achieved and motivate the choice of the slope seeking approach as the control algorithm. A single-input/single-output algorithm is used to autonomously seek the optimal voltage required to achieve the control objective (full flow reattachment associated with maximum lift). The paper briefly introduces the concept of slope seeking, and a detailed parameterization of the controller is considered. Static (fixed speed) closed-loop experiments are then discussed, which demonstrate the capability of the algorithm. In each case, the flow can be reattached in an autonomous fashion. The last part of the paper demonstrates the robustness of the gradient-based, model-free scheme for dynamic freestream conditions. This paper highlights the capability of slope seeking to autonomously achieve high lift when used to drive the voltage of a plasma actuator. It also describes the advantages and drawbacks of such a closed-loop approach.

The Feasibility of Applying AC Driven Low-Temperature Plasma for Multi-Cycle Detonation Initiation

NASA Astrophysics Data System (ADS)

Zheng, Dianfeng

2016-11-01

Ignition is a key system in pulse detonation engines (PDE). As advanced ignition methods, nanosecond pulse discharge low-temperature plasma ignition is used in some combustion systems, and continuous alternating current (AC) driven low-temperature plasma using dielectric barrier discharge (DBD) is used for the combustion assistant. However, continuous AC driven plasmas cannot be used for ignition in pulse detonation engines. In this paper, experimental and numerical studies of pneumatic valve PDE using an AC driven low-temperature plasma igniter were described. The pneumatic valve was jointly designed with the low-temperature plasma igniter, and the numerical simulation of the cold-state flow field in the pneumatic valve showed that a complex flow in the discharge area, along with low speed, was beneficial for successful ignition. In the experiments ethylene was used as the fuel and air as oxidizing agent, ignition by an AC driven low-temperature plasma achieved multi-cycle intermittent detonation combustion on a PDE, the working frequency of the PDE reached 15 Hz and the peak pressure of the detonation wave was approximately 2.0 MPa. The experimental verifications of the feasibility in PDE ignition expanded the application field of AC driven low-temperature plasma. supported by National Natural Science Foundation of China (No. 51176001)

Profile control simulations and experiments on TCV: a controller test environment and results using a model-based predictive controller

NASA Astrophysics Data System (ADS)

Maljaars, E.; Felici, F.; Blanken, T. C.; Galperti, C.; Sauter, O.; de Baar, M. R.; Carpanese, F.; Goodman, T. P.; Kim, D.; Kim, S. H.; Kong, M.; Mavkov, B.; Merle, A.; Moret, J. M.; Nouailletas, R.; Scheffer, M.; Teplukhina, A. A.; Vu, N. M. T.; The EUROfusion MST1-team; The TCV-team

2017-12-01

The successful performance of a model predictive profile controller is demonstrated in simulations and experiments on the TCV tokamak, employing a profile controller test environment. Stable high-performance tokamak operation in hybrid and advanced plasma scenarios requires control over the safety factor profile (q-profile) and kinetic plasma parameters such as the plasma beta. This demands to establish reliable profile control routines in presently operational tokamaks. We present a model predictive profile controller that controls the q-profile and plasma beta using power requests to two clusters of gyrotrons and the plasma current request. The performance of the controller is analyzed in both simulation and TCV L-mode discharges where successful tracking of the estimated inverse q-profile as well as plasma beta is demonstrated under uncertain plasma conditions and the presence of disturbances. The controller exploits the knowledge of the time-varying actuator limits in the actuator input calculation itself such that fast transitions between targets are achieved without overshoot. A software environment is employed to prepare and test this and three other profile controllers in parallel in simulations and experiments on TCV. This set of tools includes the rapid plasma transport simulator RAPTOR and various algorithms to reconstruct the plasma equilibrium and plasma profiles by merging the available measurements with model-based predictions. In this work the estimated q-profile is merely based on RAPTOR model predictions due to the absence of internal current density measurements in TCV. These results encourage to further exploit model predictive profile control in experiments on TCV and other (future) tokamaks.

Static stall alleviation using a rail plasma actuator

NASA Astrophysics Data System (ADS)

Choi, Young-Joon; Gray, Miles; Sirohi, Jayant; Raja, Laxminarayan L.

2018-07-01

An experimental study was conducted to investigate the ability of a rail plasma actuator (RailPAc) to alleviate static stall on an airfoil. The RailPAc device consists of parallel rails flush mounted on the upper surface of a VR-12 airfoil, with a high-current (∼1.3 kA) arc bridging the gap between the rails. A Lorentz force (∼0.3 N lasting  ∼1 ms) generated on the arc propels it along the airfoil chord and transfers momentum to the surrounding flow. Experiments were conducted in a low speed wind tunnel at two different Reynolds numbers ( and ) and various static angles of attack (up to  ∼30°). Particle image velocimetry (PIV) was used to measure the flow over the passive and actuated airfoil, while the airfoil lift was measured using a force balance. The experiments showed that the RailPAc promotes flow reattachment and can suppress static stall over a wide range of angles of attack. Operation of a single RailPAc resulted in  ∼40 improvement in post-stall lift and  ∼4° increase in stall angle compared to a passive airfoil with an unpowered RailPAc. The results provide insight into the actuation mechanism and demonstrate, for the first time, the ability of the RailPAc to alleviate static stall on an airfoil.

DBD Actuated Flow Control of Wall-Jet and Cross-Flow Interaction for Film Cooling Applications

NASA Astrophysics Data System (ADS)

Tirumala, Rakshit; Benard, Nicolas; Moreau, Eric; Fenot, Matthieu; Lalizel, Gildas; Dorignac, Eva

2014-11-01

In this work, we use surface DBD actuators to control the interaction between a wall jet and mainstream flow in film cooling applications. The intention of the study is to improve the contact of the jet with the wall and enhance the convective heat transfer coefficient downstream of the jet exit. A 2D wall jet (10 mm height) is injected into the mainstream flow at an angle of 30°. With an injected jet velocity (Ui) of 5 m/s, two blowing ratios M (=ρi Ui / ρ∞U∞) of 1.0 and 0.5 are studied corresponding to the mainstream flow velocity (U∞) of 5 m/s and 10 m/s respectively. Different configurations of the DBD actuator are studied, positioned both inside the jet and on the downstream side. PIV measurements are conducted to investigate the flow field of the interaction between the jet and cross flow. Streamwise velocity profiles at different downstream locations are compared to analyze the efficacy of the plasma actuator in improving the contact between the injected jet stream and the wall surface. Reynolds shear stress measurements are also conducted to study the mixing regions in the plasma-jet-mainstream flow interaction. Work was partially funded by the French government program ``Investissements d'avenir'' (LABEX INTERACTIFS, reference ANR-11-LABX-0017-01).

Spray forming of NiTi and NiTiPd shape-memory alloys

NASA Astrophysics Data System (ADS)

Smith, Ronald; Mabe, James; Ruggeri, Robert; Noebe, Ronald

2008-03-01

In the work to be presented, vacuum plasma spray forming has been used as a process to deposit and consolidate prealloyed NiTi and NiTiPd powders into near net shape actuators. Testing showed that excellent shape memory behavior could be developed in the deposited materials and the investigation proved that VPS forming could be a means to directly form a wide range of shape memory alloy components. The results of DSC characterization and actual actuation test results will be presented demonstrating the behavior of a Nitinol 55 alloy and a higher transition temperature NiTiPd alloy in the form of torque tube actuators that could be used in aircraft and aerospace controls.

Spray Forming of NiTi and NiTiPd Shape-Memory Alloys

NASA Technical Reports Server (NTRS)

Mabe, James; Ruggeri, Robert; Noebe, Ronald

2008-01-01

In the work to be presented, vacuum plasma spray forming has been used as a process to deposit and consolidate prealloyed NiTi and NiTiPd powders into near net shape actuators. Testing showed that excellent shape memory behavior could be developed in the deposited materials and the investigation proved that VPS forming could be a means to directly form a wide range of shape memory alloy components. The results of DSC characterization and actual actuation test results will be presented demonstrating the behavior of a Nitinol 55 alloy and a higher transition temperature NiTiPd alloy in the form of torque tube actuators that could be used in aircraft and aerospace controls.

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.

A practical multilayered conducting polymer actuator with scalable work output

NASA Astrophysics Data System (ADS)

Ikushima, Kimiya; John, Stephen; Yokoyama, Kazuo; Nagamitsu, Sachio

2009-09-01

Household assistance robots are expected to become more prominent in the future and will require inherently safe design. Conducting polymer-based artificial muscle actuators are one potential option for achieving this safety, as they are flexible, lightweight and can be driven using low input voltages, unlike electromagnetic motors; however, practical implementation also requires a scalable structure and stability in air. In this paper we propose and practically implement a multilayer conducting polymer actuator which could achieve these targets using polypyrrole film and ionic liquid-soaked separators. The practical work density of a nine-layer multilayer actuator was 1.4 kJ m-3 at 0.5 Hz, when the volumes of the electrolyte and counter electrodes were included, which approaches the performance of mammalian muscle. To achieve air stability, we analyzed the effect of air-stable ionic liquid gels on actuator displacement using finite element simulation and it was found that the majority of strain could be retained when the elastic modulus of the gel was kept below 3 kPa. As a result of this work, we have shown that multilayered conducting polymer actuators are a feasible idea for household robotics, as they provide a substantial practical work density in a compact structure and can be easily scaled as required.

Challenges of extreme load hexapod design and modularization for large ground-based telescopes

NASA Astrophysics Data System (ADS)

Gloess, Rainer; Lula, Brian

2010-07-01

The hexapod is a parallel kinematic manipulator that is the minimum arrangement for independent control of six degrees of freedom. Advancing needs for hexapod performance, capacity and configurations have driven development of highly capable new actuator designs. This paper describes new compact hexapod design proposals for high load capacity, and corresponding hexapod actuator only mechanisms suitable for integration as structural motion elements in next-generation telescope designs. These actuators provide up to 90 000N load capability while preserving sub-micrometer positional capability and in-position stability. The design is optimized for low power dissipation and incorporates novel encoders direct manufactured with the nut flange to achieve more than 100000 increments per revolution. In the hexapod design we choose cardan joints for the actuator that have axis offsets to provide optimized stiffness. The additional computational requirements for offset axes are readily solved by advanced kinematic algorithms and modern hardware. The paper also describes the hexapod controller concept with individual actuator designs, which allows the integration of hexapod actuators into the main telescope structure to reduce mass and provide the telescope designer more design freedom in the incorporation of these types of motion systems. An adaptive software package was developed including collision control feature for real-time safety during hexapod movements.

An under-actuated origami gripper with adjustable stiffness joints for multiple grasp modes

NASA Astrophysics Data System (ADS)

Firouzeh, Amir; Paik, Jamie

2017-05-01

Under-actuated robots offer multiple degrees of freedom without much added complexity to the actuation and control. Utilizing adjustable stiffness joints in these robots allows us to control their stable configurations and their mode of interaction with the environment. In this paper, we present the design of tendon-driven robotic origami (robogami) joints with adjustable stiffness. The proposed designs allow us to place joints along any direction in the plane of the robot and in the normal direction to the plane. The layer-by-layer manufacturing of robogamis facilitates the design and manufacturing of robots with different arrangement of joints for different applications. We use thermally activated shape memory polymer to control the joint stiffness. The manufacturing of the polymer layer is compatible with the layer-by-layer manufacturing process of the robogamis which results in scalable and customizable robots. To demonstrate, we prototyped an under-actuated gripper with three fingers and only one input actuation. The grasp mode of the gripper is set by adjusting the configuration of the locked joints and modulating the stiffness of the active joints. We present a model to estimate the configuration and the contact forces of the gripper at different settings that will assist us in design and control of future generation of under-actuated robogamis.

Elastic Inflatable Actuators for Soft Robotic Applications.

PubMed

Gorissen, Benjamin; Reynaerts, Dominiek; Konishi, Satoshi; Yoshida, Kazuhiro; Kim, Joon-Wan; De Volder, Michael

2017-11-01

The 20th century's robotic systems have been made from stiff materials, and much of the developments have pursued ever more accurate and dynamic robots, which thrive in industrial automation, and will probably continue to do so for decades to come. However, the 21st century's robotic legacy may very well become that of soft robots. This emerging domain is characterized by continuous soft structures that simultaneously fulfill the role of robotic link and actuator, where prime focus is on design and fabrication of robotic hardware instead of software control. These robots are anticipated to take a prominent role in delicate tasks where classic robots fail, such as in minimally invasive surgery, active prosthetics, and automation tasks involving delicate irregular objects. Central to the development of these robots is the fabrication of soft actuators. This article reviews a particularly attractive type of soft actuators that are driven by pressurized fluids. These actuators have recently gained traction on the one hand due to the technology push from better simulation tools and new manufacturing technologies, and on the other hand by a market pull from applications. This paper provides an overview of the different advanced soft actuator configurations, their design, fabrication, and applications. © 2017 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

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.

Water-driven actuation of Ornithoctonus huwena spider silk fibers

NASA Astrophysics Data System (ADS)

Lin, Shuyuan; Zhu, Jia; Li, Xinming; Guo, Yang; Fang, Yaopeng; Cheng, Huanyu; Zhu, Hongwei

2017-01-01

Spider silk possesses remarkable mechanical properties and can lift weight effectively. Certain kinds of spider silk have unique response to liquid, especially water, because of their hydrophilic proteins, β-sheet characters, and surface structure. The Ornithoctonus huwena (O. huwena) spider is a unique species because it can be bred artificially and it spins silk whose diameter is in nanometer scale. In this work, we report the "shrink-stretch" behavior of the O. huwena spider silk fibers and show how they can be actuated by water to lift weight over long distance, at a fast speed, and with high efficiency. We further rationalize this behavior by analyzing the mechanical energy of the system. The lifting process is energy-efficient and environmentally friendly, allowing applications in actuators, biomimetic muscles, or hoisting devices.

The Stiffness Variation of a Micro-Ring Driven by a Traveling Piecewise-Electrode

PubMed Central

Li, Yingjie; Yu, Tao; Hu, Yuh-Chung

2014-01-01

In the practice of electrostatically actuated micro devices; the electrostatic force is implemented by sequentially actuated piecewise-electrodes which result in a traveling distributed electrostatic force. However; such force was modeled as a traveling concentrated electrostatic force in literatures. This article; for the first time; presents an analytical study on the stiffness variation of microstructures driven by a traveling piecewise electrode. The analytical model is based on the theory of shallow shell and uniform electrical field. The traveling electrode not only applies electrostatic force on the circular-ring but also alters its dynamical characteristics via the negative electrostatic stiffness. It is known that; when a structure is subjected to a traveling constant force; its natural mode will be resonated as the traveling speed approaches certain critical speeds; and each natural mode refers to exactly one critical speed. However; for the case of a traveling electrostatic force; the number of critical speeds is more than that of the natural modes. This is due to the fact that the traveling electrostatic force makes the resonant frequencies of the forward and backward traveling waves of the circular-ring different. Furthermore; the resonance and stability can be independently controlled by the length of the traveling electrode; though the driving voltage and traveling speed of the electrostatic force alter the dynamics and stabilities of microstructures. This paper extends the fundamental insights into the electromechanical behavior of microstructures driven by electrostatic forces as well as the future development of MEMS/NEMS devices with electrostatic actuation and sensing. PMID:25230308

The stiffness variation of a micro-ring driven by a traveling piecewise-electrode.

PubMed

Li, Yingjie; Yu, Tao; Hu, Yuh-Chung

2014-09-16

In the practice of electrostatically actuated micro devices; the electrostatic force is implemented by sequentially actuated piecewise-electrodes which result in a traveling distributed electrostatic force. However; such force was modeled as a traveling concentrated electrostatic force in literatures. This article; for the first time; presents an analytical study on the stiffness variation of microstructures driven by a traveling piecewise electrode. The analytical model is based on the theory of shallow shell and uniform electrical field. The traveling electrode not only applies electrostatic force on the circular-ring but also alters its dynamical characteristics via the negative electrostatic stiffness. It is known that; when a structure is subjected to a traveling constant force; its natural mode will be resonated as the traveling speed approaches certain critical speeds; and each natural mode refers to exactly one critical speed. However; for the case of a traveling electrostatic force; the number of critical speeds is more than that of the natural modes. This is due to the fact that the traveling electrostatic force makes the resonant frequencies of the forward and backward traveling waves of the circular-ring different. Furthermore; the resonance and stability can be independently controlled by the length of the traveling electrode; though the driving voltage and traveling speed of the electrostatic force alter the dynamics and stabilities of microstructures. This paper extends the fundamental insights into the electromechanical behavior of microstructures driven by electrostatic forces as well as the future development of MEMS/NEMS devices with electrostatic actuation and sensing.

