Self-Learning Variable Structure Control for a Class of Sensor-Actuator Systems

PubMed Central

Chen, Sanfeng; Li, Shuai; Liu, Bo; Lou, Yuesheng; Liang, Yongsheng

2012-01-01

Variable structure strategy is widely used for the control of sensor-actuator systems modeled by Euler-Lagrange equations. However, accurate knowledge on the model structure and model parameters are often required for the control design. In this paper, we consider model-free variable structure control of a class of sensor-actuator systems, where only the online input and output of the system are available while the mathematic model of the system is unknown. The problem is formulated from an optimal control perspective and the implicit form of the control law are analytically obtained by using the principle of optimality. The control law and the optimal cost function are explicitly solved iteratively. Simulations demonstrate the effectiveness and the efficiency of the proposed method. PMID:22778633

Technologies for Future Precision Strike Missile Systems (les Technologies des futurs systemes de missiles pour frappe de precision)

DTIC Science & Technology

2001-07-01

hardware - in - loop (HWL) simulation is also developed...Firings / Engine Tests Structure Test Hardware In - Loop Simulation Subsystem Test Lab Tests Seeker Actuators Sensors Electronics Propulsion Model Aero Model...Structure Test Hardware In - Loop Simulation Subsystem Test Lab Tests Seeker Actuators Sensors Electronics Propulsion Model Aero Model Model

All-printed smart structures: a viable option?

NASA Astrophysics Data System (ADS)

O'Donnell, John; Ahmadkhanlou, Farzad; Yoon, Hwan-Sik; Washington, Gregory

2014-03-01

The last two decades have seen evolution of smart materials and structures technologies from theoretical concepts to physical realization in many engineering fields. These include smart sensors and actuators, active damping and vibration control, biomimetics, and structural health monitoring. Recently, additive manufacturing technologies such as 3D printing and printed electronics have received attention as methods to produce 3D objects or electronic components for prototyping or distributed manufacturing purposes. In this paper, the viability of manufacturing all-printed smart structures, with embedded sensors and actuators, will be investigated. To this end, the current 3D printing and printed electronics technologies will be reviewed first. Then, the plausibility of combining these two different additive manufacturing technologies to create all-printed smart structures will be discussed. Potential applications for this type of all-printed smart structures include most of the traditional smart structures where sensors and actuators are embedded or bonded to the structures to measure structural response and cause desired static and dynamic changes in the structure.

Active Structural Acoustic Control in an Original A400M Aircraft Structure

NASA Astrophysics Data System (ADS)

Koehne, C.; Sachau, D.; Renger, K.

2016-09-01

Low frequency noise has always been a challenge in propeller driven aircraft. At low frequencies passive noise treatments are not as efficient as active noise reduction systems. The Helmut-Schmidt-University has built up a full-scale test rig with an original A400M aircraft structure. This provides a good opportunity to develop and test active noise reduction systems in a realistic environment. The currently installed system consists of mechanical actuators and acoustical sensors. The actuators are called TVAs (Tuneable Vibration Absorber) and contain two spring-mass systems whose natural frequencies are adjusted to the BPFs (Blade Passage Frequency) of the propellers. The TVAs are mounted to the frames and the force direction is normal to the skin. The sensors are condenser microphones which are attached to the primary structure of the airframe. The TVAs are equipped with signal processing devices. These components carry out Fourier transforms and signal amplification for the sensor data and actuator signals. The communication between the TVAs and the central control unit is implemented by the CAN Bus protocol and mainly consists of complex coefficients for the sensor and actuator data. This paper describes the basic structure of the system, the hardware set-up and function tests of the controller.

Quantitative Modeling of Coupled Piezo-Elastodynamic Behavior of Piezoelectric Actuators Bonded to an Elastic Medium for Structural Health Monitoring: A Review

PubMed Central

Huang, Guoliang; Song, Fei; Wang, Xiaodong

2010-01-01

Elastic waves, especially guided waves, generated by a piezoelectric actuator/sensor network, have shown great potential for on-line health monitoring of advanced aerospace, nuclear, and automotive structures in recent decades. Piezoelectric materials can function as both actuators and sensors in these applications due to wide bandwidth, quick response and low costs. One of the most fundamental issues surrounding the effective use of piezoelectric actuators is the quantitative evaluation of the resulting elastic wave propagation by considering the coupled piezo-elastodynamic behavior between the actuator and the host medium. Accurate characterization of the local interfacial stress distribution between the actuator and the host medium is the key issue for the problem. This paper presents a review of the development of analytical, numerical and hybrid approaches for modeling of the coupled piezo-elastodynamic behavior. The resulting elastic wave propagation for structural health monitoring is also summarized. PMID:22319319

Review of current status of smart structures and integrated systems

NASA Astrophysics Data System (ADS)

Chopra, Inderjit

1996-05-01

A smart structure involves distributed actuators and sensors, and one or more microprocessors that analyze the responses from the sensors and use distributed-parameter control theory to command the actuators to apply localized strains to minimize system response. A smart structure has the capability to respond to a changing external environment (such as loads or shape change) as well as to a changing internal environment (such as damage or failure). It incorporates smart actuators that allow the alteration of system characteristics (such as stiffness or damping) as well as of system response (such as strain or shape) in a controlled manner. Many types of actuators and sensors are being considered, such as piezoelectric materials, shape memory alloys, electrostrictive materials, magnetostrictive materials, electro- rheological fluids and fiber optics. These can be integrated with main load-carrying structures by surface bonding or embedding without causing any significant changes in the mass or structural stiffness of the system. Numerous applications of smart structures technology to various physical systems are evolving to actively control vibration, noise, aeroelastic stability, damping, shape and stress distribution. Applications range from space systems, fixed-wing and rotary-wing aircraft, automotive, civil structures and machine tools. Much of the early development of smart structures methodology was driven by space applications such as vibration and shape control of large flexible space structures, but now wider applications are envisaged for aeronautical and other systems. Embedded or surface-bonded smart actuators on an airplane wing or helicopter blade will induce alteration of twist/camber of airfoil (shape change), that in turn will cause variation of lift distribution and may help to control static and dynamic aeroelastic problems. Applications of smart structures technology to aerospace and other systems are expanding rapidly. Major barriers are: actuator stroke, reliable data base of smart material characteristics, non-availability of robust distributed parameter control strategies, and non-existent mathematical modeling of smart systems. The objective of this paper is to review the state-of-the-art of smart actuators and sensors and integrated systems and point out the needs for future research.

Optimal placement of actuators and sensors in control augmented structural optimization

NASA Technical Reports Server (NTRS)

Sepulveda, A. E.; Schmit, L. A., Jr.

1990-01-01

A control-augmented structural synthesis methodology is presented in which actuator and sensor placement is treated in terms of (0,1) variables. Structural member sizes and control variables are treated simultaneously as design variables. A multiobjective utopian approach is used to obtain a compromise solution for inherently conflicting objective functions such as strucutal mass control effort and number of actuators. Constraints are imposed on transient displacements, natural frequencies, actuator forces and dynamic stability as well as controllability and observability of the system. The combinatorial aspects of the mixed - (0,1) continuous variable design optimization problem are made tractable by combining approximation concepts with branch and bound techniques. Some numerical results for example problems are presented to illustrate the efficacy of the design procedure set forth.

NSF/ESF Workshop on Smart Structures and Advanced Sensors, Santorini Island, Greece, June 26-28, 2005: Structural Actuation and Adaptation Working Group

NASA Technical Reports Server (NTRS)

Figueroa, Fernando; Tomizuka, Masayoshi; Bergman, Lawrence; Carpenter, Bernie; Salzano, Carmine; Bairrao, rogerio; Deraemaker, Arnaud; Magonette, Georges; Rodellar, Jose; Kadirkamanathan, Visaken

2005-01-01

This document is a result of discussions that took place during the workshop. It describes current state of research and development (R&D) in the areas of structural actuation and adaptation in the context of smart structures and advanced sensors (SS&AS), and provides an outlook to guide future R&D efforts to develop technologies needed to build SS&AS. The discussions took place among the members of the Structural Actuation and Adaptation Working Group, as well as in general sessions including all four working groups. Participants included members of academia, industry, and government from the US and Europe, and representatives from China, Japan, and Korea.

An application of neural network for Structural Health Monitoring of an adaptive wing with an array of FBG sensors

NASA Astrophysics Data System (ADS)

Mieloszyk, Magdalena; Krawczuk, Marek; Skarbek, Lukasz; Ostachowicz, Wieslaw

2011-07-01

This paper presents an application of neural networks to determinate the level of activation of shape memory alloy actuators of an adaptive wing. In this concept the shape of the wing can be controlled and altered thanks to the wing design and the use of integrated shape memory alloy actuators. The wing is assumed as assembled from a number of wing sections that relative positions can be controlled independently by thermal activation of shape memory actuators. The investigated wing is employed with an array of Fibre Bragg Grating sensors. The Fibre Bragg Grating sensors with combination of a neural network have been used to Structural Health Monitoring of the wing condition. The FBG sensors are a great tool to control the condition of composite structures due to their immunity to electromagnetic fields as well as their small size and weight. They can be mounted onto the surface or embedded into the wing composite material without any significant influence on the wing strength. The paper concentrates on analysis of the determination of the twisting moment produced by an activated shape memory alloy actuator. This has been analysed both numerically using the finite element method by a commercial code ABAQUS® and experimentally using Fibre Bragg Grating sensor measurements. The results of the analysis have been then used by a neural network to determine twisting moments produced by each shape memory alloy actuator.

Active Control Technology at NASA Langley Research Center

NASA Technical Reports Server (NTRS)

Antcliff, Richard R.; McGowan, Anna-Marie R.

2000-01-01

NASA Langley has a long history of attacking important technical Opportunities from a broad base of supporting disciplines. The research and development at Langley in this subject area range from the test tube to the test flight, The information covered here will range from the development of innovative new materials, sensors and actuators, to the incorporation of smart sensors and actuators in practical devices, to the optimization of the location of these devices, to, finally, a wide variety of applications of these devices utilizing Langley's facilities and expertise. Advanced materials are being developed for sensors and actuators, as well as polymers for integrating smart devices into composite structures. Contributions reside in three key areas: computational materials; advanced piezoelectric materials; and integrated composite structures.

Structural Integration of Sensors/Actuators by Laser Beam Melting for Tailored Smart Components

NASA Astrophysics Data System (ADS)

Töppel, Thomas; Lausch, Holger; Brand, Michael; Hensel, Eric; Arnold, Michael; Rotsch, Christian

2018-03-01

Laser beam melting (LBM), an additive laser powder bed fusion technology, enables the structural integration of temperature-sensitive sensors and actuators in complex monolithic metallic structures. The objective is to embed a functional component inside a metal part without losing its functionality by overheating. The first part of this paper addresses the development of a new process chain for bonded embedding of temperature-sensitive sensor/actuator systems by LBM. These systems are modularly built and coated by a multi-material/multi-layer thermal protection system of ceramic and metallic compounds. The characteristic of low global heat input in LBM is utilized for the functional embedding. In the second part, the specific functional design and optimization for tailored smart components with embedded functionalities are addressed. Numerical and experimental validated results are demonstrated on a smart femoral hip stem.

A state-of-the-art assessment of active structures

NASA Technical Reports Server (NTRS)

1992-01-01

A state-of-the-art assessment of active structures with emphasis towards the applications in aeronautics and space is presented. It is felt that since this technology area is growing at such a rapid pace in many different disciplines, it is not feasible to cover all of the current research but only the relevant work as relates to aeronautics and space. Research in smart actuation materials, smart sensors, and control of smart/intelligent structures is covered. In smart actuation materials, piezoelectric, magnetostrictive, shape memory, electrorheological, and electrostrictive materials are covered. For sensory materials, fiber optics, dielectric loss, and piezoelectric sensors are examined. Applications of embedded sensors and smart sensors are discussed.

Damage mapping in structural health monitoring using a multi-grid architecture

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

Mathews, V. John

2015-03-31

This paper presents a multi-grid architecture for tomography-based damage mapping of composite aerospace structures. The system employs an array of piezo-electric transducers bonded on the structure. Each transducer may be used as an actuator as well as a sensor. The structure is excited sequentially using the actuators and the guided waves arriving at the sensors in response to the excitations are recorded for further analysis. The sensor signals are compared to their baseline counterparts and a damage index is computed for each actuator-sensor pair. These damage indices are then used as inputs to the tomographic reconstruction system. Preliminary damage mapsmore » are reconstructed on multiple coordinate grids defined on the structure. These grids are shifted versions of each other where the shift is a fraction of the spatial sampling interval associated with each grid. These preliminary damage maps are then combined to provide a reconstruction that is more robust to measurement noise in the sensor signals and the ill-conditioned problem formulation for single-grid algorithms. Experimental results on a composite structure with complexity that is representative of aerospace structures included in the paper demonstrate that for sufficiently high sensor densities, the algorithm of this paper is capable of providing damage detection and characterization with accuracy comparable to traditional C-scan and A-scan-based ultrasound non-destructive inspection systems quickly and without human supervision.« less

Large space structures control algorithm characterization

NASA Technical Reports Server (NTRS)

Fogel, E.

1983-01-01

Feedback control algorithms are developed for sensor/actuator pairs on large space systems. These algorithms have been sized in terms of (1) floating point operation (FLOP) demands; (2) storage for variables; and (3) input/output data flow. FLOP sizing (per control cycle) was done as a function of the number of control states and the number of sensor/actuator pairs. Storage for variables and I/O sizing was done for specific structure examples.

On the Use of Piezoelectric Sensors in Structural Mechanics: Some Novel Strategies

PubMed Central

Irschik, Hans; Krommer, Michael; Vetyukov, Yury

2010-01-01

In the present paper, a review on piezoelectric sensing of mechanical deformations and vibrations of so-called smart or intelligent structures is given. After a short introduction into piezoelectric sensing and actuation of such controlled structures, we pay special emphasis on the description of some own work, which has been performed at the Institute of Technical Mechanics of the Johannes Kepler University of Linz (JKU) in the last years. Among other aspects, this work has been motivated by the fact that collocated control of smart structures requires a sensor output that is work-conjugated to the input by the actuator. This fact in turn brings into the play the more general question of how to measure mechanically meaningful structural quantities, such as displacements, slopes, or other quantities, which form the work-conjugated quantities of the actuation, by means piezoelectric sensors. At least in the range of small strains, there is confidence that distributed piezoelectric sensors or sensor patches in smart structures do measure weighted integrals over their domain. Therefore, there is a need of distributing or shaping the sensor activity in order to be able to re-interpret the sensor signals in the desired mechanical sense. We sketch a general strategy that is based on a special application of work principles, more generally on displacement virials. We also review our work in the past on bringing this concept to application in smart structures, such as beams, rods and plates. PMID:22219679

On the use of piezoelectric sensors in structural mechanics: some novel strategies.

PubMed

Irschik, Hans; Krommer, Michael; Vetyukov, Yury

2010-01-01

In the present paper, a review on piezoelectric sensing of mechanical deformations and vibrations of so-called smart or intelligent structures is given. After a short introduction into piezoelectric sensing and actuation of such controlled structures, we pay special emphasis on the description of some own work, which has been performed at the Institute of Technical Mechanics of the Johannes Kepler University of Linz (JKU) in the last years. Among other aspects, this work has been motivated by the fact that collocated control of smart structures requires a sensor output that is work-conjugated to the input by the actuator. This fact in turn brings into the play the more general question of how to measure mechanically meaningful structural quantities, such as displacements, slopes, or other quantities, which form the work-conjugated quantities of the actuation, by means piezoelectric sensors. At least in the range of small strains, there is confidence that distributed piezoelectric sensors or sensor patches in smart structures do measure weighted integrals over their domain. Therefore, there is a need of distributing or shaping the sensor activity in order to be able to re-interpret the sensor signals in the desired mechanical sense. We sketch a general strategy that is based on a special application of work principles, more generally on displacement virials. We also review our work in the past on bringing this concept to application in smart structures, such as beams, rods and plates.

Ultrasonic wave-based structural health monitoring embedded instrument.

PubMed

Aranguren, G; Monje, P M; Cokonaj, Valerijan; Barrera, Eduardo; Ruiz, Mariano

2013-12-01

Piezoelectric sensors and actuators are the bridge between electronic and mechanical systems in structures. This type of sensor is a key element in the integrity monitoring of aeronautic structures, bridges, pressure vessels, wind turbine blades, and gas pipelines. In this paper, an all-in-one system for Structural Health Monitoring (SHM) based on ultrasonic waves is presented, called Phased Array Monitoring for Enhanced Life Assessment. This integrated instrument is able to generate excitation signals that are sent through piezoelectric actuators, acquire the received signals in the piezoelectric sensors, and carry out signal processing to check the health of structures. To accomplish this task, the instrument uses a piezoelectric phased-array transducer that performs the actuation and sensing of the signals. The flexibility and strength of the instrument allow the user to develop and implement a substantial part of the SHM technique using Lamb waves. The entire system is controlled using configuration software and has been validated through functional, electrical loading, mechanical loading, and thermal loading resistance tests.

A Force to Reckon With

NASA Technical Reports Server (NTRS)

1999-01-01

Through a licensing agreement with NASA, Face International Corporation has successfully commercialized ferroelectric actuator/sensor technology developed at Langley Research Center. Face International manufactures both ferroelectric actuators and sensors under the trademark "Thunder" (Thin Layer Composite Unimorph Ferroelectric Driver and Sensor). As actuators the Thunder technology provides a high level of movement not seen before in piezoelectric devices. Crystal structures generate electricity when stressed and move when voltage is applied. As sensors, the technology can be used in such applications as microphones, non-destructive testing, and vibration sensing. Thunder technology is being researched as a noise reduction device for aircraft engines. The technology is durable enough to be used in harsh environments, making it applicable to many commercial applications.

Experimental Investigation on Acousto-Ultrasonic Sensing Using Polarization-Maintaining Fiber Bragg Gratings

NASA Technical Reports Server (NTRS)

Wang, Gang; Banks, Curtis E.

2015-01-01

This report discusses the guided Lamb wave sensing using polarization-maintaining (PM) fiber Bragg grating (PM-FBG) sensor. The goal is to apply the PM-FBG sensor system to composite structural health monitoring (SHM) applications in order to realize directivity and multi-axis strain sensing capabilities while using reduced number of sensors. Comprehensive experiments were conducted to evaluate the performance of the PM-FBG sensor in a composite panel structure under different actuation frequencies and locations. Three Macro-Fiber-Composite (MFC) piezoelectric actuators were used to generate guided Lamb waves and they are oriented at 0, 45, and 90 degrees with respect to PM-FBG axial direction, respectively. The actuation frequency was varied from 20kHz to 200kHz. It is shown that the PM-FBG sensor system is able to detect high-speed ultrasound waves and capture the characteristics under different actuation conditions. Both longitudinal and lateral strain components in the order of nano-strain were determined based on the reflective intensity measurement data from fast and slow axis of the PM fiber. It must be emphasized that this is the first attempt to investigate acousto-ultrasonic sensing using PM-FBG sensor. This could lead to a new sensing approach in the SHM applications.

Experimental Investigation on Acousto-ultrasonic Sensing Using Polarization-Maintaining Fiber Bragg Gratings

NASA Technical Reports Server (NTRS)

Wang, Gag; Banks, Curtis E.

2016-01-01

This report discusses the guided Lamb wave sensing using polarization-maintaining (PM) fiber Bragg grating (PM-FBG) sensor. The goal is to apply the PM-FBG sensor system to composite structural health monitoring (SHM) applications in order to realize directivity and multi-axis strain sensing capabilities while reducing the number of sensors. Comprehensive experiments were conducted to evaluate the performance of the PM-FBG sensor attached to a composite panel structure under different actuation frequencies and locations. Three Macro-Fiber-Composite (MFC) piezoelectric actuators were used to generate guided Lamb waves that were oriented at 0, 45, and 90 degrees with respect to PM-FBG axial direction, respectively. The actuation frequency was varied from 20kHz to 200kHz. It was shown that the PM-FBG sensor system was able to detect high-speed ultrasound waves and capture the characteristics under different actuation conditions. Both longitudinal and lateral strain components in the order of nano-strain were determined based on the reflective intensity measurement data from fast and slow axis of the PM fiber. It must be emphasized that this is the first attempt to investigate acouto-ultrasonic sensing using PM-FBG sensor. This could lead to a new sensing approach in the SHM applications. Nomenclature.

Multi-layer robot skin with embedded sensors and muscles

NASA Astrophysics Data System (ADS)

Tomar, Ankit; Tadesse, Yonas

2016-04-01

Soft artificial skin with embedded sensors and actuators is proposed for a crosscutting study of cognitive science on a facial expressive humanoid platform. This paper focuses on artificial muscles suitable for humanoid robots and prosthetic devices for safe human-robot interactions. Novel composite artificial skin consisting of sensors and twisted polymer actuators is proposed. The artificial skin is conformable to intricate geometries and includes protective layers, sensor layers, and actuation layers. Fluidic channels are included in the elastomeric skin to inject fluids in order to control actuator response time. The skin can be used to develop facially expressive humanoid robots or other soft robots. The humanoid robot can be used by computer scientists and other behavioral science personnel to test various algorithms, and to understand and develop more perfect humanoid robots with facial expression capability. The small-scale humanoid robots can also assist ongoing therapeutic treatment research with autistic children. The multilayer skin can be used for many soft robots enabling them to detect both temperature and pressure, while actuating the entire structure.

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

NASA Astrophysics Data System (ADS)

Jayaram, Sanjay

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

Active Control Technology at NASA Langley Research Center

NASA Technical Reports Server (NTRS)

Antcliff, Richard R.; McGowan, Anna-Marie R.