Control of Systems With Slow Actuators Using Time Scale Separation

NASA Technical Reports Server (NTRS)

Stepanyan, Vehram; Nguyen, Nhan

2009-01-01

This paper addresses the problem of controlling a nonlinear plant with a slow actuator using singular perturbation method. For the known plant-actuator cascaded system the proposed scheme achieves tracking of a given reference model with considerably less control demand than would otherwise result when using conventional design techniques. This is the consequence of excluding the small parameter from the actuator dynamics via time scale separation. The resulting tracking error is within the order of this small parameter. For the unknown system the adaptive counterpart is developed based on the prediction model, which is driven towards the reference model by the control design. It is proven that the prediction model tracks the reference model with an error proportional to the small parameter, while the prediction error converges to zero. The resulting closed-loop system with all prediction models and adaptive laws remains stable. The benefits of the approach are demonstrated in simulation studies and compared to conventional control approaches.

Generation of microfluidic flow using an optically assembled and magnetically driven microrotor

NASA Astrophysics Data System (ADS)

Köhler, J.; Ghadiri, R.; Ksouri, S. I.; Guo, Q.; Gurevich, E. L.; Ostendorf, A.

2014-12-01

The key components in microfluidic systems are micropumps, valves and mixers. Depending on the chosen technology, the realization of these microsystems often requires rotational and translational control of subcomponents. The manufacturing of such active components as well as the driving principle are still challenging tasks. A promising all-optical approach could be the combination of laser direct writing and actuation based on optical forces. However, when higher actuation velocities are required, optical driving might be too slow. Hence, a novel approach based on optical assembling of microfluidic structures and subsequent magnetic actuation is proposed. By applying the optical assembly of microspherical building blocks as the manufacturing method and magnetic actuation, a microrotor was successfully fabricated and tested within a microfluidic channel. The resulting fluid flow was characterized by introducing an optically levitated measuring probe particle. Finally, a freely moving tracer particle visualizes the generated flow. The tracer particle analysis shows average velocities of 0.4-0.5 µm s-1 achieved with the presented technology.

Passively operated spool valve for drain-down freeze protection of thermosyphon water heaters. Final technical report

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

None

1982-04-30

The work done to extend the existing drain-down valve technology to provide passive drain-down freeze protection for thermosyphon-based solar water heaters is described. The basic design of the existing valve model is that of a spool valve, employing a cylindrical spool which moves axially in a mating cartridge to open and close o-rings at the two operating extremes (drain and operate) to perform the valving function. Three passive actuators to drive the basic valving mechanism were designed, fabricated, and tested. Two piping configurations used to integrate the spool valve with the thermosyphon system are described, as are the passive actuators.more » The three actuator designs are: photovoltaic driven, refrigerant-based bellows, and heat motor cable-drive designs. Costs are compared for the alternative actuator designs, and operating characteristics were examined for the thermosyphon system, including field tests. The market for the valve for thermosyphon systems is then assessed. (LEW)« less

Improved interferometer beam splitter

NASA Technical Reports Server (NTRS)

Schindler, R. A.

1976-01-01

Cat's-eye retroreflector attached to motor driven lead screw allows low-frequency changes in optical path. Moving-coil actuator attached to other retroreflector allows mid-frequency movements. High-frequency movements are achieved by employing piezoelectric transducer attached to secondary mirror of same retroreflector.

Development of a magneto-rheological fluid based hybrid actuation system

NASA Astrophysics Data System (ADS)

John, Shaju

A hybrid hydraulic actuation system is proposed as an active pitch link for rotorcraft applications. Such an active pitch link can be used to implement Individual Blade Control (IBC) techniques for vibration and noise reduction, in addition to providing primary control for the helicopter. Conventional technologies like electric motors and hydraulic actuators have major disadvantages when it come to applications on a rotating environment. Centralized hydraulic system require the use of mechanically complex hydraulic slip rings and electric motors have high precision mechanical moving parts that make them unattractive in application with high centrifugal load. The high energy density of smart materials can be used to design hydraulic actuators in a compact package. MagnetoRheological (MR) fluids can be used as the working fluid in such a hybrid hydraulic actuation system to implement a valving system with no moving parts. Thus, such an actuation system can be theoretically well-suited for application in a rotating environment. To develop an actuation system based on an active material stack and MR fluidic valves, a fundamental understanding of the hydraulic circuit is essential. In order to address this issue, a theoretical model was developed to understand the effect of pumping chamber geometry on the pressure losses in the pumping chamber. Three dimensional analytical models were developed for steady and unsteady flow and the results were correlated to results obtained from Computation Fluid Dynamic simulation of fluid flow inside the pumping chamber. Fundamental understanding regarding the pressure losses in a pumping chamber are obtained from the modeling process. Vortices that form in the pumping chamber (during intake) and the discharge tube (during discharge) are identified as a major cause of pressure loss in the chamber. The role of vortices during dynamic operation is also captured through a frequency domain model. Extensive experimental studies were conducted on a hybrid hydraulic system driven by a pump (actuated by a 2" long and 1/4" diameter Terfenol-D rod) and a Wheatstone bridge network of MR fluidic valves. The Wheatstone bridge network is used to provide bi-directionality to the load. Through a variety of experimental studies, the main performance metrics of the actuation system, like output power, blocked force, maximum no-load velocity and efficiency, are obtained. The actuation system exhibits a blocked force of 30 N and a maximum no-load velocity of 50 mm/s. Extensive bi-directional tests were also done for cases of no-load, inertial load and spring load to establish the frequency bandwidth of the actuator. The actuation system can output a stroke of 9 mm at an output actuator frequency of 4 Hz. An analytical model was developed to predict the performance of the hybrid hydraulic actuation system. A state space representation of the system was derived using equations derived from the control volume considerations. The results of the analytical model show that the model predicts the frequency peak of the system to within 20 Hz of the actual resonance frequency. In the third part of this dissertation, the effectiveness of the hybrid hydraulic actuation system is evaluated in a rotating environment. A piezoelectric stack that is driven by three PI-804.10 stacks was attached at the end of a spin bar. After balancing the spin bar using a counterweight, the spin bar is spun to an RPM of 300. This simulates a centrifugal loading of 400 g, which is slightly higher than the full-scale centrifugal loads experienced by a pitch link on a UH-60. The performance of the actuator was measured in terms of velocity of an output cylinder shaft. Since some deterioration of performance was expected at 300 RPM, the output cylinder was redesigned to include roller bearings to support the excess force. Through no load and load tests, the effectiveness of the current hybrid actuation system design was shown as the performance of the system did not deteriorate in performance with greater centrifugal acceleration.

Modeling of Two-Wheeled Self-Balancing Robot Driven by DC Gearmotors

NASA Astrophysics Data System (ADS)

Frankovský, P.; Dominik, L.; Gmiterko, A.; Virgala, I.; Kurylo, P.; Perminova, O.

2017-08-01

This paper is aimed at modelling a two-wheeled self-balancing robot driven by the geared DC motors. A mathematical model consists of two main parts, the model of robot's mechanical structure and the model of the actuator. Linearized equations of motion are derived and the overall model of the two-wheeled self-balancing robot is represented in state-space realization for the purpose of state feedback controller design.

Key parameters controlling the performance of catalytic motors.

PubMed

Esplandiu, Maria J; Afshar Farniya, Ali; Reguera, David

2016-03-28

The development of autonomous micro/nanomotors driven by self-generated chemical gradients is a topic of high interest given their potential impact in medicine and environmental remediation. Although impressive functionalities of these devices have been demonstrated, a detailed understanding of the propulsion mechanism is still lacking. In this work, we perform a comprehensive numerical analysis of the key parameters governing the actuation of bimetallic catalytic micropumps. We show that the fluid motion is driven by self-generated electro-osmosis where the electric field originates by a proton current rather than by a lateral charge asymmetry inside the double layer. Hence, the surface potential and the electric field are the key parameters for setting the pumping strength and directionality. The proton flux that generates the electric field stems from the proton gradient induced by the electrochemical reactions taken place at the pump. Surprisingly the electric field and consequently the fluid flow are mainly controlled by the ionic strength and not by the conductivity of the solution, as one could have expected. We have also analyzed the influence of the chemical fuel concentration, electrochemical reaction rates, and size of the metallic structures for an optimized pump performance. Our findings cast light on the complex chemomechanical actuation of catalytic motors and provide important clues for the search, design, and optimization of novel catalytic actuators.

(abstract) The Design of a Benign Fail-safe Mechanism Using a Low-melting-point Metal Alloy Coupler

NASA Technical Reports Server (NTRS)

Blomquist, Richard S.

1995-01-01

Because the alpha proton X ray spectrometer (APXS) sensor head on the Mars Pathfinder rover, Sojourner, is placed on Martian soil by the deployment mechanism (ADM), the rover would be crippled if the actuator fails when the mechanism is in its deployed position, as rover ground clearance is then reduced to zero. This paper describes the unique fail-safe mounted on the ADM, especially the use of a low-temperature-melting alloy as a coupler device. The final form of the design is a low-melting-point metal pellet coupler, made from Cerrobend, in parallel with a Negator spring pack. In its solid state, the metal rigidly connects the driver (the actuator) and the driven part (the mechanism). When commanded, a strip heater wrapped around the coupler melts the metal pellet (at 60(deg)C), allowing the driven part to turn independent of the driver. The Negator spring retracts the mechanism to its fully stowed position. This concept meets all the design criteria, and provides an added benefit. When the metal hardens the coupler once again rigidly connects the actuator and the mechanism. The concept presented here can easily be applied to other applications. Anywhere release devices are needed, low-melting-point couplers can be considered. The issues to be concerned with are thermal isolation, proper setting of the parts before actuation, and possible outgassing concerns. However, when these issues are overcome, the resulting release mechanism can promise to be the most light, simple, power conserving alternative available.

Disposable Fluidic Actuators for Miniature In-Vivo Surgical Robotics.

PubMed

Pourghodrat, Abolfazl; Nelson, Carl A

2017-03-01

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

Disposable Fluidic Actuators for Miniature In-Vivo Surgical Robotics

PubMed Central

Pourghodrat, Abolfazl; Nelson, Carl A.

2017-01-01

Fusion of robotics and minimally invasive surgery (MIS) has created new opportunities to develop diagnostic and therapeutic tools. Surgical robotics is advancing from externally actuated systems to miniature in-vivo robotics. However, with miniaturization of electric-motor-driven surgical robots, there comes a trade-off between the size of the robot and its capability. Slow actuation, low load capacity, sterilization difficulties, leaking electricity and transferring produced heat to tissues, and high cost are among the key limitations of the use of electric motors in in-vivo applications. Fluid power in the form of hydraulics or pneumatics has a long history in driving many industrial devices and could be exploited to circumvent these limitations. High power density and good compatibility with the in-vivo environment are the key advantages of fluid power over electric motors when it comes to in-vivo applications. However, fabrication of hydraulic/pneumatic actuators within the desired size and pressure range required for in-vivo surgical robotic applications poses new challenges. Sealing these types of miniature actuators at operating pressures requires obtaining very fine surface finishes which is difficult and costly. The research described here presents design, fabrication, and testing of a hydraulic/pneumatic double-acting cylinder, a limited-motion vane motor, and a balloon-actuated laparoscopic grasper. These actuators are small, seal-less, easy to fabricate, disposable, and inexpensive, thus ideal for single-use in-vivo applications. To demonstrate the ability of these actuators to drive robotic joints, they were modified and integrated in a robotic arm. The design and testing of this surgical robotic arm are presented to validate the concept of fluid-power actuators for in-vivo applications. PMID:28070227

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.

A review of wind turbine-oriented active flow control strategies

NASA Astrophysics Data System (ADS)

Aubrun, Sandrine; Leroy, Annie; Devinant, Philippe

2017-10-01

To reduce the levelized cost of energy, the energy production, robustness and lifespan of horizontal axis wind turbines (HAWTs) have to be improved to ensure optimal energy production and operational availability during periods longer than 15-20 years. HAWTs are subject to unsteady wind loads that generate combinations of unsteady mechanical loads with characteristic time scales from seconds to minutes. This can be reduced by controlling the aerodynamic performance of the wind turbine rotors in real time to compensate the overloads. Mitigating load fluctuations and optimizing the aerodynamic performance at higher time scales need the development of fast-response active flow control (AFC) strategies located as close as possible to the torque generation, i.e., directly on the blades. The most conventional actuators currently used in HAWTs are mechanical flaps/tabs (similar to aeronautical accessories), but some more innovative concepts based on fluidic and plasma actuators are very promising since they are devoid of mechanical parts, have a fast response and can be driven in unsteady modes to influence natural instabilities of the flow. In this context, the present paper aims at giving a state-of-the-art review of current research in wind turbine-oriented flow control strategies applied at the blade scale. It provides an overview of research conducted in the last decade dealing with the actuators and devices devoted to developing AFC on rotor blades, focusing on the flow phenomena that they cause and that can lead to aerodynamic load increase or decrease. After providing some general background on wind turbine blade aerodynamics and on the atmospheric flows in which HAWTs operate, the review focuses on flow separation control and circulation control mainly through experimental investigations. It is followed by a discussion about the overall limitations of current studies in the wind energy context, with a focus on a few studies that attempt to provide a global efficiency assessment and wind energy-oriented energy balance.

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

Utilization of Optimization for Design of Morphing Wing Structures for Enhanced Flight

NASA Astrophysics Data System (ADS)

Detrick, Matthew Scott

Conventional aircraft control surfaces constrain maneuverability. This work is a comprehensive study that looks at both smart material and conventional actuation methods to achieve wing twist to potentially improve flight capability using minimal actuation energy while allowing minimal wing deformation under aerodynamic loading. A continuous wing is used in order to reduce drag while allowing the aircraft to more closely approximate the wing deformation used by birds while loitering. The morphing wing for this work consists of a skin supported by an underlying truss structure whose goal is to achieve a given roll moment using less actuation energy than conventional control surfaces. A structural optimization code has been written in order to achieve minimal wing deformation under aerodynamic loading while allowing wing twist under actuation. The multi-objective cost function for the optimization consists of terms that ensure small deformation under aerodynamic loading, small change in airfoil shape during wing twist, a linear variation of wing twist along the length of the wing, small deviation from the desired wing twist, minimal number of truss members, minimal wing weight, and minimal actuation energy. Hydraulic cylinders and a two member linkage driven by a DC motor are tested separately to provide actuation. Since the goal of the current work is simply to provide a roll moment, only one actuator is implemented along the wing span. Optimization is also used to find the best location within the truss structure for the actuator. The active structure produced by optimization is then compared to simulated and experimental results from other researchers as well as characteristics of conventional aircraft.

Frequency-controlled wireless shape memory polymer microactuator for drug delivery application.

PubMed

Zainal, M A; Ahmad, A; Mohamed Ali, M S

2017-03-01

This paper reports the wireless Shape-Memory-Polymer actuator operated by external radio frequency magnetic fields and its application in a drug delivery device. The actuator is driven by a frequency-sensitive wireless resonant heater which is bonded directly to the Shape-Memory-Polymer and is activated only when the field frequency is tuned to the resonant frequency of heater. The heater is fabricated using a double-sided Cu-clad Polyimide with much simpler fabrication steps compared to previously reported methods. The actuation range of 140 μm as the tip opening distance is achieved at device temperature 44 °C in 30 s using 0.05 W RF power. A repeatability test shows that the actuator's average maximum displacement is 110 μm and standard deviation of 12 μm. An experiment is conducted to demonstrate drug release with 5 μL of an acidic solution loaded in the reservoir and the device is immersed in DI water. The actuator is successfully operated in water through wireless activation. The acidic solution is released and diffused in water with an average release rate of 0.172 μL/min.

Durable and water-floatable ionic polymer actuator with hydrophobic and asymmetrically laser-scribed reduced graphene oxide paper electrodes.

PubMed

Kim, Jaehwan; Jeon, Jin-Han; Kim, Hyun-Jun; Lim, Hyuneui; Oh, Il-Kwon

2014-03-25

Ionic polymer actuators driven by electrical stimuli have been widely investigated for use in practical applications such as bioinspired robots, sensors, and biomedical devices. However, conventional ionic polymer-metal composite actuators have a serious drawback of poor durability under long-term actuation in open air, mainly because of the leakage of the inner electrolyte and hydrated cations through cracks in the metallic electrodes. Here, we developed a highly durable and water-floatable ionic polymer artificial muscle by employing hydrophobic and asymmetrically laser-scribed reduced graphene oxide paper electrodes (HLrGOP). The highly conductive, flexible, and cost-effective HLrGOP electrodes have asymmetrically smooth hydrophobic outer and rough inner surfaces, resulting in liquid-impermeable and water-floatable functionalities and strong bonding between an ionic polymer and the electrodes. More interestingly, the HLrGOP electrode, which has a unique functionality to prevent the leakage of the vaporized or liquid electrolyte and mobile ions during electrical stimuli, greatly contributes to an exceptionally durable ionic polymer-graphene composite actuator that is a prerequisite for practical applications in active biomedical devices, biomimetic robots, touch-feedback haptic systems, and flexible soft electronics.

Reducing Actuator Requirements in Continuum Robots Through Optimized Cable Routing.