2000-01-01

NASA Langley has a long history of attacking important technical opportunities from a broad base of supporting disciplines. The research and development at Langley in this subject area range from the test tube to the test flight. The information covered here will range from the development of innovative new materials, sensors and actuators, to the incorporation of smart sensors and actuators in practical devices, to the optimization of the location of these devices, to, finally, a wide variety of applications of these devices utilizing Langley's facilities and expertise. Advanced materials are being developed for sensors and actuators, as well as polymers for integrating smart devices into composite structures. Contributions reside in three key areas: computational materials; advanced piezoelectric materials; and integrated composite structures. The computational materials effort is focused on developing predictive tools for the efficient design of new materials with the appropriate combination of properties for next generation smart airframe systems. Research in the area of advanced piezoelectrics includes optimizing the efficiency, force output, use temperature, and energy transfer between the structure and device for both ceramic and polymeric materials. For structural health monitoring, advanced non-destructive techniques including fiber optics are being developed for detection of delaminations, cracks and environmental deterioration in aircraft structures. The computational materials effort is focused on developing predictive tools for the efficient design of new materials with the appropriate combination of properties for next generation smart airframe system. Innovative fabrication techniques processing structural composites with sensor and actuator integration are being developed.

Note: Hybrid active/passive force feedback actuator using hydrostatic transmission.

PubMed

Park, Yea-Seok; Lee, Juwon; Kim, Kyung-Soo; Kim, Soohyun

2017-12-01

A hybrid actuator for haptic devices is proposed in this paper. The actuator is composed of a DC motor and a magneto-rheological (MR) brake to realize transparency and stable force control. Two piston cylinders are connected with a flexible tube to lighten the weight of the structures on the endpoint that interacts with an operator. Also, the MR brake is designed to be suitable for hydraulic transmission. For the proposed hybrid actuator, a cooperative force control method using a pressure sensor instead of a force sensor is proposed. To verify the proposed control algorithm, a virtual wall collision experiment was conducted using a developed prototype of the hybrid actuator.

Note: Hybrid active/passive force feedback actuator using hydrostatic transmission

NASA Astrophysics Data System (ADS)

Park, Yea-Seok; Lee, Juwon; Kim, Kyung-Soo; Kim, Soohyun

2017-12-01

A hybrid actuator for haptic devices is proposed in this paper. The actuator is composed of a DC motor and a magneto-rheological (MR) brake to realize transparency and stable force control. Two piston cylinders are connected with a flexible tube to lighten the weight of the structures on the endpoint that interacts with an operator. Also, the MR brake is designed to be suitable for hydraulic transmission. For the proposed hybrid actuator, a cooperative force control method using a pressure sensor instead of a force sensor is proposed. To verify the proposed control algorithm, a virtual wall collision experiment was conducted using a developed prototype of the hybrid actuator.

A new SMART sensing system for aerospace structures

NASA Astrophysics Data System (ADS)

Zhang, David C.; Yu, Pin; Beard, Shawn; Qing, Peter; Kumar, Amrita; Chang, Fu-Kuo

2007-04-01

It is essential to ensure the safety and reliability of in-service structures such as unmanned vehicles by detecting structural cracking, corrosion, delamination, material degradation and other types of damage in time. Utilization of an integrated sensor network system can enable automatic inspection of such damages ultimately. Using a built-in network of actuators and sensors, Acellent is providing tools for advanced structural diagnostics. Acellent's integrated structural health monitoring system consists of an actuator/sensor network, supporting signal generation and data acquisition hardware, and data processing, visualization and analysis software. This paper describes the various features of Acellent's latest SMART sensing system. The new system is USB-based and is ultra-portable using the state-of-the-art technology, while delivering many functions such as system self-diagnosis, sensor diagnosis, through-transmission mode and pulse-echo mode of operation and temperature measurement. Performance of the new system was evaluated for assessment of damage in composite structures.

Precise control of flexible manipulators

NASA Technical Reports Server (NTRS)

Cannon, R. H., Jr.

1984-01-01

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

Application of fibre Bragg grating sensors for structural health monitoring of an adaptive wing

NASA Astrophysics Data System (ADS)

Mieloszyk, M.; Skarbek, L.; Krawczuk, M.; Ostachowicz, W.; Zak, A.

2011-12-01

This paper presents the concept of application of fibre Bragg grating (FBG) sensors for structural health monitoring (SHM) of an adaptive wing. In this concept, the shape of the wing is controlled and altered due to the wing design and the use of integrated shape memory alloy (SMA) actuators. FBG sensors are great tools for controlling the condition of composite structures due to their immunity to electromagnetic fields as well as their small size and weight. They can be mounted onto the surface or embedded into the wing skin without any significant influence on the wing strength. In the first part of the paper a determination of the twisting moments produced by activation of the SMA actuators is presented. As a first step, a numerical analysis using a finite element method (FEM) commercial code ABAQUS® is presented. Then a comparison between strain values measured by FBG sensors and determined numerically is used for determination of the real value of the activation moment of every SMA actuator. Two types of damage scenarios are analysed and discussed in the paper. The first scenario is reduction of the twisting moment values produced by one of the SMA actuators. The second scenario is outer skin damage. In both damage scenarios, a neural network is used for damage detection and localization.

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

NASA Astrophysics Data System (ADS)

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

2006-03-01

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

Layerwise Mechanics and Finite Elements for Smart Composite Structures with Piezoelectric Actuators and Sensors

NASA Technical Reports Server (NTRS)

Saravanos, Dimitris A.; Heyliger, Paul R.; Hopkins, Dale A.

1996-01-01

Recent developments on layerwise mechanics for the analysis of composite laminates and structures with piezoelectric actuators and sensors are reviewed. The mechanics implement layerwise representations of displacements and electric potential, and can model both the global and local electromechanical response of smart composite structures. The corresponding finite-element implementations for the static and dynamic analysis of smart piezoelectric composite structures are also summarized. Select application illustrate the accuracy, robustness and capability of the developed mechanics to capture the global and local dynamic response of thin and/or thick laminated piezoelectric plates.

Microprocessor controlled force actuator

NASA Technical Reports Server (NTRS)

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

1986-01-01

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

Reduced modeling of flexible structures for decentralized control

NASA Technical Reports Server (NTRS)

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

1986-01-01

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

Method and apparatus for minimizing multiple degree of freedom vibration transmission between two regions of a structure

NASA Technical Reports Server (NTRS)

Silcox, Richard J. (Inventor); Fuller, Chris R. (Inventor); Gibbs, Gary P. (Inventor)

1992-01-01

Arrays of actuators are affixed to structural elements to impede the transmission of vibrational energy. A single pair is used to provide control of bending and extensional waves and two pairs are used to control torsional motion. The arrays are applied to a wide variety of structural elements such as a beam structure that is part of a larger framework that may or may not support a rigid or non-rigid skin. Electrical excitation is applied to the actuators that generate forces on the structure. These electrical inputs may be adjusted in their amplitude and phase by a controller in communication with appropriate vibrational wave sensors to impede the flow of vibrational power in all of the above mentioned wave forms beyond the actuator location. Additional sensor elements can be used to monitor the performance and adjust the electrical inputs to maximize the attenuation of vibrational energy.

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.

The Impact of Model Uncertainty on Spatial Compensation in Active Structural Acoustic Control

NASA Technical Reports Server (NTRS)

Cabell, Randolph H.; Gibbs, Gary P.; Sprofera, Joseph D.; Clark, Robert L.

2004-01-01

Turbulent boundary layer (TBL) noise is considered a primary factor in the interior noise experienced by passengers aboard commercial airliners. There have been numerous investigations of interior noise control devoted to aircraft panels; however, practical realization is a challenge since the physical boundary conditions are uncertain at best. In most prior studies, pinned or clamped boundary conditions have been assumed; however, realistic panels likely display a range of varying boundary conditions between these two limits. Uncertainty in boundary conditions is a challenge for control system designers, both in terms of the compensator implemented and the location of actuators and sensors required to achieve the desired control. The impact of model uncertainties, uncertain boundary conditions in particular, on the selection of actuator and sensor locations for structural acoustic control are considered herein. Results from this research effort indicate that it is possible to optimize the design of actuator and sensor location and aperture, which minimizes the impact of boundary conditions on the desired structural acoustic control.

On the Stability of Collocated Controllers in the Presence or Uncertain Nonlinearities and Other Perils

NASA Technical Reports Server (NTRS)

Joshi, S. M.

1985-01-01

Robustness properties are investigated for two types of controllers for large flexible space structures, which use collocated sensors and actuators. The first type is an attitude controller which uses negative definite feedback of measured attitude and rate, while the second type is a damping enhancement controller which uses only velocity (rate) feedback. It is proved that collocated attitude controllers preserve closed loop global asymptotic stability when linear actuator/sensor dynamics satisfying certain phase conditions are present, or monotonic increasing nonlinearities are present. For velocity feedback controllers, the global asymptotic stability is proved under much weaker conditions. In particular, they have 90 phase margin and can tolerate nonlinearities belonging to the (0,infinity) sector in the actuator/sensor characteristics. The results significantly enhance the viability of both types of collocated controllers, especially when the available information about the large space structure (LSS) parameters is inadequate or inaccurate.

A Soft Parallel Kinematic Mechanism.

PubMed

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

2018-02-01

In this article, we describe a novel holonomic soft robotic structure based on a parallel kinematic mechanism. The design is based on the Stewart platform, which uses six sensors and actuators to achieve full six-degree-of-freedom motion. Our design is much less complex than a traditional platform, since it replaces the 12 spherical and universal joints found in a traditional Stewart platform with a single highly deformable elastomer body and flexible actuators. This reduces the total number of parts in the system and simplifies the assembly process. Actuation is achieved through coiled-shape memory alloy actuators. State observation and feedback is accomplished through the use of capacitive elastomer strain gauges. The main structural element is an elastomer joint that provides antagonistic force. We report the response of the actuators and sensors individually, then report the response of the complete assembly. We show that the completed robotic system is able to achieve full position control, and we discuss the limitations associated with using responsive material actuators. We believe that control demonstrated on a single body in this work could be extended to chains of such bodies to create complex soft robots.

Microelectromechanical Systems for Aerodynamics Applications

NASA Technical Reports Server (NTRS)

Mehregany, Mehran; DeAnna, Russell G.; Reshotko, Eli

1996-01-01

Microelectromechanical systems (MEMS) embody the integration of sensors, actuators, and electronics on a single substrate using integrated circuit fabrication techniques and compatible micromachining processes. Silicon and its derivatives form the material base for the MEMS technology. MEMS devices, including micro-sensors and micro-actuators, are attractive because they can be made small (characteristic dimension about microns), be produced in large numbers with uniform performance, include electronics for high performance and sophisticated functionality, and be inexpensive. MEMS pressure sensors, wall-shear-stress sensors, and micromachined hot-wires are nearing application in aeronautics. MEMS actuators face a tougher challenge since they have to be scaled (up) to the physical phenomena that are being controlled. MEMS actuators are proposed, for example, for controlling the small structures in a turbulent boundary layer, for aircraft control, for cooling, and for mixing enhancement. Data acquisition or control logistics require integration of electronics along with the transducer elements with appropriate consideration of analog-to-digital conversion, multiplexing, and telemetry. Altogether, MEMS technology offers exciting opportunities for aerodynamics applications both in wind tunnels and in flight

One Single Graphene Oxide Film for Responsive Actuation.