PubMed

Case, Jennifer C; White, Edward L; SunSpiral, Vytas; Kramer-Bottiglio, Rebecca

2018-02-01

Continuum manipulators offer many advantages compared to their rigid-linked counterparts, such as increased degrees of freedom and workspace volume. Inspired by biological systems, such as elephant trunks and octopus tentacles, many continuum manipulators are made of multiple segments that allow large-scale deformations to be distributed throughout the body. Most continuum manipulators currently control each segment individually. For example, a planar cable-driven system is typically controlled by a pair of cables for each segment, which implies two actuators per segment. In this article, we demonstrate how highly coupled crossing cable configurations can reduce both actuator count and actuator torque requirements in a planar continuum manipulator, while maintaining workspace reachability and manipulability. We achieve highly coupled actuation by allowing cables to cross through the manipulator to create new cable configurations. We further derive an analytical model to predict the underactuated manipulator workspace and experimentally verify the model accuracy with a physical system. We use this model to compare crossing cable configurations to the traditional cable configuration using workspace performance metrics. Our work here focuses on a simplified planar robot, both in simulation and in hardware, with the goal of extending this to spiraling-cable configurations on full 3D continuum robots in future work.

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.

Development of multilayer conducting polymer actuator for power application

NASA Astrophysics Data System (ADS)

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

2009-03-01

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

Reliable fuzzy H∞ control for active suspension of in-wheel motor driven electric vehicles with dynamic damping

NASA Astrophysics Data System (ADS)

Shao, Xinxin; Naghdy, Fazel; Du, Haiping

2017-03-01

A fault-tolerant fuzzy H∞ control design approach for active suspension of in-wheel motor driven electric vehicles in the presence of sprung mass variation, actuator faults and control input constraints is proposed. The controller is designed based on the quarter-car active suspension model with a dynamic-damping-in-wheel-motor-driven-system, in which the suspended motor is operated as a dynamic absorber. The Takagi-Sugeno (T-S) fuzzy model is used to model this suspension with possible sprung mass variation. The parallel-distributed compensation (PDC) scheme is deployed to derive a fault-tolerant fuzzy controller for the T-S fuzzy suspension model. In order to reduce the motor wear caused by the dynamic force transmitted to the in-wheel motor, the dynamic force is taken as an additional controlled output besides the traditional optimization objectives such as sprung mass acceleration, suspension deflection and actuator saturation. The H∞ performance of the proposed controller is derived as linear matrix inequalities (LMIs) comprising three equality constraints which are solved efficiently by means of MATLAB LMI Toolbox. The proposed controller is applied to an electric vehicle suspension and its effectiveness is demonstrated through computer simulation.

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

NASA Astrophysics Data System (ADS)

Gonzalez, Mark A.; Walter, Wayne W.

2014-03-01

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

High strain rate metalworking with vaporizing foil actuator: Control of flyer velocity by varying input energy and foil thickness

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

Vivek, A., E-mail: vivek.4@osu.edu; Hansen, S. R.; Daehn, Glenn S.

2014-07-15

Electrically driven rapid vaporization of thin metallic foils can generate a high pressure which can be used to launch flyers at high velocities. Recently, vaporizing foil actuators have been applied toward a variety of impulse-based metal working operations. In order to exercise control over this useful tool, it is imperative that an understanding of the effect of characteristics of the foil actuator on its ability for mechanical impulse generation is developed. Here, foil actuators made out of 0.0508 mm, 0.0762 mm, and 0.127 mm thick AA1145 were used for launching AA2024-T3 sheets of thickness 0.508 mm toward a photonic Dopplermore » velocimeter probe. Launch velocities ranging between 300 m/s and 1100 m/s were observed. In situ measurement of velocity, current, and voltage assisted in understanding the effect of burst current density and deposited electrical energy on average pressure and velocity with foil actuators of various thicknesses. For the pulse generator, geometry, and flyer used here, the 0.0762 mm thick foil was found to be optimal for launching flyers to high velocities over short distances. Experimenting with annealed foil actuators resulted in no change in the temporal evolution of flyer velocity as compared to foil actuators of full hard temper. A physics-based analytical model was developed and found to have reasonable agreement with experiment.« less

A programmable soft chemo-mechanical actuator exploiting a catalyzed photochemical water-oxidation reaction.

PubMed

Yuan, P; McCracken, J M; Gross, D E; Braun, P V; Moore, J S; Nuzzo, R G

2017-10-18

We describe a composite hydrogel containing an embedding coupled chemistry for light-sensitized catalytic reactions that enables chemo-mechanical actuation of poly(acrylic acid)-based gels. In these materials, a photosensitizer and catalyst-ruthenium trisbipyridine and iridium dioxide nanoparticles, respectively-are incorporated into the hydrogel where together, with visible light irradiation, they undergo a catalytic water-oxidation reaction that lowers the pH and induces a dissipative/chemically-driven strain change in the gel. To demonstrate the capacity for 3D chemo-mechanical actuation, a layer of non-pH responsive poly(2-hydroxyethyl methacrylate) is added to the photo-active composite gel to create a model bimorph actuator. Triggering and terminating the water-oxidation reaction leads to a programmatic expansion and contraction of the active layer, which induces different modes of biomimetic curling motions in the bimorph actuator in light and dark environments. The efficiency of this system is fundamentally limited by the system-level design, which provides no capacity to sustain a local pH gradient against diffusive mixing. Even so, if the initial pH of the background solution is reestablished either actively or passively between each reaction cycle, it is possible to realize multiple cycles of reversible actuation. We describe a thermodynamic analysis of this system which identifies specific features mediating efficiency losses and conceptual requirements for mesoscopic design rules for optimization of this system and for advancing soft actuation systems in general.

Demonstration of Plasma Arc Environmental Technology Applications for the Demilitrization of DOD Stockpiles

NASA Technical Reports Server (NTRS)

Smith, Ed; Dee, P. E.; Zaghloul, Hany; Filius, Krag; Rivers, Tim

2000-01-01

Since 1989 the US Army Construction Engineering Research Laboratories (USACERL) have been active participants in the research and development towards establishing Plasma Arc Technology (PAT) as an efficient, economical, and safe hazardous waste immobilization tool. A plasma torch capable of generating high temperatures makes this technology a viable and powerful tool for the thermal destruction of various military industrial waste streams into an innocuous ceramic material no longer requiring hazardous waste landfill disposal. The emerging plasma environmental thermal treatment process has been used to safely and efficiently meet the waste disposal needs for various demilitarized components disposal needs, such as: (1) pyrotechnic smoke assemblies, (2) thermal batteries, (3) proximity fuses, (4) cartridge actuated devices (CADs), and (5) propellant actuated devices (PADs). MSE Technology Applications, Inc., (MSE) has proposed and fabricated a Mobile Plasma Treatment System to be a technology demonstrator for pilotscale mobile plasma waste processing. The system is capable of providing small-scale waste remediation services, and conducting waste stream applicability demonstrations. The Mobile Plasma Treatment System's innovative concept provides the flexibility to treat waste streams at numerous sites and sites with only a limited quantity of waste, yet too hazardous to transport to a regional fixed facility. The system was designed to be operated as skid mounted modules; consisting of a furnace module, controls module, offgas module, and ancillary systems module. All system components have been integrated to be operated from a single control station with both semi-continuous feeding and batch slag-pouring capability.

Progress and plan of KSTAR plasma control system upgrade

DOE PAGES

Hahn, Sang-hee; Kim, Y. J.; Penaflor, B. G.; ...

2016-06-01

The plasma control system (PCS) has been one of essential systems in annual KSTAR plasma campaigns: starting from a single-process version in 2008, extensive upgrades are done through the previous 7 years in order to achieve major goals of KSTAR performance enhancement. Here, major implementations are explained in this paper. In consequences of successive upgrades, the present KSTAR PCS is able to achieve ~48 s of 500 kA plasma pulses with full real-time shaping controls and real-time NB power controls. It has become a huge system capable of dealing with 8 separate categories of algorithms, 26 actuators directly controllable duringmore » the shot, and real-time data communication units consisting of +180 analog channels and +600 digital input/outputs through the reflective memory (RFM) network. The next upgrade of the KSTAR PCS is planned in 2015 before the campaign. An overview of the upgrade layout will be given for this paper. The real-time system box is planned to use the CERN MRG-Realtime OS, an ITER-compatible standard operating system. New hardware is developed for faster real-time streaming system for future installations of actuators/diagnostics.« less

Apparatus for generating quasi-free-space microwave-driven plasmas

NASA Astrophysics Data System (ADS)

Hoff, Brad W.; French, David M.; Reid, Remington R.; Lawrance, Julie E.; Lepell, P. David; Maestas, Sabrina S.

2016-03-01

An apparatus for generating quasi-free-space microwave-driven plasmas has been designed, constructed, and tested. The plasma is driven by a multi-kW, ˜5 GHz microwave beam focused at the center of a vacuum chamber using a Koch-type metal plate lens. Sustained plasma discharges have been generated in argon at pressures ranging from 150 to 200 mTorr, at beam power levels ranging from 5 to 10 kW, and at gas flow rates of approximately 200 SCCM.

BRIEF COMMUNICATION: On the drift kinetic equation driven by plasma flows

NASA Astrophysics Data System (ADS)

Shaing, K. C.

2010-07-01

A drift kinetic equation that is driven by plasma flows has previously been derived by Shaing and Spong 1990 (Phys. Fluids B 2 1190). The terms that are driven by particle speed that is parallel to the magnetic field B have been neglected. Here, such terms are discussed to examine their importance to the equation and to show that these terms do not contribute to the calculations of plasma viscosity in large aspect ratio toroidal plasmas, e.g. tokamaks and stellarators.

Apparatus for generating quasi-free-space microwave-driven plasmas

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

Hoff, Brad W.; French, David M.; Reid, Remington R.

An apparatus for generating quasi-free-space microwave-driven plasmas has been designed, constructed, and tested. The plasma is driven by a multi-kW, ∼5 GHz microwave beam focused at the center of a vacuum chamber using a Koch-type metal plate lens. Sustained plasma discharges have been generated in argon at pressures ranging from 150 to 200 mTorr, at beam power levels ranging from 5 to 10 kW, and at gas flow rates of approximately 200 SCCM.

Apparatus for generating quasi-free-space microwave-driven plasmas.

PubMed

Hoff, Brad W; French, David M; Reid, Remington R; Lawrance, Julie E; Lepell, P David; Maestas, Sabrina S

2016-03-01

An apparatus for generating quasi-free-space microwave-driven plasmas has been designed, constructed, and tested. The plasma is driven by a multi-kW, ∼5 GHz microwave beam focused at the center of a vacuum chamber using a Koch-type metal plate lens. Sustained plasma discharges have been generated in argon at pressures ranging from 150 to 200 mTorr, at beam power levels ranging from 5 to 10 kW, and at gas flow rates of approximately 200 SCCM.

Characterization of Piezoelectric Stacks for Space Applications

NASA Technical Reports Server (NTRS)

Sherrit, Stewart; Jones, Christopher; Aldrich, Jack; Blodget, Chad; Bao, Xiaoqi; Badescu, Mircea; Bar-Cohen, Yoseph

2008-01-01

Future NASA missions are increasingly seeking to actuate mechanisms to precision levels in the nanometer range and below. Co-fired multilayer piezoelectric stacks offer the required actuation precision that is needed for such mechanisms. To obtain performance statistics and determine reliability for extended use, sets of commercial PZT stacks were tested in various AC and DC conditions at both nominal and high temperatures and voltages. In order to study the lifetime performance of these stacks, five actuators were driven sinusoidally for up to ten billion cycles. An automated data acquisition system was developed and implemented to monitor each stack's electrical current and voltage waveforms over the life of the test. As part of the monitoring tests, the displacement, impedance, capacitance and leakage current were measured to assess the operation degradation. This paper presents some of the results of this effort.

Development of an interface for an ultrareliable fault-tolerant control system and an electronic servo-control unit

NASA Technical Reports Server (NTRS)

Shaver, Charles; Williamson, Michael

1986-01-01

The NASA Ames Research Center sponsors a research program for the investigation of Intelligent Flight Control Actuation systems. The use of artificial intelligence techniques in conjunction with algorithmic techniques for autonomous, decentralized fault management of flight-control actuation systems is explored under this program. The design, development, and operation of the interface for laboratory investigation of this program is documented. The interface, architecturally based on the Intel 8751 microcontroller, is an interrupt-driven system designed to receive a digital message from an ultrareliable fault-tolerant control system (UFTCS). The interface links the UFTCS to an electronic servo-control unit, which controls a set of hydraulic actuators. It was necessary to build a UFTCS emulator (also based on the Intel 8751) to provide signal sources for testing the equipment.

Adhesion testing device

NASA Technical Reports Server (NTRS)

LaPeyronnie, Glenn M. (Inventor); Huff, Charles M. (Inventor)

2010-01-01

The present invention provides a testing apparatus and method for testing the adhesion of a coating to a surface. The invention also includes an improved testing button or dolly for use with the testing apparatus and a self aligning button hook or dolly interface on the testing apparatus. According to preferred forms, the apparatus and method of the present invention are simple, portable, battery operated rugged, and inexpensive to manufacture and use, are readily adaptable to a wide variety of uses, and provide effective and accurate testing results. The device includes a linear actuator driven by an electric motor coupled to the actuator through a gearbox and a rotatable shaft. The electronics for the device are contained in the head section of the device. At the contact end of the device, is positioned a self aligning button hook, attached below the load cell located on the actuator shaft.

Conduction Electrohydrodynamics with Mobile Electrodes: A Novel Actuation System for Untethered Robots.

PubMed

Cacucciolo, Vito; Shigemune, Hiroki; Cianchetti, Matteo; Laschi, Cecilia; Maeda, Shingo

2017-09-01

Electrohydrodynamics (EHD) refers to the direct conversion of electrical energy into mechanical energy of a fluid. Through the use of mobile electrodes, this principle is exploited in a novel fashion for designing and testing a millimeter-scale untethered robot, which is powered harvesting the energy from an external electric field. The robot is designed as an inverted sail-boat, with the thrust generated on the sail submerged in the liquid. The diffusion constant of the robot is experimentally computed, proving that its movement is not driven by thermal fluctuations, and then its kinematic and dynamic responses are characterized for different applied voltages. The results show the feasibility of using EHD with mobile electrodes for powering untethered robots and provide new evidences for the further development of this actuation system for both mobile robots and compliant actuators in soft robotics.

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.

Magnetic force driven six degree-of-freedom active vibration isolation system using a phase compensated velocity sensor.

PubMed

Kim, Yongdae; Kim, Sangyoo; Park, Kyihwan

2009-04-01

A six-axis active vibration isolation system (AVIS) is developed using voice coil actuators. Point contact configuration is employed to have an easy assembly of eight voice coil actuators to an upper and a base plates. The velocity sensor, using an electromagnetic principle that is commonly used in the vibration control, is investigated since its phase lead characteristic causes an instability problem for a low frequency vibration. The performances of the AVIS are investigated in the frequency domain and finally validated by comparing with the passive isolation system using the atomic force microscope images.

Test and theory for piezoelectric actuator-active vibration control of rotating machinery

NASA Technical Reports Server (NTRS)

Palazzolo, A. B.; Lin, R. R.; Alexander, R. M.; Kascak, A. F.; Montague, J.

1989-01-01

The application of piezoelectric actuators for active vibration control (AVC) of rotating machinery is examined. Theory is derived and the resulting predictions are shown to agree closely with results of tests performed on an air turbine driven-overhung rotor. The test results show significant reduction in unbalance, transient and sub-synchronous responses. Results from a 30-hour endurance test support the AVD system reliability. Various aspects of the electro-mechanical stability of the control system are also discussed and illustrated. Finally, application of the AVC system to an actual jet engine is discussed.

Model of the Streamer Zone of a Leader

NASA Astrophysics Data System (ADS)

Milikh, G. M.; Raina, A.; Shneider, M.; Likhanskii, A.; George, A.

2015-12-01

Developed leaders represent highly conductive plasma channels, continuously emitting a fan of streamers, termed the streamer zone. The tip moves at a speed much slower than that of individual streamers. A huge number of short-lived streamers in the corona generate the space charge field required to maintain the streamer propagation. A critical issue is the conversion from the streamer to leader phase [Da Silva and Pasko, 2013]. The objective of this paper is to present simulations of the formation and propagation of the streamer zone of a leader. In these simulations we generated a group of streamers that propagate in a discharge gap while they interact with each other. We use the modified numerical model [Likhanskii et al., 2007] developed to simulate discharge plasma actuators driven by nanosecond pulses. The model uses 2D rectangular computational box, and the discharge gap is filled with the air at normal conditions. Furthermore the model considers electrons, positive and negative ions. The plasma kinetics and interaction with neutral molecules is modeled in a drift-diffusion approximation [Likhanskii et al., 2007]. The electric field and potential are related to the density of charged species according to the Poisson equation. The latter was solved by the successive over-relaxation method. It is shown that interaction between the streamers significantly reduces their propagation velocity. Furthermore the streamer velocity depends on the distance between the streamers. The smaller is that distance the stronger is the suppression of the streamer velocity. This explains why the leader, which consists of many streamers, is much slower than a single streamer formed in the same discharge gap. C.L. Da Silva and V.P. Pasko, J. Geophys. Res.: Atmospheres, 118, 1-30, 2013 A.V. Likhanskii et al., Phys. Plasmas, 14, 073501, 2007.