PubMed

Cheng, Huhu; Zhao, Fei; Xue, Jiangli; Shi, Gaoquan; Jiang, Lan; Qu, Liangti

2016-09-22

Graphene, because of its superior electrical/thermal conductivity, high surface area, excellent mechanical flexibility, and stability, is currently receiving significant attention and benefit to fabricate actuator devices. Here, a sole graphene oxide (GO) film responsive actuator with an integrated self-detecting sensor has been developed. The film exhibits an asymmetric surface structure on its two sides, creating a promising actuation ability triggered by multistimuli, such as moisture, thermals, and infrared light. Meanwhile, the built-in laser-writing reduced graphene oxide (rGO) sensor in the film can detect its own deformation in real time. Smart perceptual fingers in addition to rectangular-shaped and even four-legged walking robots have been developed based on the responsive GO film.

Porous silicon structures with high surface area/specific pore size

DOEpatents

Northrup, M.A.; Yu, C.M.; Raley, N.F.

1999-03-16

Fabrication and use of porous silicon structures to increase surface area of heated reaction chambers, electrophoresis devices, and thermopneumatic sensor-actuators, chemical preconcentrates, and filtering or control flow devices. In particular, such high surface area or specific pore size porous silicon structures will be useful in significantly augmenting the adsorption, vaporization, desorption, condensation and flow of liquids and gases in applications that use such processes on a miniature scale. Examples that will benefit from a high surface area, porous silicon structure include sample preconcentrators that are designed to adsorb and subsequently desorb specific chemical species from a sample background; chemical reaction chambers with enhanced surface reaction rates; and sensor-actuator chamber devices with increased pressure for thermopneumatic actuation of integrated membranes. Examples that benefit from specific pore sized porous silicon are chemical/biological filters and thermally-activated flow devices with active or adjacent surfaces such as electrodes or heaters. 9 figs.

Porous silicon structures with high surface area/specific pore size

DOEpatents

Northrup, M. Allen; Yu, Conrad M.; Raley, Norman F.

1999-01-01

Fabrication and use of porous silicon structures to increase surface area of heated reaction chambers, electrophoresis devices, and thermopneumatic sensor-actuators, chemical preconcentrates, and filtering or control flow devices. In particular, such high surface area or specific pore size porous silicon structures will be useful in significantly augmenting the adsorption, vaporization, desorption, condensation and flow of liquids and gasses in applications that use such processes on a miniature scale. Examples that will benefit from a high surface area, porous silicon structure include sample preconcentrators that are designed to adsorb and subsequently desorb specific chemical species from a sample background; chemical reaction chambers with enhanced surface reaction rates; and sensor-actuator chamber devices with increased pressure for thermopneumatic actuation of integrated membranes. Examples that benefit from specific pore sized porous silicon are chemical/biological filters and thermally-activated flow devices with active or adjacent surfaces such as electrodes or heaters.

Modeling and Application of Piezoelectric Materials in Repair of Engineering Structures

NASA Astrophysics Data System (ADS)

Wu, Nan

The shear horizontal wave propagation and vibration of piezoelectric coupled structures under an open circuit electrical boundary condition are studied. Following the studies on the dynamic response of piezoelectric coupled structures, the repair of both crack/notch and delaminated structures using piezoelectric materials are conducted. The main contribution was the proposed the active structural repair design using piezoelectric materials for different structures. An accurate model for the piezoelectric effect on the shear wave propagation is first proposed to guide the application of piezoelectric materials as sensors and actuators in the repair of engineering structures. A vibration analysis of a circular steel substrate surface bonded by a piezoelectric layer with open circuit is presented. The mechanical models and solutions for the wave propagation and vibration analysis of piezoelectric coupled structures are established based on the Kirchhoff plate model and Maxwell equation. Following the studies of the dynamic response of piezoelectric coupled structures, a close-loop feedback control repair methodology is proposed for a vibrating delaminated beam structure by using piezoelectric patches. The electromechanical characteristic of the piezoelectric material is employed to induce a local shear force above the delamination area via an external actuation voltage, which is designed as a feedback of the deflection of a vibrating beam and a delaminated plate, to reduce the stress singularity around the delamination tips. Furthermore, an experimental realization of an effective repair of a notched cantilever beam structure subjected to a dynamic loading by use of piezoelectric patches is reported. A small piezoelectric patch used as a sensor is placed on the notch position to monitor the severity of the stress singularity around the notch area by measuring the charge output on the sensor, and a patch used as an actuator is located around the notch area to generate a required bending moment by employing an actuation voltage to reduce the stress singularity at the notch position. The actuation voltage on the actuator is designed from a feedback circuit process. Through the analytical model, FEM simulation and experimental studies, the active structural repair method using piezoelectric materials is realized and proved to be feasible and practical.

Soft Sensors and Actuators based on Nanomaterials

NASA Astrophysics Data System (ADS)

Yao, Shanshan

The focus of this research is using novel bottom-up synthesized nanomaterials and structures to build up devices for wearable sensors and soft actuators. The applications of the wearable sensors towards motion detection and health monitoring are investigated. In addition, flexible heaters for bimorph actuators and stretchable patches made of microgel depots containing drug-loaded nanoparticles (NPs) for stretch-triggered wearable drug delivery are studied. Considerable efforts have been made to achieve highly sensitive and wearable sensors that can simultaneously detect multiple stimuli such as stretch, pressure, temperature or touch. Highly stretchable multifunctional sensors that can detect strain (up to 50%), pressure (up to 1 MPa) and finger touch with good sensitivity, fast response time ( 40 ms) and good pressure mapping function were developed. The sensors were demonstrated for several wearable applications including monitoring thumb movements and knee motions, illustrating the potential utilities of such sensors in robotic systems, prosthetics, healthcare and flexible touch panels. In addition to mechanical sensors, a wearable skin hydration sensor made of silver nanowires (AgNWs) in a polydimethylsiloxane (PDMS) matrix was demonstrated based on skin impedance measurement. The hydration sensors were packaged into a flexible wristband for skin hydration monitoring and a chest patch consisting of a strain sensor, three electrocardiogram (ECG) electrodes and a skin hydration sensor for multimodal sensing. The wearable wristband and chest patch may be used for low-cost, wireless and continuous sensing of skin hydration and other health parameters. Two representative applications of the nanomaterials for soft actuators were investigated. In the first application on bimorph actuation, low-voltage and extremely flexible electrothermal bimorph actuators were fabricated in a simple, efficient and scalable process. The bimorph actuators were made of flexible AgNW based heaters, which exhibited a fast heating rate of 18°C/s and stable heating performance under large bending. The actuators offered the largest bending angle (720°) or curvature (2.6 cm-1) at a very low actuation voltage (0.2 V sq-1 or 4.5 V) among all types of bimorph actuators that have been reported. The actuators can be designed and fabricated in different configurations that can achieve complex patterns and shapes upon actuation. Two applications of this type of soft actuators were demonstrated towards biomimetic robotics - a crawling robot that can walk spontaneously on ratchet surfaces and a soft gripper that is capable of manipulating lightweight and delicate objects. In another application towards wearable drug delivery, a wearable, tensile strain-triggered drug delivery device consisting of a stretchable elastomer and microgel depots containing drug loaded nanoparticles is described. By applying a tensile strain to the elastomer film, the release of drug from the micro-depot is promoted. Correspondingly, both sustained drug release by daily body motions and pulsatile release by intentional administration can be conveniently achieved. The work demonstrated that the tensile strain, applied to the stretchable device, facilitated release of therapeutics from micro-depots for anticancer and antibacterial treatments, respectively. Moreover, polymeric microneedles were further integrated with the stretch-responsive device for transcutaneous delivery of insulin and regulation of blood glucose levels of chemically-induced type 1 diabetic mice.

Active Damping Using Distributed Anisotropic Actuators

NASA Technical Reports Server (NTRS)

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

2010-01-01

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

Performance of Optimized Actuator and Sensor Arrays in an Active Noise Control System

NASA Technical Reports Server (NTRS)

Palumbo, D. L.; Padula, S. L.; Lyle, K. H.; Cline, J. H.; Cabell, R. H.

1996-01-01

Experiments have been conducted in NASA Langley's Acoustics and Dynamics Laboratory to determine the effectiveness of optimized actuator/sensor architectures and controller algorithms for active control of harmonic interior noise. Tests were conducted in a large scale fuselage model - a composite cylinder which simulates a commuter class aircraft fuselage with three sections of trim panel and a floor. Using an optimization technique based on the component transfer functions, combinations of 4 out of 8 piezoceramic actuators and 8 out of 462 microphone locations were evaluated against predicted performance. A combinatorial optimization technique called tabu search was employed to select the optimum transducer arrays. Three test frequencies represent the cases of a strong acoustic and strong structural response, a weak acoustic and strong structural response and a strong acoustic and weak structural response. Noise reduction was obtained using a Time Averaged/Gradient Descent (TAGD) controller. Results indicate that the optimization technique successfully predicted best and worst case performance. An enhancement of the TAGD control algorithm was also evaluated. The principal components of the actuator/sensor transfer functions were used in the PC-TAGD controller. The principal components are shown to be independent of each other while providing control as effective as the standard TAGD.

Active control of flexural vibrations in beams

NASA Technical Reports Server (NTRS)

Gerhold, Carl H.

1987-01-01

The feasibility of using piezoelectric actuators to control the flexural oscillations of large structures in space is investigated. Flexural oscillations are excited by impulsive loads. The vibratory response can degrade the pointing accuracy of cameras and antennae, and can cause high stresses at structural node points. Piezoelectric actuators have the advantage of exerting localized bending moments. In this way, vibration is controlled without exciting rigid body modes. The actuators are used in collocated sensor/driver pairs to form a feedback control system. The sensor produces a voltage that is proportional to the dynamic stress at the sensor location, and the driver produces a force that is proportional to the voltage applied to it. The analog control system amplifies and phase shifts the sensor signal to produce the voltage signal that is applied to the driver. The feedback control is demonstrated to increase the first mode damping in a cantilever beam by up to 100 percent, depending on the amplifier gain. The damping efficiency of the control system when the piezoelectrics are not optimally positioned at points of high stress in the beam is evaluated.

Modeling and control of flexible space structures

NASA Technical Reports Server (NTRS)

Wie, B.; Bryson, A. E., Jr.

1981-01-01

The effects of actuator and sensor locations on transfer function zeros are investigated, using uniform bars and beams as generic models of flexible space structures. It is shown how finite element codes may be used directly to calculate transfer function zeros. The impulse response predicted by finite-dimensional models is compared with the exact impulse response predicted by the infinite dimensional models. It is shown that some flexible structures behave as if there were a direct transmission between actuator and sensor (equal numbers of zeros and poles in the transfer function). Finally, natural damping models for a vibrating beam are investigated since natural damping has a strong influence on the appropriate active control logic for a flexible structure.

Controlled Structures Technology Steering Committee Workshop

NASA Technical Reports Server (NTRS)

1992-01-01

Viewgraphs on controlled structures technology presented at the steering committee workshop on 22-23 Jan. 1992 are included. Topics addressed include: interferometer testbed; middeck 0-gravity dynamics experiment; middeck active control experiment; multivariable identification for control; strain actuated aeroelastic control; sensor/actuator technology development; input command shaping; and other research projects. A description of the organization and committee are included.

Number and placement of control system components considering possible failures. [for large space structures

NASA Technical Reports Server (NTRS)

Vander Velde, W. E.; Carignan, C. R.

1984-01-01

One of the first questions facing the designer of the control system for a large space structure is how many components actuators and sensors - to specify and where to place them on the structure. This paper presents a methodology which is intended to assist the designer in making these choices. A measure of controllability is defined which is a quantitative indication of how well the system can be controlled with a given set of actuators. Similarly, a measure of observability is defined which is a quantitative indication of how well the system can be observed with a given set of sensors. Then the effect of component unreliability is introduced by computing the average expected degree of controllability (observability) over the operating lifetime of the system accounting for the likelihood of various combinations of component failures. The problem of component location is resolved by optimizing this performance measure over the admissible set of locations. The variation of this optimized performance measure with number of actuators (sensors) is helpful in deciding how many components to use.

Active stabilization of thin-wall structures under compressive loading

NASA Astrophysics Data System (ADS)

Welham, Jared; Calius, Emilio P.; Chase, J. Geoffrey

2003-08-01

The active suppression of elastic buckling instability has the potential to significantly increase the effective strength of thin-wall structures. Despite all the interest in smart structures, the active suppression of buckling has received comparatively little attention. This paper addresses the effects of embedded actuation on the compression buckling strength of laminated composite plates through analysis and simulation. Numerical models are formulated that include the influence of essential features such as sensor uncertainty and noise, actuator saturation and control architecture on the buckling process. Silicon-based strain sensors and diffuse laser distance sensors are both considered for use in the detection of incipient buckling behavior due to their increased sensitivity. Actuation is provided by paired distributions of piezo-electric material incorporated into both sides of the laminate. Optimal controllers are designed to command the structure to deform in ways that interfere with the development of buckling mode shapes. Commercial software packages are used to solve the resulting non-linear equations, and some of the tradeoffs are enumerated. Overall, the results show that active buckling control can considerably enhance resistance to instability under compressive loads. These buckling load predictions demonstrate the viability of optimal control and piezo-electric actuation for implementing active buckling control. Due to the importance of early detection, the relative effectiveness of active buckling control is shown to be strongly dependent on the performance of the sensing scheme, as well as on the characteristics of the structure.

Process for forming a porous silicon member in a crystalline silicon member

DOEpatents

Northrup, M. Allen; Yu, Conrad M.; Raley, Norman F.

1999-01-01

Fabrication and use of porous silicon structures to increase surface area of heated reaction chambers, electrophoresis devices, and thermopneumatic sensor-actuators, chemical preconcentrates, and filtering or control flow devices. In particular, such high surface area or specific pore size porous silicon structures will be useful in significantly augmenting the adsorption, vaporization, desorption, condensation and flow of liquids and gasses in applications that use such processes on a miniature scale. Examples that will benefit from a high surface area, porous silicon structure include sample preconcentrators that are designed to adsorb and subsequently desorb specific chemical species from a sample background; chemical reaction chambers with enhanced surface reaction rates; and sensor-actuator chamber devices with increased pressure for thermopneumatic actuation of integrated membranes. Examples that benefit from specific pore sized porous silicon are chemical/biological filters and thermally-activated flow devices with active or adjacent surfaces such as electrodes or heaters.

30 CFR 75.1103-6 - Automatic fire sensors; actuation of fire suppression systems.

Code of Federal Regulations, 2010 CFR

2010-07-01

... Protection § 75.1103-6 Automatic fire sensors; actuation of fire suppression systems. Point-type heat sensors or automatic fire sensor and warning device systems may be used to actuate deluge-type water systems... 30 Mineral Resources 1 2010-07-01 2010-07-01 false Automatic fire sensors; actuation of fire...

30 CFR 75.1103-6 - Automatic fire sensors; actuation of fire suppression systems.

Code of Federal Regulations, 2011 CFR

2011-07-01

... 30 Mineral Resources 1 2011-07-01 2011-07-01 false Automatic fire sensors; actuation of fire... Protection § 75.1103-6 Automatic fire sensors; actuation of fire suppression systems. Point-type heat sensors or automatic fire sensor and warning device systems may be used to actuate deluge-type water systems...

30 CFR 75.1103-6 - Automatic fire sensors; actuation of fire suppression systems.

Code of Federal Regulations, 2012 CFR

2012-07-01

... 30 Mineral Resources 1 2012-07-01 2012-07-01 false Automatic fire sensors; actuation of fire... Protection § 75.1103-6 Automatic fire sensors; actuation of fire suppression systems. Point-type heat sensors or automatic fire sensor and warning device systems may be used to actuate deluge-type water systems...

30 CFR 75.1103-6 - Automatic fire sensors; actuation of fire suppression systems.

Code of Federal Regulations, 2013 CFR

2013-07-01

... 30 Mineral Resources 1 2013-07-01 2013-07-01 false Automatic fire sensors; actuation of fire... Protection § 75.1103-6 Automatic fire sensors; actuation of fire suppression systems. Point-type heat sensors or automatic fire sensor and warning device systems may be used to actuate deluge-type water systems...

30 CFR 75.1103-6 - Automatic fire sensors; actuation of fire suppression systems.

Code of Federal Regulations, 2014 CFR

2014-07-01

... 30 Mineral Resources 1 2014-07-01 2014-07-01 false Automatic fire sensors; actuation of fire... Protection § 75.1103-6 Automatic fire sensors; actuation of fire suppression systems. Point-type heat sensors or automatic fire sensor and warning device systems may be used to actuate deluge-type water systems...

Collocated tunable wavenumber sensor/actuators for smart structures

NASA Astrophysics Data System (ADS)

Jones, Lori

1994-02-01

Two actuator modules have just come out of burnout. This burnout took longer than anticipated due to power outages during January. The measurements on the smaller actuators have been repeated and agreed with the previously reported values within +/- 10%. Measurements made on a glued stack showed stiffening with increasing stress from a modulus of about 4 Mpsi at 1000 psi to 12 Mpsi at 10,000 psi applied stress -- this shows the advantage of the cofired actuator.

Microprocessor controlled proof-mass actuator

NASA Technical Reports Server (NTRS)

Horner, Garnett C.

1987-01-01

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

Optimizing Sensor and Actuator Arrays for ASAC Noise Control

NASA Technical Reports Server (NTRS)

Palumbo, Dan; Cabell, Ran

2000-01-01

This paper summarizes the development of an approach to optimizing the locations for arrays of sensors and actuators in active noise control systems. A type of directed combinatorial search, called Tabu Search, is used to select an optimal configuration from a much larger set of candidate locations. The benefit of using an optimized set is demonstrated. The importance of limiting actuator forces to realistic levels when evaluating the cost function is discussed. Results of flight testing an optimized system are presented. Although the technique has been applied primarily to Active Structural Acoustic Control systems, it can be adapted for use in other active noise control implementations.

Architecture for distributed actuation and sensing using smart piezoelectric elements

NASA Astrophysics Data System (ADS)

Etienne-Cummings, Ralph; Pourboghrat, Farzad; Maruboyina, Hari K.; Abrate, Serge; Dhali, Shirshak K.

1998-07-01

We discuss vibration control of a cantilevered plate with multiple sensors and actuators. An architecture is chosen to minimize the number of control and sensing wires required. A custom VLSI chip, integrated with the sensor/actuator elements, controls the local behavior of the plate. All the actuators are addressed in parallel; local decode logic selects which actuator is stimulated. Downloaded binary data controls the applied voltage and modulation frequency for each actuator, and High Voltage MOSFETs are used to activate them. The sensors, which are independent adjacent piezoelectric ceramic elements, can be accessed in a random or sequential manner. An A/D card and GPIB interconnected test equipment allow a PC to read the sensors' outputs and dictate the actuation procedure. A visual programming environment is used to integrate the sensors, controller and actuators. Based on the constitutive relations for the piezoelectric material, simple models for the sensors and actuators are derived. A two level hierarchical robust controller is derived for motion control and for damping of vibrations.

An Indirect Adaptive Control Scheme in the Presence of Actuator and Sensor Failures

NASA Technical Reports Server (NTRS)

Sun, Joy Z.; Josh, Suresh M.

2009-01-01

The problem of controlling a system in the presence of unknown actuator and sensor faults is addressed. The system is assumed to have groups of actuators, and groups of sensors, with each group consisting of multiple redundant similar actuators or sensors. The types of actuator faults considered consist of unknown actuators stuck in unknown positions, as well as reduced actuator effectiveness. The sensor faults considered include unknown biases and outages. The approach employed for fault detection and estimation consists of a bank of Kalman filters based on multiple models, and subsequent control reconfiguration to mitigate the effect of biases caused by failed components as well as to obtain stability and satisfactory performance using the remaining actuators and sensors. Conditions for fault identifiability are presented, and the adaptive scheme is applied to an aircraft flight control example in the presence of actuator failures. Simulation results demonstrate that the method can rapidly and accurately detect faults and estimate the fault values, thus enabling safe operation and acceptable performance in spite of failures.

High-Fidelity Modeling for Health Monitoring in Honeycomb Sandwich Structures

NASA Technical Reports Server (NTRS)

Luchinsky, Dimitry G.; Hafiychuk, Vasyl; Smelyanskiy, Vadim; Tyson, Richard W.; Walker, James L.; Miller, Jimmy L.

2011-01-01

High-Fidelity Model of the sandwich composite structure with real geometry is reported. The model includes two composite facesheets, honeycomb core, piezoelectric actuator/sensors, adhesive layers, and the impactor. The novel feature of the model is that it includes modeling of the impact and wave propagation in the structure before and after the impact. Results of modeling of the wave propagation, impact, and damage detection in sandwich honeycomb plates using piezoelectric actuator/sensor scheme are reported. The results of the simulations are compared with the experimental results. It is shown that the model is suitable for analysis of the physics of failure due to the impact and for testing structural health monitoring schemes based on guided wave propagation.

Design and implementation of active members for precision space structures

NASA Technical Reports Server (NTRS)

Webster, M. S.; Fanson, J. L.; Lurie, B. J.; O'Brien, J. F.

1992-01-01

This paper describes the development and implementation of an active member in a precision truss structure. The active member utilizes a piezoelectric actuator motor imbedded in a steel case with built-in displacement sensor. This active member is used in structural quieting. Collocated active damping control loops are designed in order to impedance match piezoelectric active members to the structure. Results from application of these controllers and actuators to the JPL Phase B testbed are given.

Stretch-tuning optical fiber Bragg gratings using macro-fiber composite (MFC) piezoelectric actuators

NASA Astrophysics Data System (ADS)

Allison, Sidney G.; Shams, Qamar A.; Geddis, Demetris L.