Numerical simulation and sensitivity analysis of a low-Reynolds-number flow around a square cylinder controlled using plasma actuators

NASA Astrophysics Data System (ADS)

Anzai, Yosuke; Fukagata, Koji; Meliga, Philippe; Boujo, Edouard; Gallaire, François

2017-04-01

Flow around a square cylinder controlled using plasma actuators (PAs) is numerically investigated by direct numerical simulation in order to clarify the most effective location of actuator installation and to elucidate the mechanism of control effect. The Reynolds number based on the cylinder diameter and the free-stream velocity is set to be 100 to study the fundamental effect of PAs on two-dimensional vortex shedding, and three different locations of PAs are considered. The mean drag and the root-mean-square of lift fluctuations are found to be reduced by 51% and 99% in the case where two opposing PAs are aligned vertically on the rear surface. In that case, a jet flow similar to a base jet is generated by the collision of the streaming flows induced by the two opposing PAs, and the vortex shedding is completely suppressed. The simulation results are ultimately revisited in the frame of linear sensitivity analysis, whose computational cost is much lower than that of performing the full simulation. A good agreement is reported for low control amplitudes, which allows further discussion of the linear optimal arrangement for any number of PAs.

Wireless implantable chip with integrated nitinol-based pump for radio-controlled local drug delivery.

PubMed

Fong, Jeffrey; Xiao, Zhiming; Takahata, Kenichi

2015-02-21

We demonstrate an active, implantable drug delivery device embedded with a microfluidic pump that is driven by a radio-controlled actuator for temporal drug delivery. The polyimide-packaged 10 × 10 × 2 mm(3) chip contains a micromachined pump chamber and check valves of Parylene C to force the release of the drug from a 76 μL reservoir by wirelessly activating the actuator using external radio-frequency (RF) electromagnetic fields. The rectangular-shaped spiral-coil actuator based on nitinol, a biocompatible shape-memory alloy, is developed to perform cantilever-like actuation for pumping operation. The nitinol-coil actuator itself forms a passive 185 MHz resonant circuit that serves as a self-heat source activated via RF power transfer to enable frequency-selective actuation and pumping. Experimental wireless operation of fabricated prototypes shows successful release of test agents from the devices placed in liquid and excited by radiating tuned RF fields with an output power of 1.1 W. These tests reveal a single release volume of 219 nL, suggesting a device's capacity of ~350 individual ejections of drug from its reservoir. The thermal behavior of the activated device is also reported in detail. This proof-of-concept prototype validates the effectiveness of wireless RF pumping for fully controlled, long-lasting drug delivery, a key step towards enabling patient-tailored, targeted local drug delivery through highly miniaturized implants.

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.

Methods and Apparatus for Pulsed-DC Dielectric Barrier Discharge Plasma Actuator and Circuit

NASA Technical Reports Server (NTRS)

Corke, Thomas C. (Inventor); Gold, Calman (Inventor); Kaszeta, Richard (Inventor)

2017-01-01

A plasma generating device intended to induce a flow in a fluid via plasma generation includes a dielectric separating two electrodes and a power supply. The first electrode is exposed to a fluid flow while the second electrode is positioned under the dielectric. The power supply is electrically coupled to a switch and the first and second electrodes. When the power supply is energized by repeated action of the switch, it causes a pulsed DC current between the electrodes which causes the fluid to ionize generating a plasma. The generation of the plasma induces a force with a velocity component in the fluid.

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.

Apparatus for coating a surface with a metal utilizing a plasma source

DOEpatents

Brown, I.G.; MacGill, R.A.; Galvin, J.E.

1991-05-07

An apparatus and method are disclosed for coating or layering a surface with a metal utilizing a metal vapor vacuum arc plasma source. The apparatus includes a trigger mechanism for actuating the metal vacuum vapor arc plasma source in a pulsed mode at a predetermined rate. The surface or substrate to be coated or layered is supported in position with the plasma source in a vacuum chamber. The surface is electrically biased for a selected period of time during the pulsed mode of operation of the plasma source. Both the pulsing of the metal vapor vacuum arc plasma source and the electrical biasing of the surface are synchronized for selected periods of time. 10 figures.

Apparatus for coating a surface with a metal utilizing a plasma source

DOEpatents

Brown, Ian G.; MacGill, Robert A.; Galvin, James E.

1991-01-01

An apparatus and method for coating or layering a surface with a metal utilizing a metal vapor vacuum arc plasma source. The apparatus includes a trigger mechanism for actuating the metal vacuum vapor arc plasma source in a pulsed mode at a predetermined rate. The surface or substrate to be coated or layered is supported in position with the plasma source in a vacuum chamber. The surface is electrically biased for a selected period of time during the pulsed mode of operation of the plasma source. Both the pulsing of the metal vapor vacuum arc plasma source and the electrical biasing of the surface are synchronized for selected periods of time.

Development of solid tunable optics for ultra-miniature imaging systems

NASA Astrophysics Data System (ADS)

Yongchao, Zou

This thesis focuses on the optimal design, fabrication and testing of solid tunable optics and exploring their applications in miniature imaging systems. It starts with the numerical modelling of such lenses, followed by the optimum design method and alignment tolerance analysis. A miniature solid tunable lens driven by a piezo actuator is then developed. To solve the problem of limited maximum optical power and tuning range in conventional lens designs, a novel multi-element solid tunable lens is proposed and developed. Inspired by the Alvarez principle, a novel miniature solid tunable dual-focus lens, which is designed using freeform surfaces and driven by one micro-electro-mechanical-systems (MEMS) rotary actuator, is demonstrated. To explore the applications of these miniature solid tunable lenses, a miniature adjustable-focus endoscope and one compact adjustable-focus camera module are developed. The adjustable-focus capability of these two miniature imaging systems is fully proved by electrically focusing targets placed at different positions.

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

NASA Technical Reports Server (NTRS)

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

2010-01-01

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

Subnanometer Motion of Cargoes Driven by Thermal Gradients Along Carbon Nanotubes

NASA Astrophysics Data System (ADS)

Barreiro, Amelia; Rurali, Riccardo; Hernández, Eduardo R.; Moser, Joel; Pichler, Thomas; Forró, László; Bachtold, Adrian

2008-05-01

An important issue in nanoelectromechanical systems is developing small electrically driven motors. We report on an artificial nanofabricated motor in which one short carbon nanotube moves relative to another coaxial nanotube. A cargo is attached to an ablated outer wall of a multiwalled carbon nanotube that can rotate and/or translate along the inner nanotube. The motion is actuated by imposing a thermal gradient along the nanotube, which allows for subnanometer displacements, as opposed to an electromigration or random walk effect.

Bio-hybrid cell-based actuators for microsystems.

PubMed

Carlsen, Rika Wright; Sitti, Metin

2014-10-15

As we move towards the miniaturization of devices to perform tasks at the nano and microscale, it has become increasingly important to develop new methods for actuation, sensing, and control. Over the past decade, bio-hybrid methods have been investigated as a promising new approach to overcome the challenges of scaling down robotic and other functional devices. These methods integrate biological cells with artificial components and therefore, can take advantage of the intrinsic actuation and sensing functionalities of biological cells. Here, the recent advancements in bio-hybrid actuation are reviewed, and the challenges associated with the design, fabrication, and control of bio-hybrid microsystems are discussed. As a case study, focus is put on the development of bacteria-driven microswimmers, which has been investigated as a targeted drug delivery carrier. Finally, a future outlook for the development of these systems is provided. The continued integration of biological and artificial components is envisioned to enable the performance of tasks at a smaller and smaller scale in the future, leading to the parallel and distributed operation of functional systems at the microscale. © 2014 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Comparison of microtweezers based on three lateral thermal actuator configurations

NASA Astrophysics Data System (ADS)

Luo, J. K.; Flewitt, A. J.; Spearing, S. M.; Fleck, N. A.; Milne, W. I.

2005-06-01

Thermal actuator-based microtweezers with three different driving configurations have been designed, fabricated and characterized. Finite element analysis has been used to model the device performance. It was found that one configuration of microtweezer, based on two lateral bimorph thermal actuators, has a small displacement (tip opening of the tweezers) and a very limited operating power range. An alternative configuration consisting of two horizontal hot bars with separated beams as the arms can deliver a larger displacement with a much-extended operating power range. This structure can withstand a higher temperature due to the wider beams used, and has flexible arms for increased displacement. Microtweezers driven by a number of chevron structures in parallel have similar maximum displacements but at a cost of higher power consumption. The measured temperature of the devices confirms that the device with the chevron structure can deliver the largest displacement for a given working temperature, while the bimorph thermal actuator design has the highest operating temperature at the same power due to its thin hot arm, and is prone to structural failure.

Mechanism of bandwidth improvement in passively cooled SMA position actuators

NASA Astrophysics Data System (ADS)

Gorbet, R. B.; Morris, K. A.; Chau, R. C. C.

2009-09-01

The heating of shape memory alloy (SMA) materials leads to a thermally driven phase change which can be used to do work. An SMA wire can be thermally cycled by controlling electric current through the wire, creating an electro-mechanical actuator. Such actuators are typically heated electrically and cooled through convection. The thermal time constants and lack of active cooling limit the operating frequencies. In this work, the bandwidth of a still-air-cooled SMA wire controlled with a PID controller is improved through optimization of the controller gains. Results confirm that optimization can improve the ability of the actuator to operate at a given frequency. Overshoot is observed in the optimal controllers at low frequencies. This is a result of hysteresis in the wire's contraction-temperature characteristic, since different input temperatures can achieve the same output value. The optimal controllers generate overshoot during heating, in order to cause the system to operate at a point on the hysteresis curve where faster cooling can be achieved. The optimization results in a controller which effectively takes advantage of the multi-valued nature of the hysteresis to improve performance.

Shape Memory Alloy (SMA)-Based Launch Lock

NASA Technical Reports Server (NTRS)

Badescu, Mircea; Bao, Xiaoqi; Bar-Cohen, Yoseph

2014-01-01

Most NASA missions require the use of a launch lock for securing moving components during the launch or securing the payload before release. A launch lock is a device used to prevent unwanted motion and secure the controlled components. The current launch locks are based on pyrotechnic, electro mechanically or NiTi driven pin pullers and they are mostly one time use mechanisms that are usually bulky and involve a relatively high mass. Generally, the use of piezoelectric actuation provides high precession nanometer accuracy but it relies on friction to generate displacement. During launch, the generated vibrations can release the normal force between the actuator components allowing shaft's free motion which could result in damage to the actuated structures or instruments. This problem is common to other linear actuators that consist of a ball screw mechanism. The authors are exploring the development of a novel launch lock mechanism that is activated by a shape memory alloy (SMA) material ring, a rigid element and an SMA ring holding flexure. The proposed design and analytical model will be described and discussed in this paper.

Performance and Analysis of Perfluoropolyalkyl Ether Grease Used on Space Shuttle Actuators--A Case Study

NASA Technical Reports Server (NTRS)

Morales, Wilfredo; Street, Kenneth W., Jr.; Zaretsky, Erwin V.

2013-01-01

Actuators used on the United States space shuttle fleet are lubricated with unspecified amounts of Braycote 601 (Castrol Braycote) grease consisting of a perfluoropolyalkyl ether (PFPAE) base oil thickened with a polytetrafluoroethylene (PTFE) filler. Each shuttle has four body flap actuators (BFAs) (two on each wing) on a common segmented shaft and four rudder speed brake (RSB) actuators. The actuators were designed to operate for 10 years and 100 flights without periodic relubrication. Visible inspection of two partially disassembled RSB actuators in continuous use for 19 years raised concerns over possible grease degradation due to discoloration of the grease on several places on the surfaces of the gears. Inspection revealed fretting, micropitting, wear and corrosion of the bearings and gears. A small amount of oil dripped from the disassembled actuators. Whereas new grease is beige in appearance, the discolored grease consisted of both grey and reddish colors. Grease samples taken from the actuators together with representative off-the-shelf new and unused grease samples were analyzed by gravimetry for oil content; by inductively coupled plasma spectroscopy (ICP) for metals content; Fourier transform infrared (FTIR) spectroscopy for base oil decomposition; and by size exclusion chromatography (SEC) for determination of the molecular weight distributions of the grease oil. The Braycote 601 grease was stable after 19 years of continuous use in the sealed RSB actuators and was fit for its intended purpose. There were no significant chemical differences between the used grease samples and new and unused samples. Base oil separation was not significant within the sealed actuators. No corrosive effect in the form of iron fluoride was detected. The grey color of grease samples was due to metallic iron. The red color was due to oxidation of the metallic wear particles from the gears and the bearings comprising the actuators.

Sunlight-driven eco-friendly smart curtain based on infrared responsive graphene oxide-polymer photoactuators.

PubMed

Leeladhar; Raturi, Parul; Singh, J P

2018-02-27

Photomechanical actuation is the conversion of light energy into mechanical energy through some smart materials. Infrared-responsive smart materials have become an emerging field of research due to easy availability and eco-friendly nature of their stimulus in the form of sunlight, which contains about 50% of near-infrared(nIR) making these materials useful at macro-scale photoactuator applications. Here, we demonstrate fabrication of highly versatile nIR triggered photoactuators based on graphene oxide/polycarbonate bilayers that offers fast, low-cost fabrication, large deflection, reversible actuation and wavelength-selective response. The photoactuators are realized by vacuum filtration of graphene oxide/water dispersion through polycarbonate membrane resulting graphene oxide/polymer bilayer structure. The photoactuation response was measured in the form of deflection from equilibrium position as a result of infrared-irradiation. The deflection is caused by the generated thermal stress at the interface of bilayers due to mismatch of thermal expansion coefficient as a results of nIR absorption by graphene oxide and subsequent temperature rise. A maximum deflection of 12 mm (circular-shaped structure with diameter 28 mm) with corresponding bending curvature of 0.33 cm -1 was shown by this photoactuator for illumination intensity of 106 mW/cm 2 . Few applications of these photoactuators such as sunlight-driven smart curtain, infrared actuated curtain and self-folding box are also demonstrated.

A motor-driven ventricular assist device controlled with an optical encoder system.

PubMed

Nakamura, T; Hayashi, K; Yamane, H

1993-01-01

An electric motor-driven ventricular assist device has been developed for long-term use inside the body. The system is composed of a pusher-plate-type blood pump and an actuator consisting of an electrical motor and a ball screw. Cyclic change of the direction of motor rotation makes a back-and-forth axial movement of the ball screw shaft. The shaft, which is detached from the pump diaphragm, pushes the diaphragm via a pusher plate to eject blood during systole; blood is sucked by the diaphragm resilience during diastole. Using the output signals from a newly designed, incremental-type, miniature optical rotary encoder mounted inside the actuator, the input voltage of the motor is optimally controlled referring to the phase difference between the current position of the moving rotor and the electrical reference signal of the rotation generated by a microprocessor-based controller. In vitro performance tests indicated that the system fulfills required specifications. The maximum efficiency was 11%, which was about twice as high as that obtained with the previous open-loop prototype system. In the air, the surface temperature of the actuator elevated to 20 degrees C above the room temperature. An acute in vivo test showed its feasibility as a left ventricular assist device. Analysis of the energy loss in each component of the system indicated that redesign and precise assembly of the mechanical parts could increase the system efficiency.

Key parameters controlling the performance of catalytic motors

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

Esplandiu, Maria J.; Afshar Farniya, Ali; Reguera, David, E-mail: dreguera@ub.edu

2016-03-28

The development of autonomous micro/nanomotors driven by self-generated chemical gradients is a topic of high interest given their potential impact in medicine and environmental remediation. Although impressive functionalities of these devices have been demonstrated, a detailed understanding of the propulsion mechanism is still lacking. In this work, we perform a comprehensive numerical analysis of the key parameters governing the actuation of bimetallic catalytic micropumps. We show that the fluid motion is driven by self-generated electro-osmosis where the electric field originates by a proton current rather than by a lateral charge asymmetry inside the double layer. Hence, the surface potential andmore » the electric field are the key parameters for setting the pumping strength and directionality. The proton flux that generates the electric field stems from the proton gradient induced by the electrochemical reactions taken place at the pump. Surprisingly the electric field and consequently the fluid flow are mainly controlled by the ionic strength and not by the conductivity of the solution, as one could have expected. We have also analyzed the influence of the chemical fuel concentration, electrochemical reaction rates, and size of the metallic structures for an optimized pump performance. Our findings cast light on the complex chemomechanical actuation of catalytic motors and provide important clues for the search, design, and optimization of novel catalytic actuators.« less

Enhanced fuel efficiency on tractor-trailers using synthetic jet-based active flow control

NASA Astrophysics Data System (ADS)

Amitay, Michael; Menicovich, David; Gallardo, Daniele

2016-04-01

The application of piezo-electrically-driven synthetic-jet-based active flow control to reduce drag on tractor-trailers was explored experimentally in wind tunnel testing as well as full-scale road tests. Aerodynamic drag accounts for more than 50% of the usable energy at highway speeds, a problem that applies primarily to trailer trucks. Therefore, a reduction in aerodynamic drag results in large saving of fuel and reduction in CO2 emissions. The active flow control technique that is being used relies on a modular system comprised of distributed, small, highly efficient actuators. These actuators, called synthetic jets, are jets that are synthesized at the edge of an orifice by a periodic motion of a piezoelectric diaphragm(s) mounted on one (or more) walls of a sealed cavity. The synthetic jet is zero net mass flux (ZNMF), but it allows momentum transfer to flow. It is typically driven near diaphragm and/or cavity resonance, and therefore, small electric input [O(10W)] is required. Another advantage of this actuator is that no plumbing is required. The system doesn't require changes to the body of the truck, can be easily reconfigured to various types of vehicles, and consumes small amounts of electrical power from the existing electrical system of the truck. Preliminary wind tunnel results showed up to 18% reduction in fuel consumption, whereas road tests also showed very promising results.