2005-11-01

The demand for high safety and reliability standards for aerospace vehicles has resulted in time-consuming periodic on-ground inspections. These inspections usually call for the disassembling and reassembling of the vehicle, which can lead to damage or degradation of structures or auxiliary systems. In order to increase aerospace vehicle safety and reliability while reducing the cost of inspection, an on-board real-time structural health monitoring sensing system is required. There are a number of systems that can be used to monitor the structures of aerospace vehicles. Fiber optic sensors have been at the forefront of the health monitoring sensing system research. Most of the research has been focused on the development of Bragg grating-based fiber optic sensors. Along with the development of fiber Bragg grating sensors has been the development of a grating measurement technique based on the principle of optical frequency domain reflectometry (OFDR), which enables the interrogation of hundreds of low reflectivity Bragg gratings. One drawback of these measurement systems is the 1 - 3 Hz measurement speed, which is limited by commercially available tunable lasers. The development of high-speed fiber stretching mechanisms to provide high rate tunable Erbium-doped optical fiber lasers can alleviate this drawback. One successful approach used a thin-layer composite unimorph ferroelectric driver and sensor (THUNDER) piezoelectric actuator, and obtained 5.3-nm wavelength shift. To eliminate the mechanical complexity of the THUNDER actuator, the research reported herein uses the NASA Langley Research Center (LaRC) Macro-Fiber Composite (MFC) actuator to tune Bragg grating based optical fibers.

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

NASA Technical Reports Server (NTRS)

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

1985-01-01

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

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

NASA Technical Reports Server (NTRS)

Joshi, Suresh M.

2012-01-01

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

Layerwise mechanics and finite element for the dynamic analysis of piezoelectric composite plates

NASA Technical Reports Server (NTRS)

Saravanos, Dimitris A.; Heyliger, Paul R.; Hopkins, Dale A.

1996-01-01

Laminate and structural mechanics for the analysis of laminated composite plate structures with piezoelectric actuators and sensors are presented. The theories implement layerwise representations of displacements and electric potential, and can model both the global and local electromechanical response of smart composite laminates. Finite-element formulations are developed for the quasi-static and dynamic analysis of smart composite structures containing piezoelectric layers. Comparisons with an exact solution illustrate the accuracy, robustness and capability of the developed mechanics to capture the global and local response of thin and/or thick laminated piezoelectric plates. Additional correlations and numerical applications demonstrate the unique capabilities of the mechanics in analyzing the static and free-vibration response of composite plates with distributed piezoelectric actuators and sensors.

Vibration suppression and slewing control of a flexible structure

NASA Technical Reports Server (NTRS)

Inman, Daniel J.; Garcia, Ephrahim; Pokines, Brett

1991-01-01

Examined here are the effects of motor dynamics and secondary piezoceramic actuators on vibration suppression during the slewing of flexible structures. The approach focuses on the interaction between the structure, the actuators, and the choice of control law. The results presented here are all simulated, but are based on experimentally determined parameters for the motor, structure, piezoceramic actuators, and piezofilm sensors. The simulation results clearly illustrate that the choice of motor inertia relative to beam inertia makes a critical difference in the performance of the system. In addition, the use of secondary piezoelectric actuators reduces the load requirements on the motor and also reduces the overshoot of the tip deflection. The structures considered here are a beam and a frame. The majority of results are based on a Euler Bernoulli beam model. The slewing frame introduces substantial torsional modes and a more realistic model. The slewing frame results are incomplete and represent work in progress.

Structural and Machine Design Using Piezoceramic Materials: A Guide for Structural Design Engineers

NASA Technical Reports Server (NTRS)

Inman, Daniel J.; Cudney, Harley H.

2000-01-01

Using piezoceramic materials is one way the design engineer can create structures which have an ability to both sense and respond to their environment. Piezoceramic materials can be used to create structural sensors and structural actuators. Because piezoceramic materials have transduction as a material property, their sensing or actuation functions are a result of what happens to the material. This is different than discrete devices we might attach to the structure. For example, attaching an accelerometer to a structure will yield an electrical signal proportional to the acceleration at the attachment point on the structure. Using a electromagnetic shaker as an actuator will create an applied force at the attachment point. Active material elements in a structural design are not easily modeled as providing transduction at a point, but rather they change the physics of the structure in the areas where they are used. Hence, a designer must not think of adding discrete devices to a structure to obtain an effect, but rather must design a structural system which accounts for the physical principles of all the elements in the structure. The purpose of this manual is to provide practicing engineers the information necessary to incorporate piezoelectric materials in structural design and machine design. First, we will review the solid-state physics of piezoelectric materials. Then we will discuss the physical characteristics of the electrical-active material-structural system. We will present the elements of this system which must be considered as part of the design task for a structural engineer. We will cover simple modeling techniques and review the features and capabilities of commercial design tools that are available. We will then cover practical how-to elements of working with piezoceramic materials. We will review sources of piezoceramic materials and built-up devices, and their characteristics. Finally, we will provide two design examples using piezoceramic materials, first as discrete actuators for vibration isolation, and second as structurally-distributed sensor/actuators for active acoustic control.

Linear-hall sensor based force detecting unit for lower limb exoskeleton

NASA Astrophysics Data System (ADS)

Li, Hongwu; Zhu, Yanhe; Zhao, Jie; Wang, Tianshuo; Zhang, Zongwei

2018-04-01

This paper describes a knee-joint human-machine interaction force sensor for lower-limb force-assistance exoskeleton. The structure is designed based on hall sensor and series elastic actuator (SEA) structure. The work we have done includes the structure design, the parameter determination and dynamic simulation. By converting the force signal into macro displacement and output voltage, we completed the measurement of man-machine interaction force. And it is proved by experiments that the design is simple, stable and low-cost.

Onboard Stability Control System for a Flapping Wing Nano Air Vehicle

DTIC Science & Technology

2009-04-24

15 Figure 14. Vehicle response to hover command with nitinol actuators and sensors...with nitinol actuators and sensors modeled. An extended Kalman filter has been implemented to estimate the functional roll rate from sensor...Actuators The wing control actuators subcomponent consists of nitinol wires connected to mechanisms that dictate the wing kinematics. These mechanisms

Sensor-actuator system for dynamic chloride ion determination.

PubMed

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

2015-08-12

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

Modeling and analysis of pinhole occulter experiment: Initial study phase

NASA Technical Reports Server (NTRS)

Vandervoort, R. J.

1985-01-01

The feasibility of using a generic simulation, TREETOPS, to simulate the Pinhole/Occulter Facility (P/OF) to be tested on the space shuttle was demonstrated. The baseline control system was used to determine the pointing performance of the P/OF. The task included modeling the structure as a three body problem (shuttle-instrument pointing system- P/OP) including the flexibility of the 32 meter P/OF boom. Modeling of sensors, actuators, and control algorithms was also required. Detailed mathematical models for the structure, sensors, and actuators are presented, as well as the control algorithm and corresponding design procedure. Closed loop performance using this controller and computer listings for the simulator are also given.

Carbohydrate-actuated nanofluidic diode: switchable current rectification in a nanopipette

NASA Astrophysics Data System (ADS)

Vilozny, Boaz; Wollenberg, Alexander L.; Actis, Paolo; Hwang, Daniel; Singaram, Bakthan; Pourmand, Nader

2013-09-01

Nanofluidic structures share many properties with ligand-gated ion channels. However, actuating ion conductance in artificial systems is a challenge. We have designed a system that uses a carbohydrate-responsive polymer to modulate ion conductance in a quartz nanopipette. The cationic polymer, a poly(vinylpyridine) quaternized with benzylboronic acid groups, undergoes a transition from swollen to collapsed upon binding to monosaccharides. As a result, the current rectification in nanopipettes can be reversibly switched depending on the concentration of monosaccharides. Such molecular actuation of nanofluidic conductance may be used in novel sensors and drug delivery systems.Nanofluidic structures share many properties with ligand-gated ion channels. However, actuating ion conductance in artificial systems is a challenge. We have designed a system that uses a carbohydrate-responsive polymer to modulate ion conductance in a quartz nanopipette. The cationic polymer, a poly(vinylpyridine) quaternized with benzylboronic acid groups, undergoes a transition from swollen to collapsed upon binding to monosaccharides. As a result, the current rectification in nanopipettes can be reversibly switched depending on the concentration of monosaccharides. Such molecular actuation of nanofluidic conductance may be used in novel sensors and drug delivery systems. Electronic supplementary information (ESI) available: Experimental details on synthesis of polymer PVP-Bn, optical methods, 1H-NMR spectra, details on pH and ionic strength studies, and examples of current actuation with several different nanopores. See DOI: 10.1039/c3nr02105j

Construction of a Piezoresistive Neural Sensor Array

NASA Technical Reports Server (NTRS)

Carlson, W. B.; Schulze, W. A.; Pilgrim, P. M.

1996-01-01

The construction of a piezoresistive - piezoelectric sensor (or actuator) array is proposed using 'neural' connectivity for signal recognition and possible actuation functions. A closer integration of the sensor and decision functions is necessary in order to achieve intrinsic identification within the sensor. A neural sensor is the next logical step in development of truly 'intelligent' arrays. This proposal will integrate 1-3 polymer piezoresistors and MLC electroceramic devices for applications involving acoustic identification. The 'intelligent' piezoresistor -piezoelectric system incorporates printed resistors, composite resistors, and a feedback for the resetting of resistances. A model of a design is proposed in order to simulate electromechanical resistor interactions. The goal of optimizing a sensor geometry for improving device reliability, training, & signal identification capabilities is the goal of this work. At present, studies predict performance of a 'smart' device with a significant control of 'effective' compliance over a narrow pressure range due to a piezoresistor percolation threshold. An interesting possibility may be to use an array of control elements to shift the threshold function in order to change the level of resistance in a neural sensor array for identification, or, actuation applications. The proposed design employs elements of: (1) conductor loaded polymers for a 'fast' RC time constant response; and (2) multilayer ceramics for actuation or sensing and shifting of resistance in the polymer. Other material possibilities also exist using magnetoresistive layered systems for shifting the resistance. It is proposed to use a neural net configuration to test and to help study the possible changes required in the materials design of these devices. Numerical design models utilize electromechanical elements, in conjunction with structural elements in order to simulate piezoresistively controlled actuators and changes in resistance of sensors. The construction of these devices may show significant improvement in ability to interrogate signals and in the control of effective compliance. This work focuses on the development a variety of series/parallel interconnected piezoresistive control elements for the neural sensing function.

Experimental and Numerical Analysis of Structural Acousticcontrol Interior Noise Reduction

NASA Technical Reports Server (NTRS)

Mei, Chuh; Bevan, Jeffrey S.

1999-01-01

The research results contained in this technical report were performed under the NASA grant entitled "Experimental and Numerical Structural Acoustic Control for Interior Noise Reduction". The report is based essentially on partial progress of the Ph.D. dissertation prepared by Jeffrey S. Bevan under direct guidance of Dr. Chuh Mei. The document presents a finite element formulation and control of sound radiated from cylindrical panels embedded with piezoceramic actuators. The extended MIN6 shallow shell element is fully electrical-structural coupled. A piezoelectric modal actuator participation (PMAP) is defined which indicates the actuator performance to each of the offending modes. Genetic algorithm is also employed to validate the sensor and actuator locations determined by the PMAP criteria. The work was conducted at the Department of Aerospace Engineering, Old Dominion University. Mr. Travis L. Turner, Structural Acoustics Branch, NASA Langley Research Center is the technical monitor.

Identifiability of Additive Actuator and Sensor Faults by State Augmentation

NASA Technical Reports Server (NTRS)

Joshi, Suresh; Gonzalez, Oscar R.; Upchurch, Jason M.