Demonstration of Plasma Arc Environmental Technology Applications for the Demilitarization of DOD Stockpiles

NASA Technical Reports Server (NTRS)

Smith, Ed; Zaghloul, Hany; Filius, Krag; Rivers, Tim

2000-01-01

Since 1989 the U.S. Army Construction Engineering Research Laboratories (USACERL) have been active participants in the research and development toward establishing Plasma Arc Technology (PAT) as an efficient, economical, and safe hazardous waste immobilization tool. A plasma torch capable of generating high temperatures makes this technology a viable and powerful tool for the thermal destruction of various military industrial waste streams into an innocuous ceramic material no longer requiring hazardous waste landfill (Class 1) disposal. The emerging pl asma environmental thermal treatment process, has been used to safely and efficiently meet the waste disposal needs for various demilitarized components disposal needs, such as: pyrotechnic smoke assemblies, thermal batteries, proximity fuses, cartridge actuated devices (CAD's), and propellant actuated devices (PAD's). MSE Technology Applications, Inc., (MSE) has proposed and fabricated a Mobile Plasma Treatment System to be a technology demonstrator for pilot-scale mobile plasma waste processing. The system is capable of providing small-scale waste remediation services, and conducting waste stream applicability demonstrations. The Mobile Plasma Treatment System's innovative concept provides the flexibility to treat waste streams at numerous sites and sites with only a limited quantity of waste, yet too hazardous to transport to a regional fixed facility. The system was designed to be operated as skid mounted modules; consisting of a furnace module, controls module, offgas module, and ancillary systems module. All system components have been integrated to be operated from a single control station with both semi-continuous feeding and batch slag-pouring capability.

Experimental Investigation of the Effect of the Driving Voltage of an Electroadhesion Actuator.

PubMed

Koh, Keng Huat; Sreekumar, M; Ponnambalam, S G

2014-06-25

This paper investigates the effect of driving voltage on the attachment force of an electroadhesion actuator, as the existing literature on the saturation of the adhesive force at a higher electric field is incomplete. A new type of electroadhesion actuator using normally available materials, such as aluminum foil, PVC tape and a silicone rubber sheet used for keyboard protection, has been developed with a simple layered structure that is capable of developing adhesive force consistently. The developed actuator is subjected to the experiment for the evaluation of various test surfaces; aluminum, brick, ceramic, concrete and glass. The driving high voltage is varied in steps to determine the characteristics of the output holding force. Results show a quadratic relation between F (adhesion force) and V (driving voltage) within the 2 kV range. After this range, the F - V responses consistently show a saturation trend at high electric fields. Next, the concept of the leakage current that can occur in the dielectric material and the corona discharge through air has been introduced. Results show that the voltage level, which corresponds to the beginning of the supply current, matches well with the beginning of the force saturation. With the confirmation of this hypothesis, a working model for electroadhesion actuation is proposed. Based on the experimental results, it is proposed that such a kind of actuator can be driven within a range of optimum high voltage to remain electrically efficient. This practice is recommended for the future design, development and characterization of electroadhesion actuators for robotic applications.

A contribution to the expansion of the applicability of electrostatic forces in micro transducers

NASA Astrophysics Data System (ADS)

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

2017-02-01

Electrostatic actuation is highly efficient at micro and nanoscale. However, large deflection in common electrostatically driven MEMS requires large electrode separation and thus high driving voltages. To offer a solution to this problem we developed a novel electrostatic actuator class, which is based on a force-to-stress transformation in the periodically patterned upper layer of a silicon cantilever beam. We report on advances in the development of such electrostatic bending actuators. Several variants of a CMOS compatible and RoHS-directive compliant fabrication processes to fabricate vertical deflecting beams with a thickness of 30 μm are presented. A concept to extend the actuation space towards lateral deflecting elements is introduced. The fabricated and characterized vertical deflecting cantilever beam variants make use of a 0.2 μm electrode gap and achieve deflections of up to multiples of this value. Simulation results based on an FE-model applied to calculate the voltage dependent curvature for various actuator cell designs are presented. The calculated values show very good agreement with the experimentally determined voltage controlled actuation curvatures. Particular attention was paid to parasitic effects induced by small, sub micrometer, electrode gaps. This includes parasitic currents between the two electrode layers. No experimental hint was found that such effects significantly influence the curvature for a control voltage up to 45 V. The paper provides an outlook for the applicability of the technology based on specifically designed and fabricated actuators which allow for a large variety of motion patterns including out-of-plane and in-plane motion as well as membrane deformation and linear motion.

Experimental Investigation of the Effect of the Driving Voltage of an Electroadhesion Actuator

PubMed Central

Koh, Keng Huat; Sreekumar, M.; Ponnambalam, S. G.

2014-01-01

This paper investigates the effect of driving voltage on the attachment force of an electroadhesion actuator, as the existing literature on the saturation of the adhesive force at a higher electric field is incomplete. A new type of electroadhesion actuator using normally available materials, such as aluminum foil, PVC tape and a silicone rubber sheet used for keyboard protection, has been developed with a simple layered structure that is capable of developing adhesive force consistently. The developed actuator is subjected to the experiment for the evaluation of various test surfaces; aluminum, brick, ceramic, concrete and glass. The driving high voltage is varied in steps to determine the characteristics of the output holding force. Results show a quadratic relation between F (adhesion force) and V (driving voltage) within the 2 kV range. After this range, the F-V responses consistently show a saturation trend at high electric fields. Next, the concept of the leakage current that can occur in the dielectric material and the corona discharge through air has been introduced. Results show that the voltage level, which corresponds to the beginning of the supply current, matches well with the beginning of the force saturation. With the confirmation of this hypothesis, a working model for electroadhesion actuation is proposed. Based on the experimental results, it is proposed that such a kind of actuator can be driven within a range of optimum high voltage to remain electrically efficient. This practice is recommended for the future design, development and characterization of electroadhesion actuators for robotic applications. PMID:28788114

On-chip liquid storage and dispensing for lab-on-a-chip applications

NASA Astrophysics Data System (ADS)

Bodén, Roger; Lehto, Marcus; Margell, Joakim; Hjort, Klas; Schweitz, Jan-Åke

2008-07-01

This work presents novel components for on-chip storage and dispensing inside a lab-on-a-chip (LOC) for applications in immunoassay point-of-care testing (POCT), where incubation and washing steps are essential. It involves easy-to-use on-chip solutions for the sequential thermo-hydraulic actuation of liquids. The novel concept of combining the use of a rubber plug, both as a non-return valve cap and as a liquid injection interface of a sealed reservoir, allows simple filling of a sterilized cavity, as well as the storage and dispensing of reagent and washing buffer liquids. Segmenting the flow with air spacers enables effective rinsing and the use of small volumes of on-chip stored liquids. The chip uses low-resistance resistors as heaters in the paraffin actuator, providing the low-voltage actuation that is preferred for handheld battery driven instruments.

Evaluation of a miniature magnetostrictive actuator using Galfenol under tensile stress

NASA Astrophysics Data System (ADS)

Ueno, Toshiyuki; Miura, Hidemitsu; Yamada, Sotoshi

2011-02-01

We are, at present, developing miniature actuators using an iron-gallium alloy (Galfenol). Galfenol is an iron-based magnetostrictive material with magnetostriction exceeding 200 ppm, Young's modulus of 70 GPa and a high relative permeability (>100). The advantages of an actuator using this material are capability of miniaturization, stability against external force, low voltage driving and high power. In this study, a miniature vibrator using an E core of Galfenol under tensile stress up to 20 MPa was investigated. The vibrator did not fracture and maintained the magnetostriction even under a high tensile stress. In addition, the resonance frequency, unchanged under the tensile stress, was lower than the cutoff frequency, hence the vibrator can be driven with a low voltage even in resonance driving. The temperature rise in resonance driving was low and creep was not observed in resonance driving under tensile stress. The vibrator will be applicable in flat panel or bone conductive speakers.

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.

Design and control of six degree-of-freedom active vibration isolation table.

PubMed

Hong, Jinpyo; Park, Kyihwan

2010-03-01

A six-axis active vibration isolation system (AVIS) is designed by using the direct driven guide and ball contact mechanisms in order to have no cross-coupling between actuators. The point contact configuration gives an advantage of having an easy assembly of eight voice coil actuators to an upper and a base plate. A voice coil actuator is used since it can provide a large displacement and sufficient bandwidth required for vibration control. The AVIS is controlled considering the effect of flexible vibration mode in the upper plate and velocity sensor dynamics. A loop shaping technique and phase margin condition are applied to design a vibration controller. The performances of the AVIS are investigated in the frequency domain and finally validated by comparing with the passive isolation system. The scanning profiles of the specimen are compared together by using the atomic force microscope. The robustness of the AVIS is verified by showing the impulse response.

Conduction Electrohydrodynamics with Mobile Electrodes: A Novel Actuation System for Untethered Robots

PubMed Central

Shigemune, Hiroki; Cianchetti, Matteo; Laschi, Cecilia

2017-01-01

Electrohydrodynamics (EHD) refers to the direct conversion of electrical energy into mechanical energy of a fluid. Through the use of mobile electrodes, this principle is exploited in a novel fashion for designing and testing a millimeter‐scale untethered robot, which is powered harvesting the energy from an external electric field. The robot is designed as an inverted sail‐boat, with the thrust generated on the sail submerged in the liquid. The diffusion constant of the robot is experimentally computed, proving that its movement is not driven by thermal fluctuations, and then its kinematic and dynamic responses are characterized for different applied voltages. The results show the feasibility of using EHD with mobile electrodes for powering untethered robots and provide new evidences for the further development of this actuation system for both mobile robots and compliant actuators in soft robotics. PMID:28932659

Use of spring-roll EAP actuator applied as end-effector of a hyper-redundant robot

NASA Astrophysics Data System (ADS)

Errico, Gianmarco; Fava, Victor; Resta, Ferruccio; Ripamonti, Francesco

2015-04-01

This paper presents a hyper-redundant continuous robot used to perform work in places which humans can not reach. This type of robot is generally a bio-inspired solution, it is composed by a lot of flexible segments driven by multiple actuators and its dynamics is described by a lot degrees of freedom. In this paper a model composed of some rigid links connected to each other by revolution joint is presented. In each link a torsional spring is added in order to simulate the resistant torque between the links and the interactions among the cables and the robot during the relative rotation. Moreover a type of EAP actuator, called spring roll, is used as the end-effector of the robot. Through a suitable sensor, such as a camera, the spring roll allows to track a target and it closes the control loop on the robot to follow it.

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

DOEpatents

Shafer, Scott F.

2002-01-01

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

Design and control of six degree-of-freedom active vibration isolation table

NASA Astrophysics Data System (ADS)

Hong, Jinpyo; Park, Kyihwan

2010-03-01

A six-axis active vibration isolation system (AVIS) is designed by using the direct driven guide and ball contact mechanisms in order to have no cross-coupling between actuators. The point contact configuration gives an advantage of having an easy assembly of eight voice coil actuators to an upper and a base plate. A voice coil actuator is used since it can provide a large displacement and sufficient bandwidth required for vibration control. The AVIS is controlled considering the effect of flexible vibration mode in the upper plate and velocity sensor dynamics. A loop shaping technique and phase margin condition are applied to design a vibration controller. The performances of the AVIS are investigated in the frequency domain and finally validated by comparing with the passive isolation system. The scanning profiles of the specimen are compared together by using the atomic force microscope. The robustness of the AVIS is verified by showing the impulse response.

New type of microengine using internal combustion of hydrogen and oxygen

NASA Astrophysics Data System (ADS)

Svetovoy, Vitaly B.; Sanders, Remco G. P.; Ma, Kechun; Elwenspoek, Miko C.

2014-03-01

Microsystems become part of everyday life but their application is restricted by lack of strong and fast motors (actuators) converting energy into motion. For example, widespread internal combustion engines cannot be scaled down because combustion reactions are quenched in a small space. Here we present an actuator with the dimensions 100 × 100 × 5 μm3 that is using internal combustion of hydrogen and oxygen as part of its working cycle. Water electrolysis driven by short voltage pulses creates an extra pressure of 0.5-4 bar for a time of 100-400 μs in a chamber closed by a flexible membrane. When the pulses are switched off this pressure is released even faster allowing production of mechanical work in short cycles. We provide arguments that this unexpectedly fast pressure decrease is due to spontaneous combustion of the gases in the chamber. This actuator is the first step to truly microscopic combustion engines.

Powered AFO for Achilles tendon rupture.

PubMed

Yoshizawa, Nobuyuki

2008-01-01

This paper proposes a powered ankle foot orthosis (AFO) for the treatment of a ruptured Achilles tendon. Usually, conservative orthosis treatment requires about two months, and a motionless ankle degrades activities of daily living (ADL). It is difficult to go to school or work on foot, and a pair of crutches is needed to go up and down stairs. In order to improve the ADL, an electric powered AFO has been designed to improve the ability to walk with a fixed ankle joint. The sole of the proposed AFO is equipped with an electric actuator. The prototype actuator consists of Nd magnets and electromagnets and is lightweight and battery driven. The actuator can switch the upright posture and the stepped forward posture of the patient. In an experiment, the use of this electric AFO made it possible to walk and to ascend and descend stairs with a fixed ankle joint.

Design of a 3D printed lightweight orthotic device based on twisted and coiled polymer muscle: iGrab hand orthosis

NASA Astrophysics Data System (ADS)

Saharan, Lokesh; Sharma, Ashvath; Jung de Andrade, Monica; Baughman, Ray H.; Tadesse, Yonas

2017-04-01

Partial or total upper extremity impairment affects the quality of life of a vast number of people due to stroke, neuromuscular disease, or trauma. Many researchers have presented hand orthosis to address the needs of rehabilitation or assistance on upper extremity function. Most of the devices available commercially and in literature are powered by conventional actuators such as DC motors, servomotors or pneumatic actuators. Some prototypes are developed based on shape memory alloy (SMA) and dielectric elastomers (DE). This study presents a customizable, 3D printed, a lightweight exoskeleton (iGrab) based on recently reported Twisted and Coiled Polymer (TCP) muscles, which are lightweight, provide high power to weight ratio and large stroke. We used silver coated nylon 6, 6 threads to make the TCP muscles, which can be easily actuated electrothermally. We reviewed briefly hand orthosis created with various actuation technologies and present our design of tendon-driven exoskeleton with the muscles confined in the forearm area. A single muscle is used to facilitate the motion of all three joints namely DIP (Distal interphalangeal), PIP (Proximal Interphalangeal) and MCP (Metacarpophalangeal) using passive tendons though circular rings. The grasping capabilities, along with TCP muscle properties utilized in the design such as life cycle, actuation under load and power inputs are discussed.

Experimental multiphysical characterization of an SMA driven, camber morphing owl wing section

NASA Astrophysics Data System (ADS)

Stroud, Hannah R.; Leal, Pedro B. C.; Hartl, Darren J.

2018-03-01

In the context of aerospace engineering, morphing structures are useful in their ability to change the outer mold line (OML) while improving or maintaining certain aerodynamic performance metrics. Skin-based morphing is of particular interest in that it minimizes installation volume. Shape memory alloys (SMAs) have a high force to volume ratio that makes them a suitable choice for skin-based morphing. Because the thermomechanical properties of SMAs are coupled, strain can be generated via a temperature variation; this phenomenon is used as the actuation method. Therefore, it is necessary to determine the interaction of the system not only with aerodynamic loads, but with thermal loads as well. This paper describes the wind tunnel testing and in situ thermomechanical analysis of an SMA actuated, avian inspired morphing wing. The morphing wing is embedded with two SMA composite actuators and consists of a foam core enveloped in a fiberglass-epoxy composite. As the SMA wire is heated, the actuator contracts, morphing the wing from the original owl OML to a highly cambered, high lift OML. Configuration characteristics are analyzed in situ using simultaneous three dimensional digital image correlation (DIC) and infrared thermography, thereby coupling strain and thermal measurements. This method of testing allows for the nonintrusive, multiphysical data acquisition of each actuator separately and the system as a whole.

Vct system having closed loop control employing spool valve actuated by a stepper motor

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

Quin, S.B. Jr.; Siemon, E.C.