2014-01-01

A class of fault detection and identification (FDI) methods for bias-type actuator and sensor faults is explored in detail from the point of view of fault identifiability. The methods use state augmentation along with banks of Kalman-Bucy filters for fault detection, fault pattern determination, and fault value estimation. A complete characterization of conditions for identifiability of bias-type actuator faults, sensor faults, and simultaneous actuator and sensor faults is presented. It is shown that FDI of simultaneous actuator and sensor faults is not possible using these methods when all sensors have unknown biases. The fault identifiability conditions are demonstrated via numerical examples. The analytical and numerical results indicate that caution must be exercised to ensure fault identifiability for different fault patterns when using such methods.

Coupled mixed-field laminate theory and finite element for smart piezoelectric composite shell structures

NASA Technical Reports Server (NTRS)

Saravanos, Dimitris A.

1996-01-01

Mechanics for the analysis of laminated composite shells with piezoelectric actuators and sensors are presented. A new mixed-field laminate theory for piezoelectric shells is formulated in curvilinear coordinates which combines single-layer assumptions for the displacements and a layerwise representation for the electric potential. The resultant coupled governing equations for curvilinear piezoelectric laminates are described. Structural mechanics are subsequently developed and an 8-node finite-element is formulated for the static and dynamic analysis of adaptive composite structures of general laminations containing piezoelectric layers. Evaluations of the method and comparisons with reported results are presented for laminated piezoelectric-composite plates, a closed cylindrical shell with a continuous piezoceramic layer and a laminated composite semi-circular cantilever shell with discrete cylindrical piezoelectric actuators and/or sensors.

Engineering of Sensor Network Structure for Dependable Fusion

DTIC Science & Technology

2014-08-15

Lossy Wireless Sensor Networks , IEEE/ACM Transactions on Networking , (04 2013): 0. doi: 10.1109/TNET.2013.2256795 Soumik Sarkar, Kushal Mukherjee...Phoha, Bharat B. Madan, Asok Ray. Distributed Network Control for Mobile Multi-Modal Wireless Sensor Networks , Journal of Parallel and Distributed...Deadline Constraints, IEEE Transactions on Automatic Control special issue on Wireless Sensor and Actuator Networks , (01 2011): 1. doi: Eric Keller

30 CFR 75.1107-4 - Automatic fire sensors and manual actuators; installation; minimum requirements.

Code of Federal Regulations, 2010 CFR

2010-07-01

... 30 Mineral Resources 1 2010-07-01 2010-07-01 false Automatic fire sensors and manual actuators... § 75.1107-4 Automatic fire sensors and manual actuators; installation; minimum requirements. (a)(1... sensors or equivalent shall be installed for each 50 square feet of top surface area, or fraction thereof...

Dissipative controller designs for second-order dynamic systems

NASA Technical Reports Server (NTRS)

Morris, K. A.; Juang, J. N.

1990-01-01

The passivity theorem may be used to design robust controllers for structures with positive transfer functions. This result is extended to more general configurations using dissipative system theory. A stability theorem for robust, model-independent controllers of structures which lack collocated rate sensors and actuators is given. The theory is illustrated for non-square systems and systems with displacement sensors.

Interactive wall turbulence control

NASA Technical Reports Server (NTRS)

Wilkinson, Stephen P.

1990-01-01

After presenting boundary layer turbulence physics in a manner that emphasizes the possible modification of structural surfaces in a way that locally alters the production of turbulent flows, an account is given of the hardware that could plausibly be employed to implement such a turbulence-control scheme. The essential system components are flow sensors, electronic processors, and actuators; at present, actuator technology presents the greatest problems and limitations. High frequency/efficiency actuators are required to handle three-dimensional turbulent motions whose frequency and intensity increases in approximate proportion to freestream speed.

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

PubMed

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

2017-01-13

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

Input-output oriented computation algorithms for the control of large flexible structures

NASA Technical Reports Server (NTRS)

Minto, K. D.

1989-01-01

An overview is given of work in progress aimed at developing computational algorithms addressing two important aspects in the control of large flexible space structures; namely, the selection and placement of sensors and actuators, and the resulting multivariable control law design problem. The issue of sensor/actuator set selection is particularly crucial to obtaining a satisfactory control design, as clearly a poor choice will inherently limit the degree to which good control can be achieved. With regard to control law design, the researchers are driven by concerns stemming from the practical issues associated with eventual implementation of multivariable control laws, such as reliability, limit protection, multimode operation, sampling rate selection, processor throughput, etc. Naturally, the burden imposed by dealing with these aspects of the problem can be reduced by ensuring that the complexity of the compensator is minimized. Our approach to these problems is based on extensions to input/output oriented techniques that have proven useful in the design of multivariable control systems for aircraft engines. In particular, researchers are exploring the use of relative gain analysis and the condition number as a means of quantifying the process of sensor/actuator selection and placement for shape control of a large space platform.

Dynamics and control of high precision magnetically levitated vibration isolation systems

NASA Technical Reports Server (NTRS)

Youcef-Toumi, K.; Yeh, T-J.

1992-01-01

Vibration control of flexible structures has received a great deal of interest in recent years. Several authors have investigated this topic in the areas of robot manipulators, space structures, and flexible rotors. Key issues associated with the dynamics and control of vibration isolation systems are addressed. Among other important issues to consider in the control of such systems, the location and number of actuators and sensors are essential to effectively control and suppress vibration. We first address the selection of proper actuator and sensor locations leading to a controllable and observable system. The Rayleigh-Ritz modal analysis method is used to develop a lumped-parameter model of a flexible vibration isolation table top. This model is then used to investigate the system's controllability and observability including the coupling effects introduced by the magnetic bearing. This analysis results in necessary and sufficient conditions for proper selection of actuator and sensor locations. These locations are also important for both controller system's complexity and stability of point of views. A favorable pole-zero plot of the open loop transfer functions is presented. Necessary and sufficient conditions for reducing the controller complexity are derived. The results are illustrated by examples using approximate mode shape functions.

Fiber Optic Strain Measurements In Filament-Wound Graphite-Epoxy Tubes Containing Embedded Fibers

NASA Astrophysics Data System (ADS)

Rogowski, R. S.; Heyman, J. S.; Holben, M. S.; Egalon, C.; Dehart, D. W.; Doederlein, T.; Koury, J.

1989-01-01

Several planned United States Air Force (USAF) and National Aeronautics and Space Administration (NASA) space systems such as Space Based Radar (SBR), Space Based Laser (SBL), and Space Station, pose serious vibration and control issues. Their low system mass combined with their large size, precision pointing/shape control and rapid retargetting requirements, will result in an unprecedented degree of interaction between the system controller and the modes of vibration of the structure. The resulting structural vibrations and/or those caused by foreign objects impacting the space structure could seriously degrade system performance, making it virtually impossible for passive structural systems to perform their missions. Therefore an active vibration control system which will sense these natural and spurious vibrations, evaluate them and dampen them out is required. This active vibration control system must be impervious to the space environment and electromagnetic interference, have very low weight, and in essence become part of the structure itself. The concept of smart structures meets these criteria. Smart structures is defined as the embedment of sensors, actuators, and possibly microprocessors in the material which forms the structure, a concept that is particularly applicable to advanced composites. These sensors, actuators, and microprocessors will work interactively to sense, evaluate, and dampen those vibrations which pose a threat to large flexible space systems (LSS). The sensors will also be capable of sensing any degradation to the structure. The Air Force Astronautics Laboratory (AFAL) has been working in the area of dynamics and control of LSS for the past five years. Several programs involving both contractual and in-house efforts to develop sensors and actuators for controlling LSS have been initiated. Presently the AFAL is developing a large scale laboratory which will have the capacity of performing large angle retargetting manuevers and vibration analysis on LSS. Advanced composite materials have been fabricated for the last seven years, consisting mostly of rocket components such as: nozzles, payload shrouds, exit cones, and nose cones. Recently, however, AFAL has been fabricating composite components such as trusses, tubes and flat panels for space applications. Research on fiber optic sensors at NASA Langley Research Center (NASA LaRC) dates back to 1979. Recently an optical phase locked loop (OPLL) has been developed that can be used to make strain and temperature measurements. Static and dynamic strain measurements have been demonstrated using this device.' To address future space requirements, AFAL and NASA have initiated a program to design, fabricate, and experimentally test composite struts and panels with embedded sensors, actuators, and microprocessors that can be used to control vibration and motion in space structures.

Review of Polyimides Used in the Manufacturing of Micro Systems

NASA Technical Reports Server (NTRS)

Wilson, William C.; Atkinson, Gary M.

2007-01-01

Since their invention, polyimides have found numerous uses in MicroElectroMechanical Systems (MEMS) technology. Polyimides can act as photoresist, sacrificial layers, structural layers, and even as a replacement for silicon as the substrate during MEMS fabrication. They enable fabrication of both low and high aspect ratio devices. Polyimides have been used to fabricate expendable molds and reusable flexible molds. Development of a variety of devices that employ polyimides for sensor applications has occurred. Micro-robotic actuator applications include hinges, thermal actuators and residual stress actuators. Currently, polyimides are being used to create new sensors and devices for aerospace applications. This paper presents a review of some of the many uses of polyimides in the development of MEMS devices, including a new polyimide based MEMS fabrication process.

Robust stability bounds for multi-delay networked control systems

NASA Astrophysics Data System (ADS)

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

2018-04-01

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

MEMS actuators and sensors: observations on their performance and selection for purpose

NASA Astrophysics Data System (ADS)

Bell, D. J.; Lu, T. J.; Fleck, N. A.; Spearing, S. M.

2005-07-01

This paper presents an exercise in comparing the performance of microelectromechanical systems (MEMS) actuators and sensors as a function of operating principle. Data have been obtained from the literature for the mechanical performance characteristics of actuators, force sensors and displacement sensors. On-chip and off-chip actuators and sensors are each sub-grouped into families, classes and members according to their principle of operation. The performance of MEMS sharing common operating principles is compared with each other and with equivalent macroscopic devices. The data are used to construct performance maps showing the capability of existing actuators and sensors in terms of maximum force and displacement capability, resolution and frequency. These can also be used as a preliminary design tool, as shown in a case study on the design of an on-chip tensile test machine for materials in thin-film form.

Fabrication of multilayered conductive polymer structures via selective visible light photopolymerization

NASA Astrophysics Data System (ADS)

Cullen, Andrew T.; Price, Aaron D.

2017-04-01

Electropolymerization of pyrrole is commonly employed to fabricate intrinsically conductive polymer films that exhibit desirable electromechanical properties. Due to their monolithic nature, electroactive polypyrrole films produced via this process are typically limited to simple linear or bending actuation modes, which has hindered their application in complex actuation tasks. This initiative aims to develop the specialized fabrication methods and polymer formulations required to realize three-dimensional conductive polymer structures capable of more elaborate actuation modes. Our group has previously reported the application of the digital light processing additive manufacturing process for the fabrication of three-dimensional conductive polymer structures using ultraviolet radiation. In this investigation, we further expand upon this initial work and present an improved polymer formulation designed for digital light processing additive manufacturing using visible light. This technology enables the design of novel electroactive polymer sensors and actuators with enhanced capabilities and brings us one step closer to realizing more advanced electroactive polymer enabled devices.