1993-06-15

An internal combustion engine is described comprising: a crankshaft, the crankshaft being rotable about an axis; a cam shaft, the cam shaft being rotatable about a second axis, the second axis being parallel to the axis, the cam shaft being subject to torque reversals during the rotation thereof; a vane, the vane having at least one lobe, the vane being attached to the cam shaft, being rotatable with the cam shaft and being non-oscillatable with respect to the cam shaft; a housing, the housing being rotatable with the cam shaft and being oscillatable with respect to the cam shaft, themore » housing having at least one recess, the recess receiving the lobe, the lobe being oscillatable within the recess; rotary movement transmitting means for transmitting rotary movement from the crankshaft to the housing; actuating means for varying the position of the housing relative to the cam shaft in reaction to torque reversals in the cam shaft, the actuating means comprising a stepper motor, a lead screw and a proportional spool valve, the position of the spool valve being controlled by the position of the lead screw driven by the stepper motor, the actuating means also delivering hydraulic fluid to the vane; and processing means for controlling the position of the actuating means.« less

Microelectromechanical ratcheting apparatus

DOEpatents

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

2001-01-01

A microelectromechanical (MEM) ratcheting apparatus is disclosed which includes an electrostatic or thermal actuator that drives a moveable member in the form of a ring gear, stage, or rack. Motion is effected by one or more reciprocating pawls driven by the actuator in a direction that is parallel to, in line with, or tangential to the path. The reciprocating pawls engage indexing elements (e.g. teeth or pins) on the moveable member to incrementally move the member along a curved or straight path with the ability to precisely control and determine the position of the moveable member. The MEM apparatus can be formed on a silicon substrate by conventional surface micromachining methods.

Encapsulation of ionic electroactive polymers: reducing the interaction with environment

NASA Astrophysics Data System (ADS)

Jaakson, P.; Aabloo, A.; Tamm, T.

2016-04-01

Ionic electro-active polymer (iEAP) actuators are composite materials that change their mechanical properties in response to external electrical stimulus. The interest in these devices is mainly driven by their capability to generate biomimetic movements, and their potential use in soft robotics. The driving voltage of an iEAP-actuator (0.5… 3 V) is at least an order of magnitude lower than that needed for other types of electroactive polymers. To apply iEAP-actuators in potential real-world applications, the capability of operating in different environments (open air, different solvents) must be available. In their natural form, the iEAP-actuators are capable of interacting with the surrounding environment (evaporation of solvent from the electrolyte solution, ion or solvent exchange, humidity effects), therefore, for prevention of unpredictable behavior of the actuator and the contamination of the environment, encapsulation of the actuator is needed. The environmental contamination aspect of the encapsulation material is substantial when selecting an applicable encapsulant. The suitable encapsulant should form thin films, be light in weight, elastic, fit tightly, low cost, and easily reproducible. The main goal of the present study is to identify and evaluate the best potential encapsulation techniques for iEAPactuators. Various techniques like thin film on liquid coating, dip coating, hot pressing, hot rolling; and several materials like polydimethylsiloxane, polyurethane, nitrocellulose, paraffin-composite-films were investigated. The advantages and disadvantages of the combinations of the above mentioned techniques and materials are discussed. Successfully encapsulated iEAP-actuators gained durability and were stably operable for long periods of time under ambient conditions. The encapsulation process also increased the stability of the iEAP-actuator by minimizing the environment effects. This makes controlling iEAP-actuators more straight-forward and reliable since there is no need to take the environmental factors like relative humidity and/or gas circulation into account.

Optimal Design of Cable-Driven Manipulators Using Particle Swarm Optimization.

PubMed

Bryson, Joshua T; Jin, Xin; Agrawal, Sunil K

2016-08-01

The design of cable-driven manipulators is complicated by the unidirectional nature of the cables, which results in extra actuators and limited workspaces. Furthermore, the particular arrangement of the cables and the geometry of the robot pose have a significant effect on the cable tension required to effect a desired joint torque. For a sufficiently complex robot, the identification of a satisfactory cable architecture can be difficult and can result in multiply redundant actuators and performance limitations based on workspace size and cable tensions. This work leverages previous research into the workspace analysis of cable systems combined with stochastic optimization to develop a generalized methodology for designing optimized cable routings for a given robot and desired task. A cable-driven robot leg performing a walking-gait motion is used as a motivating example to illustrate the methodology application. The components of the methodology are described, and the process is applied to the example problem. An optimal cable routing is identified, which provides the necessary controllable workspace to perform the desired task and enables the robot to perform that task with minimal cable tensions. A robot leg is constructed according to this routing and used to validate the theoretical model and to demonstrate the effectiveness of the resulting cable architecture.

In situ Probe Microphone Measurement for Testing the Direct Acoustical Cochlear Stimulator.

PubMed

Stieger, Christof; Alnufaily, Yasser H; Candreia, Claudia; Caversaccio, Marco D; Arnold, Andreas M

2017-01-01

Hypothesis: Acoustical measurements can be used for functional control of a direct acoustic cochlear stimulator (DACS). Background: The DACS is a recently released active hearing implant that works on the principle of a conventional piston prosthesis driven by the rod of an electromagnetic actuator. An inherent part of the DACS actuator is a thin titanium diaphragm that allows for movement of the stimulation rod while hermetically sealing the housing. In addition to mechanical stimulation, the actuator emits sound into the mastoid cavity because of the motion of the diaphragm. Methods: We investigated the use of the sound emission of a DACS for intra-operative testing. We measured sound emission in the external auditory canal (P EAC ) and velocity of the actuators stimulation rod (V act ) in five implanted ears of whole-head specimens. We tested the influence various positions of the loudspeaker and a probe microphone on P EAC and simulated implant malfunction in one example. Results: Sound emission of the DACS with a signal-to-noise ratio >10 dB was observed between 0.5 and 5 kHz. Simulated implant misplacement or malfunction could be detected by the absence or shift in the characteristic resonance frequency of the actuator. P EAC changed by <6 dB for variations of the microphone and loudspeaker position. Conclusion: Our data support the feasibility of acoustical measurements for in situ testing of the DACS implant in the mastoid cavity as well as for post-operative monitoring of actuator function.

Piezoelectrically pushed rotational micromirrors using detached PZT actuators for wide-angle optical switch applications

NASA Astrophysics Data System (ADS)

Kim, Sung-Jin; Cho, Young-Ho; Nam, Hyo-Jin; Bu, Jong Uk

2008-12-01

This paper presents a torsional micromirror detached from PZT actuators (TMD), whose rotational motion is achieved by push bars in the PZT actuators, detached from the micromirror. The push bar mechanism is intended to reduce the bending, tensile and torsional constraints generated by the conventional bending bar mechanism, where the torsional micromirror is attached to the PZT actuators (TMA). We have designed, fabricated and tested the prototypes of TMDs for single-axis and dual-axis rotations, respectively. The single-axis TMD generates a static rotational angle of 6.1° at 16 Vdc, which is six times larger than that of the single-axis TMA, 0.9°. However, the rotational response curve of TMD shows hysteresis and zero offset due to the static friction from the initial contact force between the cover and the push bar in the PZT actuator. We have shown that 63.2% of the hysteresis is reduced by eliminating the initial contact force of the PZT actuator. The dual-axis TMD generates static rotational angles of 5.5° and 4.7° in the x-axis and y-axis, respectively, at 16 Vdc. The measured resonant frequencies of the dual-axis TMD are 2.1 ± 0.1 kHz in the x-axis and 1.7 ± 0.1 kHz in the y-axis. The dual-axis TMD shows stable operation without severe wear for 21.6 million cycles driven by the 16 Vp-p sinusoidal wave signal at room temperature.

Piezoelectric devices for vibration suppression: Modeling and application to a truss structure

NASA Technical Reports Server (NTRS)

Won, Chin C.; Sparks, Dean W., Jr.; Belvin, W. Keith; Sulla, Jeff L.

1993-01-01

For a space structure assembled from truss members, an effective way to control the structure may be to replace the regular truss elements by active members. The active members play the role of load carrying elements as well as actuators. A piezo strut, made of a stack of piezoceramics, may be an ideal active member to be integrated into a truss space structure. An electrically driven piezo strut generates a pair of forces, and is considered as a two-point actuator in contrast to a one-point actuator such as a thruster or a shaker. To achieve good structural vibration control, sensing signals compatible to the control actuators are desirable. A strain gage or a piezo film with proper signal conditioning to measure member strain or strain rate, respectively, are ideal control sensors for use with a piezo actuator. The Phase 0 CSI Evolutionary Model (CEM) at NASA Langley Research Center used cold air thrusters as actuators to control both rigid body motions and flexible body vibrations. For the Phase 1 and 2 CEM, it is proposed to use piezo struts to control the flexible modes and thrusters to control the rigid body modes. A tenbay truss structure with active piezo struts is built to study the modeling, controller designs, and experimental issues. In this paper, the tenbay structure with piezo active members is modelled using an energy method approach. Decentralized and centralized control schemes are designed and implemented, and preliminary analytical and experimental results are presented.

Study of Plasma Liner Driven Magnetized Target Fusion Via Advanced Simulations

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

Samulyak, Roman V.; Brookhaven National Lab.; Parks, Paul

The feasibility of the plasma liner driven Magnetized Target Fusion (MTF) via terascale numerical simulations will be assessed. In the MTF concept, a plasma liner, formed by merging of a number (60 or more) of radial, highly supersonic plasma jets, implodes on the target in the form of two compact plasma toroids, and compresses it to conditions of the fusion ignition. By avoiding major difficulties associated with both the traditional laser driven inertial confinement fusion and solid liner driven MTF, the plasma liner driven MTF potentially provides a low-cost and fast R&D path towards the demonstration of practical fusion energy.more » High fidelity numerical simulations of full nonlinear models associated with the plasma liner MTF using state-of-art numerical algorithms and terascale computing are necessary in order to resolve uncertainties and provide guidance for future experiments. At Stony Brook University, we have developed unique computational capabilities that ideally suite the MTF problem. The FronTier code, developed in collaboration with BNL and LANL under DOE funding including SciDAC for the simulation of 3D multi-material hydro and MHD flows, has beenbenchmarked and used for fundamental and engineering problems in energy science applications. We have performed 3D simulations of converging supersonic plasma jets, their merger and the formation of the plasma liner, and a study of the corresponding oblique shock problem. We have studied the implosion of the plasma liner on the magnetized plasma target by resolving Rayleigh-Taylor instabilities in 2D and 3D and other relevant physics and estimate thermodynamic conditions of the target at the moment of maximum compression and the hydrodynamic efficiency of the method.« less

Fenoterol delivery by Respimat soft mist inhaler versus CFC metered dose inhaler: cumulative dose-response study in asthma patients.

PubMed

Vincken, Walter; Dewberry, Helen; Moonen, Diane

2003-09-01

Respimat (RMT) soft mist inhaler (SMI) is a novel, propellant-free alternative to chlorofluorocarbon metered-dose inhalers (CFC-MDIs). The aim of this study was to evaluate the safety and establish the equipotent dose of fenoterol delivered by RMT SMI vs. a conventional MDI. Double-blind, randomized, crossover, comparative study between fenoterol inhaled via RMT (either 50 microg/actuation, RMT50; or 100 microg/actuation. RMT100) and MDI (100 microg/actuation; MDI100). A total of 41 asthma patients received cumulative doses of fenoterol 600 microg (RMT50) or 1200 microg (RMT100 and MDI100) on 3 test days. The bronchodilator response (forced expiratory volume in 1 second [FEV1]) was considered therapeutically equivalent (i.e., noninferior) if the 95% confidence intervals for the difference in their mean changes from baseline were within limits of +/- 0.15L. Systemic exposure was evaluated from plasma fenoterol levels. Adverse events (AEs) were recorded. RMT50 and RMT100 produced noninferior bronchodilatation to MDI100 from 30minutes after the first dose. RMT50 showed equivalent safety and tolerability to MDI100, whereas RMT100 produced a higher incidence of AEs, a significantly greater plasma potassium reduction and a significant increase in pulse rate. Fenoterol plasma levels were twice as high with RMT100 as with RMT50 or MDI100. CONCLUSIONS; The nominal dose of fenoterol administered via RMT SMI can be at least halved to achieve equivalent efficacy, safety, and tolerability to a MDI.

Current-driven plasma acceleration versus current-driven energy dissipation. I - Wave stability theory

NASA Technical Reports Server (NTRS)

Kelly, A. J.; Jahn, R. G.; Choueiri, E. Y.

1990-01-01

The dominant unstable electrostatic wave modes of an electromagnetically accelerated plasma are investigated. The study is the first part of a three-phase program aimed at characterizing the current-driven turbulent dissipation degrading the efficiency of Lorentz force plasma accelerators such as the MPD thruster. The analysis uses a kinetic theory that includes magnetic and thermal effects as well as those of an electron current transverse to the magnetic field and collisions, thus combining all the features of previous models. Analytical and numerical solutions allow a detailed description of threshold criteria, finite growth behavior, destabilization mechanisms and maximized-growth characteristics of the dominant unstable modes. The lower hybrid current-driven instability is implicated as dominant and was found to preserve its character in the collisional plasma regime.

Close-loop Dynamic Stall Control on a Pitching Airfoil

NASA Astrophysics Data System (ADS)

Giles, Ian; Corke, Thomas

2017-11-01

A closed-loop control scheme utilizing a plasma actuator to control dynamic stall is presented. The plasma actuator is located at the leading-edge of a pitching airfoil. It initially pulses at an unsteady frequency that perturbs the boundary layer flow over the suction surface of the airfoil. As the airfoil approaches and enters stall, the amplification of the unsteady disturbance is detected by an onboard pressure sensor also located near the leading edge. Once detected, the actuator is switched to a higher voltage control state that in static airfoil experiments would reattach the flow. The threshold level of the detection is a parameter in the control scheme. Three stall regimes were examined: light, medium, and deep stall, that were defined by their stall penetration angles. The results showed that in general, the closed-loop control scheme was effective at controlling dynamic stall. The cycle-integrated lift improved in all cases, and increased by as much as 15% at the lowest stall penetration angle. As important, the cycle-integrated aerodynamic damping coefficient also increased in all cases, and was made to be positive at the light stall regime where it traditionally is negative. The latter is important in applications where negative damping can lead to stall flutter.

Effect of slotted exit orifice on performance of plasma synthetic jet actuator

NASA Astrophysics Data System (ADS)

Zong, Haohua; Kotsonis, Marios

2017-03-01

This study experimentally investigates the influence of exit orifice shape on the performance characteristics of a three-electrode plasma synthetic jet actuator. High-speed Schlieren imaging system and phase-locked two-component PIV measurements are used for flowfield characterisation in quiescent conditions. Two actuator configurations with the same exit area but different exit orifice shape (round orifice and slot orifice) are studied. Results indicate a close correspondence between the shapes of the starting vortex ring with the shapes of the respective exit orifices. For the slot orifice, the elongated starting vortex ring gradually expands during propagation, while its ends become warped. A distinct K-H instability structure is observed, inducing continuous oscillation of the high-speed jet. Compared with the jet from the round orifice, the slot jet has a higher entrainment rate of surrounding air, thus resulting in a lower propagation velocity of the jet front. The exit velocity of PSJA within one period initially shows a rapid increase, then persists at a relatively high level (100-130 m/s), and finally drops with some small-scale oscillations. The oscillation amplitude is less than 10 m/s, and the oscillation period is approximately 600 µs. Under conditions of same exit area, orifice shape has little influence on the variation of the exit velocity.

Modeling and control of plasma rotation and βn for NSTX-U using Neoclassical Toroidal Viscosity and Neutral Beam Injection

NASA Astrophysics Data System (ADS)

Goumiri, Imene; Rowley, Clarence; Sabbagh, Steven; Gates, David; Gerhardt, Stefan; Boyer, Mark

2015-11-01

A model-based system is presented allowing control of the plasma rotation profile in a magnetically confined toroidal fusion device to maintain plasma stability for long pulse operation. The analysis, using NSTX data and NSTX-U TRANSP simulations, is aimed at controlling plasma rotation using momentum from six injected neutral beams and neoclassical toroidal viscosity generated by three-dimensional applied magnetic fields as actuators. Based on the momentum diffusion and torque balance model obtained, a feedback controller is designed and predictive simulations using TRANSP will be presented. Robustness of the model and the rotation controller will be discussed.

Robustness of waves with a high phase velocity

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

Tajima, T., E-mail: ttajima@uci.edu; Tri Alpha Energy, Inc., P.O. Box 7010, Rancho Santa Margarita, CA 92688; Necas, A., E-mail: anecas@trialphaenergy.com

Norman Rostoker pioneered research of (1) plasma-driven accelerators and (2) beam-driven fusion reactors. The collective acceleration, coined by Veksler, advocates to drive above-ionization plasma waves by an electron beam to accelerate ions. The research on this, among others, by the Rostoker group incubated the idea that eventually led to the birth of the laser wakefield acceleration (LWFA), by which a large and robust accelerating collective fields may be generated in plasma in which plasma remains robust and undisrupted. Besides the emergence of LWFA, the Rostoker research spawned our lessons learned on the importance of adiabatic acceleration of ions in collectivemore » accelerators, including the recent rebirth in laser-driven ion acceleration efforts in a smooth adiabatic fashion by a variety of ingenious methods. Following Rostoker’s research in (2), the beam-driven Field Reversed Configuration (FRC) has accomplished breakthroughs in recent years. The beam-driven kinetic plasma instabilities have been found to drive the reactivity of deuteron-deuteron fusion beyond the thermonuclear yield in C-2U plasma that Rostoker started. This remarkable result in FRCs as well as the above mentioned LWFA may be understood with the aid of the newly introduced idea of the “robustness hypothesis of waves with a high phase velocity”. It posits that when the wave driven by a particle beam (or laser pulse) has a high phase velocity, its amplitude is high without disrupting the supporting bulk plasma. This hypothesis may guide us into more robust and efficient fusion reactors and more compact accelerators.« less

Contractive tension force stack actuator based on soft dielectric EAP

NASA Astrophysics Data System (ADS)

Kovacs, Gabor; Düring, Lukas

2009-03-01

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

Probing plasma wakefields using electron bunches generated from a laser wakefield accelerator

NASA Astrophysics Data System (ADS)

Zhang, C. J.; Wan, Y.; Guo, B.; Hua, J. F.; Pai, C.-H.; Li, F.; Zhang, J.; Ma, Y.; Wu, Y. P.; Xu, X. L.; Mori, W. B.; Chu, H.-H.; Wang, J.; Lu, W.; Joshi, C.

2018-04-01

We show experimental results of probing the electric field structure of plasma wakes by using femtosecond relativistic electron bunches generated from a laser wakefield accelerator. Snapshots of laser-driven linear wakes in plasmas with different densities and density gradients are captured. The spatiotemporal evolution of the wake in a plasma density up-ramp is recorded. Two parallel wakes driven by a laser with a main spot and sidelobes are identified in the experiment and reproduced in simulations. The capability of this new method for capturing the electron- and positron-driven wakes is also shown via 3D particle-in-cell simulations.

Public Data Set: Non-inductively Driven Tokamak Plasmas at Near-Unity βt in the Pegasus Toroidal Experiment

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

Reusch, Joshua A.; Bodner, Grant M.; Bongard, Michael W.

This public data set contains openly-documented, machine readable digital research data corresponding to figures published in J.A. Reusch et al., 'Non-inductively Driven Tokamak Plasmas at Near-Unity βt in the Pegasus Toroidal Experiment,' Phys. Plasmas 25, 056101 (2018).

Three-dimensional microelectromechanical tilting platform operated by gear-driven racks

DOEpatents

Klody, Kelly A.; Habbit, Jr., Robert D.

2005-11-01

A microelectromechanical (MEM) tiltable-platform apparatus is disclosed which utilizes a light-reflective platform (i.e. a micromirror) which is supported above a substrate by flexures which can be bent upwards to tilt the platform in any direction over an angle of generally .+-.10 degrees using a gear-driven rack attached to each flexure. Each rack is driven by a rotary microengine (i.e. a micromotor); and an optional thermal actuator can be used in combination with each microengine for initially an initial uplifting of the platform away from the substrate. The MEM apparatus has applications for optical switching (e.g. between a pair of optical fibers) or for optical beam scanning.

Studies of the Plasma Triggering Mechanism of Inverse Pinch Switch

DTIC Science & Technology

1993-11-10

plasma - focus driven plasma-puff was also discussed in comparison with the hypocycloidal pinch plasma-puff triggering. The main discharge of inverse pinch switch with plasma - focus driven plasma-puff trigger is found to be more azimuthally uniform than that with hypocycloidal pinch plasma-puff trigger in a gas pressure region between 80 mTorr and 1 Torr. A comparative study of the INPIStron and a spark gap also reveals that the INPIStron with a low impedance Z = 9 ohms can transfer a high voltage pulse with a superior pulse-shape fidelity over that with

Wind tunnel experiments on flow separation control of an Unmanned Air Vehicle by nanosecond discharge plasma aerodynamic actuation

NASA Astrophysics Data System (ADS)

Kang, Chen; Hua, Liang

2016-02-01

Plasma flow control (PFC) is a new kind of active flow control technology, which can improve the aerodynamic performances of aircrafts remarkably. The flow separation control of an unmanned air vehicle (UAV) by nanosecond discharge plasma aerodynamic actuation (NDPAA) is investigated experimentally in this paper. Experimental results show that the applied voltages for both the nanosecond discharge and the millisecond discharge are nearly the same, but the current for nanosecond discharge (30 A) is much bigger than that for millisecond discharge (0.1 A). The flow field induced by the NDPAA is similar to a shock wave upward, and has a maximal velocity of less than 0.5 m/s. Fast heating effect for nanosecond discharge induces shock waves in the quiescent air. The lasting time of the shock waves is about 80 μs and its spread velocity is nearly 380 m/s. By using the NDPAA, the flow separation on the suction side of the UAV can be totally suppressed and the critical stall angle of attack increases from 20° to 27° with a maximal lift coefficient increment of 11.24%. The flow separation can be suppressed when the discharge voltage is larger than the threshold value, and the optimum operation frequency for the NDPAA is the one which makes the Strouhal number equal one. The NDPAA is more effective than the millisecond discharge plasma aerodynamic actuation (MDPAA) in boundary layer flow control. The main mechanism for nanosecond discharge is shock effect. Shock effect is more effective in flow control than momentum effect in high speed flow control. Project supported by the National Natural Science Foundation of China (Grant Nos. 61503302, 51207169, and 51276197), the China Postdoctoral Science Foundation (Grant No. 2014M562446), and the Natural Science Foundation of Shaanxi Province, China (Grant No. 2015JM1001).

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.

Wireless Acoustic-Surface Actuators for Miniaturized Endoscopes.

PubMed

Qiu, Tian; Adams, Fabian; Palagi, Stefano; Melde, Kai; Mark, Andrew; Wetterauer, Ulrich; Miernik, Arkadiusz; Fischer, Peer

2017-12-13

Endoscopy enables minimally invasive procedures in many medical fields, such as urology. However, current endoscopes are normally cable-driven, which limits their dexterity and makes them hard to miniaturize. Indeed, current urological endoscopes have an outer diameter of about 3 mm and still only possess one bending degree-of-freedom. In this article, we report a novel wireless actuation mechanism that increases the dexterity and that permits the miniaturization of a urological endoscope. The novel actuator consists of thin active surfaces that can be readily attached to any device and are wirelessly powered by ultrasound. The surfaces consist of two-dimensional arrays of microbubbles, which oscillate under ultrasound excitation and thereby generate an acoustic streaming force. Bubbles of different sizes are addressed by their unique resonance frequency, thus multiple degrees-of-freedom can readily be incorporated. Two active miniaturized devices (with a side length of around 1 mm) are demonstrated: a miniaturized mechanical arm that realizes two degrees-of-freedom, and a flexible endoscope prototype equipped with a camera at the tip. With the flexible endoscope, an active endoscopic examination is successfully performed in a rabbit bladder. The results show the potential medical applicability of surface actuators wirelessly powered by ultrasound penetrating through biological tissues.

Electrically Driven Microengineered Bioinspired Soft Robots.

PubMed

Shin, Su Ryon; Migliori, Bianca; Miccoli, Beatrice; Li, Yi-Chen; Mostafalu, Pooria; Seo, Jungmok; Mandla, Serena; Enrico, Alessandro; Antona, Silvia; Sabarish, Ram; Zheng, Ting; Pirrami, Lorenzo; Zhang, Kaizhen; Zhang, Yu Shrike; Wan, Kai-Tak; Demarchi, Danilo; Dokmeci, Mehmet R; Khademhosseini, Ali

2018-03-01

To create life-like movements, living muscle actuator technologies have borrowed inspiration from biomimetic concepts in developing bioinspired robots. Here, the development of a bioinspired soft robotics system, with integrated self-actuating cardiac muscles on a hierarchically structured scaffold with flexible gold microelectrodes is reported. Inspired by the movement of living organisms, a batoid-fish-shaped substrate is designed and reported, which is composed of two micropatterned hydrogel layers. The first layer is a poly(ethylene glycol) hydrogel substrate, which provides a mechanically stable structure for the robot, followed by a layer of gelatin methacryloyl embedded with carbon nanotubes, which serves as a cell culture substrate, to create the actuation component for the soft body robot. In addition, flexible Au microelectrodes are embedded into the biomimetic scaffold, which not only enhance the mechanical integrity of the device, but also increase its electrical conductivity. After culturing and maturation of cardiomyocytes on the biomimetic scaffold, they show excellent myofiber organization and provide self-actuating motions aligned with the direction of the contractile force of the cells. The Au microelectrodes placed below the cell layer further provide localized electrical stimulation and control of the beating behavior of the bioinspired soft robot. © 2018 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Control of three-dimensional waves on thin liquid films

NASA Astrophysics Data System (ADS)

Tomlin, Ruben; Gomes, Susana; Pavliotis, Greg; Papageorgiou, Demetrios

2017-11-01

We consider a weakly nonlinear model for interfacial waves on three-dimensional thin films on inclined flat planes - the Kuramoto-Sivashinsky equation. The flow is driven by gravity, and is allowed to be overlying or hanging on the flat substrate. Blowing and suction controls are applied at the substrate surface. We explore the instability of the transverse modes for hanging arrangements, which are unbounded and grow exponentially. The structure of the equations allows us to construct optimal transverse controls analytically to prevent this transverse growth. We also may consider the influence of transverse modes on overlying film flows, these modes are damped out if uncontrolled. We also consider the more physical concept of point actuated controls which are modelled using Dirac delta functions. We first study the case of proportional control, where the actuation at a point depends on the local interface height alone. Here, we study the influence of control strength and number/location of actuators on the possible stabilization of the zero solution. We also consider the full feedback problem, which assumes that we can observe the full interface and allow communication between actuators. Using these controls we can obtain exponential stability where proportional controls fail, and stabilize non-trivial solutions.

A novel instrument for generating angular increments of 1 nanoradian

NASA Astrophysics Data System (ADS)

Alcock, Simon G.; Bugnar, Alex; Nistea, Ioana; Sawhney, Kawal; Scott, Stewart; Hillman, Michael; Grindrod, Jamie; Johnson, Iain

2015-12-01

Accurate generation of small angles is of vital importance for calibrating angle-based metrology instruments used in a broad spectrum of industries including mechatronics, nano-positioning, and optic fabrication. We present a novel, piezo-driven, flexure device capable of reliably generating micro- and nanoradian angles. Unlike many such instruments, Diamond Light Source's nano-angle generator (Diamond-NANGO) does not rely on two separate actuators or rotation stages to provide coarse and fine motion. Instead, a single Physik Instrumente NEXLINE "PiezoWalk" actuator provides millimetres of travel with nanometre resolution. A cartwheel flexure efficiently converts displacement from the linear actuator into rotary motion with minimal parasitic errors. Rotation of the flexure is directly measured via a Magnescale "Laserscale" angle encoder. Closed-loop operation of the PiezoWalk actuator, using high-speed feedback from the angle encoder, ensures that the Diamond-NANGO's output drifts by only ˜0.3 nrad rms over ˜30 min. We show that the Diamond-NANGO can reliably move with unprecedented 1 nrad (˜57 ndeg) angular increments over a range of >7000 μrad. An autocollimator, interferometer, and capacitive displacement sensor are used to independently confirm the Diamond-NANGO's performance by simultaneously measuring the rotation of a reflective cube.

A novel instrument for generating angular increments of 1 nanoradian.

PubMed

Alcock, Simon G; Bugnar, Alex; Nistea, Ioana; Sawhney, Kawal; Scott, Stewart; Hillman, Michael; Grindrod, Jamie; Johnson, Iain

2015-12-01

Accurate generation of small angles is of vital importance for calibrating angle-based metrology instruments used in a broad spectrum of industries including mechatronics, nano-positioning, and optic fabrication. We present a novel, piezo-driven, flexure device capable of reliably generating micro- and nanoradian angles. Unlike many such instruments, Diamond Light Source's nano-angle generator (Diamond-NANGO) does not rely on two separate actuators or rotation stages to provide coarse and fine motion. Instead, a single Physik Instrumente NEXLINE "PiezoWalk" actuator provides millimetres of travel with nanometre resolution. A cartwheel flexure efficiently converts displacement from the linear actuator into rotary motion with minimal parasitic errors. Rotation of the flexure is directly measured via a Magnescale "Laserscale" angle encoder. Closed-loop operation of the PiezoWalk actuator, using high-speed feedback from the angle encoder, ensures that the Diamond-NANGO's output drifts by only ∼0.3 nrad rms over ∼30 min. We show that the Diamond-NANGO can reliably move with unprecedented 1 nrad (∼57 ndeg) angular increments over a range of >7000 μrad. An autocollimator, interferometer, and capacitive displacement sensor are used to independently confirm the Diamond-NANGO's performance by simultaneously measuring the rotation of a reflective cube.

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.

Wireless Acoustic-Surface Actuators for Miniaturized Endoscopes

PubMed Central

2017-01-01

Endoscopy enables minimally invasive procedures in many medical fields, such as urology. However, current endoscopes are normally cable-driven, which limits their dexterity and makes them hard to miniaturize. Indeed, current urological endoscopes have an outer diameter of about 3 mm and still only possess one bending degree-of-freedom. In this article, we report a novel wireless actuation mechanism that increases the dexterity and that permits the miniaturization of a urological endoscope. The novel actuator consists of thin active surfaces that can be readily attached to any device and are wirelessly powered by ultrasound. The surfaces consist of two-dimensional arrays of microbubbles, which oscillate under ultrasound excitation and thereby generate an acoustic streaming force. Bubbles of different sizes are addressed by their unique resonance frequency, thus multiple degrees-of-freedom can readily be incorporated. Two active miniaturized devices (with a side length of around 1 mm) are demonstrated: a miniaturized mechanical arm that realizes two degrees-of-freedom, and a flexible endoscope prototype equipped with a camera at the tip. With the flexible endoscope, an active endoscopic examination is successfully performed in a rabbit bladder. The results show the potential medical applicability of surface actuators wirelessly powered by ultrasound penetrating through biological tissues. PMID:29148713

Kinetic instability of electrostatic ion cyclotron waves in inter-penetrating plasmas

NASA Astrophysics Data System (ADS)

Bashir, M. F.; Ilie, R.; Murtaza, G.

2018-05-01

The Electrostatic Ion Cyclotron (EIC) instability that includes the effect of wave-particle interaction is studied owing to the free energy source through the flowing velocity of the inter-penetrating plasmas. It is shown that the origin of this current-less instability is different from the classical current driven EIC instability. The threshold conditions applicable to a wide range of plasma parameters and the estimate of the growth rate are determined as a function of the normalized flowing velocity ( u0/vt f e ), the temperature ( Tf/Ts ) and the density ratios ( nf 0/ns 0 ) of flowing component to static one. The EIC instability is driven by either flowing electrons or flowing ions, depending upon the different Doppler shifted frequency domains. It is found that the growth rate for electron-driven instability is higher than the ion-driven one. However, in both cases, the denser (hotter) is the flowing plasma, the lesser (greater) is the growth rate. The possible applications related to the terrestrial solar plasma environment are also discussed.

Multilayer Piezoelectric Stack Actuator Characterization

NASA Technical Reports Server (NTRS)

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

2008-01-01

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

MEMS tactile display: from fabrication to characterization

NASA Astrophysics Data System (ADS)

Miki, Norihisa; Kosemura, Yumi; Watanabe, Junpei; Ishikawa, Hiroaki

2014-03-01

We report fabrication and characterization of MEMS-based tactile display that can display users various tactile information, such as Braille codes and surface textures. The display consists of 9 micro-actuators that are equipped with hydraulic displacement amplification mechanism (HDAM) to achieve large enough displacement to stimulate the human tactile receptors. HDAM encapsulates incompressible liquids. We developed a liquid encapsulation process, which we termed as Bonding-in-Liquid Technique, where bonding with a UV-curable resin in glycerin is conducted in the liquid, which prevented interfusion of air bubbles and deformation of the membrane during the bonding. HDAM successfully amplified the displacement generated by piezoelectric actuators by a factor of 6. The display could virtually produce "rough" and "smooth" surfaces, by controlling the vibration frequency, displacement, and the actuation periods of an actuator until the adjacent actuator was driven. We introduced a sample comparison method to characterize the surfaces, which involves human tactile sensation. First, we prepared samples whose mechanical properties are known. We displayed a surface texture to the user by controlling the parameters and then, the user selects a sample that has the most similar surface texture. By doing so, we can correlate the parameters with the mechanical properties of the sample as well as find the sets of the parameters that can provide similar tactile information to many users. The preliminary results with respect to roughness and hardness is presented.

Thickness dependence of voltage-driven magnetization switching in FeCo/PI/piezoelectric actuator heterostructures

NASA Astrophysics Data System (ADS)

Cui, B. S.; Guo, X. B.; Wu, K.; Li, D.; Zuo, Y. L.; Xi, L.

2016-03-01

Strain mediated magnetization switching of ferromagnetic/substrate/piezoelectric actuator heterostructures has become a hot issue due to the advantage of low-power consumption. In this work, Fe65Co35 thin films were deposited on a flexible polyamides (PI) substrate, which has quite low Young’s module (~4 GPa for PI as compared to ~180 GPa for Si) and benefits from complete transfer of the strain from the piezoelectric actuator to magnetic thin films. A complete 90° transition of the magnetic easy axis was realized in 50 nm thick FeCo films under the voltage of 70 V, while a less than 90° rotation angle of the magnetic easy axis direction was observed in other samples, which was ascribed to the distribution of the anisotropy field and/or the orthogonal misalignment between stress induced anisotropy and original uniaxial anisotropy. A model considering two uniaxial anisotropies with orthogonal arrangement was used to quantitatively understand the observed results and the linear-like voltage dependent anisotropy field, especially for 10 nm FeCo films, in which the switching mechanism along the easy axis direction can be explained by the domain wall depinning model. It indicates that the magnetic domain-wall movement velocity may be controlled by strain through tuning the energy barrier of the pinning in heterostructures. Moreover, voltage-driven 90° magnetization switching with low-power consumption was achieved in this work.

Proceedings of the 2nd Experimental Chaos Conference

NASA Astrophysics Data System (ADS)

Ditto, William; Pecora, Lou; Shlesinger, Michael; Spano, Mark; Vohra, Sandeep

1995-02-01

The Table of Contents for the full book PDF is as follows: * Introduction * Spatiotemporal Phenomena * Experimental Studies of Chaotic Mixing * Using Random Maps in the Analysis of Experimental Fluid Flows * Transition to Spatiotemporal Chaos in a Reaction-Diffusion System * Ion-Dynamical Chaos in Plasmas * Optics * Chaos in a Synchronously Driven Optical Resonator * Chaos, Patterns and Defects in Stimulated Scattering Phenomena * Test of the Normal Form for a Subcritical Bifurcation * Observation of Bifurcations and Chaos in a Driven Fiber Optic Coil * Applications -- Communications * Robustness and Signal Recovery in a Synchronized Chaotic System * Synchronizing Nonautonomous Chaotic Circuits * Synchronization of Pulse-Coupled Chaotic Oscillators * Ocean Transmission Effects on Chaotic Signals * Controlling Symbolic Dynamics for Communication * Applications -- Control * Analysis of Nonlinear Actuators Using Chaotic Waveforms * Controlling Chaos in a Quasiperiodic Electronic System * Control of Chaos in a CO2 Laser * General Research * Video-Based Analysis of Bifurcation Phenomena in Radio-Frequency-Excited Inert Gas Plasmas * Transition from Soliton to Chaotic Motion During the Impact of a Nonlinear Structure * Sonoluminescence in a Single Bubble: Periodic, Quasiperiodic and Chaotic Light Source * Quantum Chaos Experiments Using Microwave Cavities * Experiments on Quantum Chaos With and Without Time Reversibility * When Small Noise Imposed on Deterministic Dynamics Becomes Important * Biology * Chaos Control for Cardiac Arrhythmias * Irregularities in Spike Trains of Cat Retinal Ganglion Cells * Broad-Band Synchronization in Monkey Neocortex * Applicability of Correlation Dimension Calculations to Blood Pressure Signal in Rats * Tests for Deterministic Chaos in Noisy Time Series * The Crayfish Mechanoreceptor Cell: A Biological Example of Stochastic Resonance * Chemistry * Chaos During Heterogeneous Chemical Reactions * Stabilizing and Tracking Unstable Periodic Orbits and Stationary States in Chemical Systems * Recursive Proportional-Feedback and Its Use to Control Chaos in an Electrochemical System * Temperature Patterns on Catalytic Surfaces * Meteorology/Oceanography * Nonlinear Evolution of Water Waves: Hilbert's View * Fractal Properties of Isoconcentration Surfaces in a Smoke Plume * Fractal Dimensions of Remotely Sensed Atmospheric Signals * Are Ocean Surface Waves Chaotic? * Dynamical Attractor Reconstruction for a Marine Stratocumulus Cloud

Plasma-Based Mixing Actuation in Airflow, Quantitated by Probe Breakdown Fluorescence

NASA Astrophysics Data System (ADS)

Leonov, Sergey; Firsov, Alexander; Shurupov, Michail; Yarantsev, Dmitry; Ohio State University Team; JIHT RAS Team

2013-09-01

Effective mixing of fuel and oxidizer in air-breathing engine at compressible conditions is an essential problem of high-speed combustion due to short residence time of gas mixture in the combustor of limited length. The effect of the mixing actuation by plasma is observed because of the gasdynamic instability arisen after the long filamentary discharge of submicrosecond duration generated along the contact zone of two co-flown gases. The work is focused on detail consideration of the mechanism of gas instability, promoted by plasma, on effect of the discharge specific localization, and on diagnostics development for qualitative and quantitative estimation of the mixing efficiency. The dynamics of relative concentration of gas components is examined quantitatively by means of Probe Discharge Breakdown Fluorescence (PBF). In this method an optical emission spectra of weak filamentary high-voltage nanosecond probe discharge are collected from local zone of interest in airflow. The first measurements of the mixing efficiency in vicinity of wall-injected secondary gas are presented. It is shown that the method of PBF could deliver experimental data on state of the two-component medium with <1 mcs and <5 mm of time and spatial resolution, correspondingly. Funded by AFOSR under Dr Chiping Li supervision

A note on supersonic flow control with nanosecond plasma actuator

NASA Astrophysics Data System (ADS)

Zheng, J. G.; Cui, Y. D.; Li, J.; Khoo, B. C.

2018-04-01

A concept study on supersonic flow control using nanosecond pulsed plasma actuator is conducted by means of numerical simulation. The nanosecond plasma discharge is characterized by the generation of a micro-shock wave in ambient air and a residual heat in the discharge volume arising from the rapid heating of near-surface gas by the quick discharge. The residual heat has been found to be essential for the flow separation control over aerodynamic bodies like airfoil and backward-facing step. In this study, novel experiment is designed to utilize the other flow feature from discharge, i.e., instant shock wave, to control supersonic flow through shock-shock interaction. Both bow shock in front of a blunt body and attached shock anchored at the tip of supersonic projectile are manipulated via the discharged-induced shock wave in an appropriate manner. It is observed that drag on the blunt body is reduced appreciably. Meanwhile, a lateral force on sharp-edged projectile is produced, which can steer the body and give it an effective angle of attack. This opens a promising possibility for extending the applicability of this flow control technique in supersonic flow regime.

Reconfigurable Full-Page Braille Displays

NASA Technical Reports Server (NTRS)

Garner, H. Douglas

1994-01-01

Electrically actuated braille display cells of proposed type arrayed together to form full-page braille displays. Like other braille display cells, these provide changeable patterns of bumps driven by digitally recorded text stored on magnetic tapes or in solid-state electronic memories. Proposed cells contain electrorheological fluid. Viscosity of such fluid increases in strong electrostatic field.

Research regarding the influence of driving-wires length change on positioning precision of a robotic arm

NASA Astrophysics Data System (ADS)

Ciofu, C.; Stan, G.

2016-08-01

The paper emphasise positioning precision of an elephant's trunk robotic arm which has joints driven by wires with variable length while operating The considered 5 degrees of freedom robotic arm has a particular structure of joint that makes possible inner actuation with wire-driven mechanism. We analyse solely the length change of wires as a consequence due inner winding and unwinding on joints for certain values of rotational angles. Variations in wires length entail joint angular displacements. We analyse positioning precision by taking into consideration equations from inverse kinematics of the elephant's trunk robotic arm. The angular displacements of joints are considered into computational method after partial derivation of positioning equations. We obtain variations of wires length at about tenths of micrometers. These variations employ angular displacements which are about minutes of sexagesimal degree and, thus, define positioning precision of elephant's trunk robotic arms. The analytical method is used for determining aftermath design structure of an elephant's trunk robotic arm with inner actuation through wires on positioning precision. Thus, designers could take suitable decisions on accuracy specifications limits of the robotic arm.

Microscopic pick-and-place teleoperation

NASA Astrophysics Data System (ADS)

Bhatti, Pamela; Hannaford, Blake; Marbot, Pierre-Henry

1993-03-01

A three degree-of-freedom direct drive mini robot has been developed for biomedical applications. The design approach of the mini robot relies heavily upon electromechanical components from the Winchester disk drive industry. In the current design, the first joint is driven by actuators from a 5.25' drive, and the following joints are driven by actuators typical of 3.5' drives. The system has 5 - 10 micrometers of position repeatability and resolution in all three axes. A mini gripper attachment has been fabricated for the robot to explore manipulation of objects ranging from 50 micrometers to 500 micrometers . Mounted on the robot, the gripper has successfully performed pick and place operations under teleoperated control. The mini robot serves to precisely position the gripper, and a needle-like finger of the gripper deflects so the fingers can grip a target object. The gripper finger capable of motion is fabricated with a piezoelectric bimorph crystal which deflects with an applied DC voltage. The experimental results are promising, and the mini gripper may be modified for future biomedical and micro assembly applications.

A Liquid Optical Phase Shifter with an Embedded Electrowetting Actuator

PubMed Central

Ashtiani, Alireza Ousati; Jiang, Hongrui

2017-01-01

We demonstrate an electrowetting-based liquid optical phase shifter. The phase shifter consists of two immiscible liquid layers with different refractive indices. Sandwiched between the two liquids is a rigid membrane that moves freely along the optical axis and supported by a compliant surround. When applied with a pressure, the thicknesses of both liquid layers change, which induces a difference in optical path, resulting in a phase shift. A miniaturized electrowetting-based actuator is used to produce hydraulic pressure. A multi-layered SU8 bonded structure was fabricated. A phase shift of 171° was observed when the device was incorporated in a Mach-Zehnder interferometer and driven with 100 V. PMID:29038640

Challenges in realizing a self-contained hydraulically-driven contractile fiber actuator.

PubMed

Smela, Elisabeth

2017-07-01

The field of soft robots would benefit from electrically controlled contractile actuators in the form of fibers that achieve a strain of 20% in less than a second while exerting high force. This work explores possible designs for achieving this goal using self-contained electroosmotic fluid pumping within a tube-shaped structure. The most promising configuration is a combination of a bellows and a McKibben-type muscle, since pumping fluid from the former to the latter results in contraction of both portions. Realizing such a device entails challenges in fabrication and electrokinetic fluid pumping in closed systems. Further studies of electroosmotic flow in salt-free organic solvents are needed.

Monolithic Flexure Pre-Stressed Ultrasonic Horns

NASA Technical Reports Server (NTRS)

Sherrit, Stewart; Bao, Xiaoqi; Badescu, Mircea; Bar-Cohen, Yoseph; Allen, Phillip Grant

2011-01-01

High-power ultrasonic actuators are generally assembled with a horn, backing, stress bolt, piezoelectric rings, and electrodes. The manufacturing process is complex, expensive, difficult, and time-consuming. The internal stress bolt needs to be insulated and presents a potential internal discharge point, which can decrease actuator life. Also, the introduction of a center hole for the bolt causes many failures, reducing the throughput of the manufactured actuators. A new design has been developed for producing ultrasonic horn actuators. This design consists of using flexures rather than stress bolts, allowing one to apply pre-load to the piezoelectric material. It also allows one to manufacture them from a single material/plate, rapid prototype them, or make an array in a plate or 3D structure. The actuator is easily assembled, and application of pre-stress greater than 25 MPa was demonstrated. The horn consists of external flexures that eliminate the need for the conventional stress bolt internal to the piezoelectric, and reduces the related complexity. The stress bolts are required in existing horns to provide prestress on piezoelectric stacks when driven at high power levels. In addition, the manufacturing process benefits from the amenability to produce horn structures with internal cavities. The removal of the pre-stress bolt removes a potential internal electric discharge point in the actuator. In addition, it significantly reduces the chances of mechanical failure in the piezoelectric stacks that result from the hole surface in conventional piezoelectric actuators. The novel features of this disclosure are: 1. A design that can be manufactured from a single piece of metal using EDM, precision machining, or rapid prototyping. 2. Increased electromechanical coupling of the horn actuator. 3. Higher energy density. 4. A monolithic structure of a horn that consists of an external flexure or flexures that can be used to pre-stress a solid piezoelectric structure rather than a bolt, which requires a through hole in the piezoelectric material. 5. A flexure system with low stiffness that accommodates mechanical creep with minor reduction in pre-stress.

Voice-coil technology for the E-ELT M4 Adaptive Unit

NASA Astrophysics Data System (ADS)

Gallieni, D.; Tintori, M.; Mantegazza, M.; Anaclerio, E.; Crimella, L.; Acerboni, M.; Biasi, R.; Angerer, G.; Andrigettoni, M.; Merler, A.; Veronese, D.; Carel, J.-L.; Marque, G.; Molinari, E.; Tresoldi, D.; Toso, G.; Spanó, P.; Riva, M.; Mazzoleni, R.; Riccardi, A.; Mantegazza, P.; Manetti, M.; Morandini, M.; Vernet, E.; Hubin, N.; Jochum, L.; Madec, P.; Dimmler, M.; Koch, F.

We present our design of the E-ELT M4 Adaptive Unit based on voice-coil driven deformable mirror technology. This technology was developed by INAF-Arcetri, Microgate and ADS team in the past 15 years and it has been adopted by a number of large ground based telescopes as the MMT, LBT, Magellan and lastly the VLT in the frame of the Adaptive Telescope Facility project. Our design is based on contactless force actuators made by permanent magnets glued on the back of the deformable mirror and coils mounted on a stiff reference structure. We use capacitive sensors to close a position loop co-located with each actuator. Dedicated high performance parallel processors are used to implement the local de-centralized control at actuator level and a centralized feed-forward computation of all the actuators forces. This allowed achieving in our previous systems dynamic performances well in line with the requirements of the M4 Adaptive Unit (M4AU) case. The actuator density of our design is in the order of 30-mm spacing for a figure of about 6000 actuators on the M4AU and it allows fulfilling the fitting error and corrections requirements of the E-ELT high order DM. Moreover, our contact-less technology makes the Deformable Mirror tolerant to up 5% actuators failures without spoiling system capability to reach its specified performances, besides allowing large mechanical tolerances between the reference structure and the deformable mirror. Finally, we present the Demonstration Prototype we are building in the frame of the M4AU Phase B study to measure the optical dynamical performances predicted by our design. Such a prototype will be fully representative of the M4AU features, in particular it will address the controllability of two adjacent segments of the 2-mm thick mirror and implement the actuators "brick" modular concept that has been adopted to dramatically improve the maintainability of the final unit.

Ion acceleration by laser hole-boring into plasmas

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

Pogorelsky, I. V.; Dover, N. P.; Babzien, M.

By experiment and simulations, we study the interaction of an intense CO{sub 2} laser pulse with slightly overcritical plasmas of fully ionized helium gas. Transverse optical probing is used to show a recession of the front plasma surface with an initial velocity >10{sup 6} m/s driven by hole-boring by the laser pulse and the resulting radiation pressure driven electrostatic shocks. The collisionless shock propagates through the plasma, dissipates into an ion-acoustic solitary wave, and eventually becomes collisional as it slows further. These observations are supported by PIC simulations which prove the conclusion that monoenergetic protons observed in our earlier reportedmore » experiment with a hydrogen jet result from ion trapping and reflection from a shock wave driven through the plasma.« less

Beam-driven acceleration in ultra-dense plasma media

DOE PAGES

Shin, Young-Min

2014-09-15

Accelerating parameters of beam-driven wakefield acceleration in an extremely dense plasma column has been analyzed with the dynamic framed particle-in-cell plasma simulator, and compared with analytic calculations. In the model, a witness beam undergoes a TeV/m scale alternating potential gradient excited by a micro-bunched drive beam in a 10 25 m -3 and 1.6 x 10 28 m -3 plasma column. The acceleration gradient, energy gain, and transformer ratio have been extensively studied in quasi-linear, linear-, and blowout-regimes. The simulation analysis indicated that in the beam-driven acceleration system a hollow plasma channel offers 20 % higher acceleration gradient by enlargingmore » the channel radius (r) from 0.2 Ap to 0.6 .Ap in a blowout regime. This paper suggests a feasibility of TeV/m scale acceleration with a hollow crystalline structure (e.g. nanotubes) of high electron plasma density.« less

Demonstration of current drive by a rotating magnetic dipole field

NASA Astrophysics Data System (ADS)

Giersch, L.; Slough, J. T.; Winglee, R.

2007-04-01

Abstract.A dipole-like rotating magnetic field was produced by a pair of circular, orthogonal coils inside a metal vacuum chamber. When these coils were immersed in plasma, large currents were driven outside the coils: the currents in the plasma were generated and sustained by the rotating magnetic dipole (RMD) field. The peak RMD-driven current was at roughly two RMD coil radii, and this current (60 kA m-) was sufficient to reverse the ambient magnetic field (33 G). Plasma density, electron temperature, magnetic field and current probes indicated that plasma formed inside the coils, then expanded outward until the plasma reached equilibrium. This equilibrium configuration was adequately described by single-fluid magnetohydrodynamic equilibrium, wherein the cross product of the driven current and magnetic filed was approximately equal to the pressure gradient. The ratio of plasma pressure to magnetic field pressure, β, was locally greater than unity.