Fiber optic system for deflection and damage detection in morphing wing structures

NASA Astrophysics Data System (ADS)

Scheerer, M.; Djinovic, Z.; Schüller, M.

2013-04-01

Within the EC Clean Sky - Smart Fixed Wing Aircraft initiative concepts for actuating morphing wing structures are under development. In order for developing a complete integrated system including the actuation, the structure to be actuated and the closed loop control unit a hybrid deflection and damage monitoring system is required. The aim of the project "FOS3D" is to develop and validate a fiber optic sensing system based on low-coherence interferometry for simultaneous deflection and damage monitoring. The proposed system uses several distributed and multiplexed fiber optic Michelson interferometers to monitor the strain distribution over the actuated part. In addition the same sensor principle will be used to acquire and locate the acoustic emission signals originated from the onset and growth of defects like impact damages, cracks and delamination's. Within this paper the authors present the concept, analyses and first experimental results of the mentioned system.

Experiment and simulation for CSI: What are the missing links?

NASA Technical Reports Server (NTRS)

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

1989-01-01

Viewgraphs on experiment and simulation for control structure interaction (CSI) are presented. Topics covered include: control structure interaction; typical control/structure interaction system; CSI problem classification; actuator/sensor models; modeling uncertainty; noise models; real-time computations; and discrete versus continuous.

Hair-based sensors for micro-autonomous systems

NASA Astrophysics Data System (ADS)

Sadeghi, Mahdi M.; Peterson, Rebecca L.; Najafi, Khalil

2012-06-01

We seek to harness microelectromechanical systems (MEMS) technologies to build biomimetic devices for low-power, high-performance, robust sensors and actuators on micro-autonomous robot platforms. Hair is used abundantly in nature for a variety of functions including balance and inertial sensing, flow sensing and aerodynamic (air foil) control, tactile and touch sensing, insulation and temperature control, particle filtering, and gas/chemical sensing. Biological hairs, which are typically characterized by large surface/volume ratios and mechanical amplification of movement, can be distributed in large numbers over large areas providing unprecedented sensitivity, redundancy, and stability (robustness). Local neural transduction allows for space- and power-efficient signal processing. Moreover by varying the hair structure and transduction mechanism, the basic hair form can be used for a wide diversity of functions. In this paper, by exploiting a novel wafer-level, bubble-free liquid encapsulation technology, we make arrays of micro-hydraulic cells capable of electrostatic actuation and hydraulic amplification, which enables high force/high deflection actuation and extremely sensitive detection (sensing) at low power. By attachment of cilia (hair) to the micro-hydraulic cell, air flow sensors with excellent sensitivity (< few cm/s) and dynamic range (> 10 m/s) have been built. A second-generation design has significantly reduced the sensor response time while maintaining sensitivity of about 2 cm/s and dynamic range of more than 15 m/s. These sensors can be used for dynamic flight control of flying robots or for situational awareness in surveillance applications. The core biomimetic technologies developed are applicable to a broad range of sensors and actuators.

Course Modules on Structural Health Monitoring with Smart Materials

ERIC Educational Resources Information Center

Shih, Hui-Ru; Walters, Wilbur L.; Zheng, Wei; Everett, Jessica

2009-01-01

Structural Health Monitoring (SHM) is an emerging technology that has multiple applications. SHM emerged from the wide field of smart structures, and it also encompasses disciplines such as structural dynamics, materials and structures, nondestructive testing, sensors and actuators, data acquisition, signal processing, and possibly much more. To…

Microelectromechanical Systems

NASA Technical Reports Server (NTRS)

Gabriel, Kaigham J.

1995-01-01

Micro-electromechanical systems (MEMS) is an enabling technology that merges computation and communication with sensing and actuation to change the way people and machines interact with the physical world. MEMS is a manufacturing technology that will impact widespread applications including: miniature inertial measurement measurement units for competent munitions and personal navigation; distributed unattended sensors; mass data storage devices; miniature analytical instruments; embedded pressure sensors; non-invasive biomedical sensors; fiber-optics components and networks; distributed aerodynamic control; and on-demand structural strength. The long term goal of ARPA's MEMS program is to merge information processing with sensing and actuation to realize new systems and strategies for both perceiving and controlling systems, processes, and the environment. The MEMS program has three major thrusts: advanced devices and processes, system design, and infrastructure.

Flexible structure control laboratory development and technology demonstration

NASA Technical Reports Server (NTRS)

Vivian, H. C.; Blaire, P. E.; Eldred, D. B.; Fleischer, G. E.; Ih, C.-H. C.; Nerheim, N. M.; Scheid, R. E.; Wen, J. T.

1987-01-01

An experimental structure is described which was constructed to demonstrate and validate recent emerging technologies in the active control and identification of large flexible space structures. The configuration consists of a large, 20 foot diameter antenna-like flexible structure in the horizontal plane with a gimballed central hub, a flexible feed-boom assembly hanging from the hub, and 12 flexible ribs radiating outward. Fourteen electrodynamic force actuators mounted to the hub and to the individual ribs provide the means to excite the structure and exert control forces. Thirty permanently mounted sensors, including optical encoders and analog induction devices provide measurements of structural response at widely distributed points. An experimental remote optical sensor provides sixteen additional sensing channels. A computer samples the sensors, computes the control updates and sends commands to the actuators in real time, while simultaneously displaying selected outputs on a graphics terminal and saving them in memory. Several control experiments were conducted thus far and are documented. These include implementation of distributed parameter system control, model reference adaptive control, and static shape control. These experiments have demonstrated the successful implementation of state-of-the-art control approaches using actual hardware.

Analysis of a Chevron Beam Thermal Actuator

NASA Astrophysics Data System (ADS)

Joshi, Amey Sanjay; Mohammed, Hussain; Kulkarni, S. M., Dr.

2018-02-01

Thermal MEMS (Micro-Electro-Mechanical Systems) actuators and sensors have a wide range of applications. The chevron type thermal actuators comparatively show superior performance over other existing electrostatic and thermal actuators. This paper describes the design and analysis of chevron type thermal actuator. Here standard design of Chevron type thermal actuator is considered which comprises of proof mass at center and array of six beams of a uniform cross section of 3 3 microns and an initial angle of 5°. The thermal actuator was designed and analyzed using analytical and finite element method and the results were compared. The model was also analyzed for initial angles of 2.5° and 7.5°, and the results were compared with FEA model. The cross section of the beam was varied and the finite element analysis of all three models was compared to suggest the best suitable thermal actuator structure.

Optical fiber sensors: Systems and applications. Volume 2

NASA Astrophysics Data System (ADS)

Culshaw, Brian; Dakin, John

State-of-the-art fiber-optic (FO) sensors and their applications are described in chapters contributed by leading experts. Consideration is given to interferometers, FO gyros, intensity- and wavelength-based sensors and optical actuators, Si in FO sensors, point-sensor multiplexing principles, and distributed FO sensor systems. Also examined are chemical, biochemical, and medical sensors; physical and chemical sensors for process control; FO-sensor applications in the marine and aerospace industries; FO-sensor monitoring systems for security and safety, structural integrity, NDE, and the electric-power industry; and the market situation for FO-sensor technology. Diagrams, drawings, graphs, and photographs are provided.

A process chain for integrating piezoelectric transducers into aluminum die castings to generate smart lightweight structures

NASA Astrophysics Data System (ADS)

Stein, Stefan; Wedler, Jonathan; Rhein, Sebastian; Schmidt, Michael; Körner, Carolin; Michaelis, Alexander; Gebhardt, Sylvia

The application of piezoelectric transducers to structural body parts of machines or vehicles enables the combination of passive mechanical components with sensor and actuator functions in one single structure. According to Herold et al. [1] and Staeves [2] this approach indicates significant potential regarding smart lightweight construction. To obtain the highest yield, the piezoelectric transducers need to be integrated into the flux of forces (load path) of load bearing structures. Application in a downstream process reduces yield and process efficiency during manufacturing and operation, due to the necessity of a subsequent process step of sensor/actuator application. The die casting process offers the possibility for integration of piezoelectric transducers into metal structures. Aluminum castings are particularly favorable due to their high quality and feasibility for high unit production at low cost (Brunhuber [3], Nogowizin [4]). Such molded aluminum parts with integrated piezoelectric transducers enable functions like active vibration damping, structural health monitoring or energy harvesting resulting in significant possibilities of weight reduction, which is an increasingly important driving force of automotive and aerospace industry (Klein [5], Siebenpfeiffer [6]) due to increasingly stringent environmental protection laws. In the scope of those developments, this paper focuses on the entire process chain enabling the generation of lightweight metal structures with sensor and actuator function, starting from the manufacturing of piezoelectric modules over electrical and mechanical bonding to the integration of such modules into aluminum (Al) matrices by die casting. To achieve this challenging goal, piezoceramic sensors/actuator modules, so-called LTCC/PZT modules (LPM) were developed, since ceramic based piezoelectric modules are more likely to withstand the thermal stress of about 700 °C introduced by the casting process (Flössel et al., [7]). The modules are made of low temperature cofired ceramic (LTCC) tapes with an embedded lead zirconate titanate (PZT) plate and are manufactured in multilayer technique. For joining conducting copper (Cu) wires with the electrode structure of the LPM, a novel laser drop on demand wire bonding method (LDB) is applied, which is based on the melting of a spherical CuSn12 braze preform with a liquidus temperature Tliquid of 989.9 °C (Deutsches Kupfer-Institut Düsseldorf, [8]) providing sufficient thermal stability for a subsequent casting process.

Development of a Meso-Scale Fiberoptic Rotation Sensor for a Torsion Actuator.

PubMed

Sheng, Jun; Desai, Jaydev P

2018-01-01

This paper presents the development of a meso-scale fiberoptic rotation sensor for a shape memory alloy (SMA) torsion actuator for neurosurgical applications. Within the sensor, a rotary head with a reflecting surface is capable of modulating the light intensity collected by optical fibers when the rotary head is coupled to the torsion actuator. The mechanism of light intensity modulation is modeled, followed by experimental model verification. Meanwhile, working performances for different rotary head designs, optical fibers, and fabrication materials are compared. After the calibration of the fiberoptic rotation sensor, the sensor is capable of precisely measuring rotary motion and controlling the SMA torsion actuator with feedback control.

Global Radius of Curvature Estimation and Control System for Segmented Mirrors

NASA Technical Reports Server (NTRS)

Rakoczy, John M. (Inventor)

2006-01-01

An apparatus controls positions of plural mirror segments in a segmented mirror with an edge sensor system and a controller. Current mirror segment edge sensor measurements and edge sensor reference measurements are compared with calculated edge sensor bias measurements representing a global radius of curvature. Accumulated prior actuator commands output from an edge sensor control unit are combined with an estimator matrix to form the edge sensor bias measurements. An optimal control matrix unit then accumulates the plurality of edge sensor error signals calculated by the summation unit and outputs the corresponding plurality of actuator commands. The plural mirror actuators respond to the actuator commands by moving respective positions of the mixor segments. A predetermined number of boundary conditions, corresponding to a plurality of hexagonal mirror locations, are removed to afford mathematical matrix calculation.

Method of Laser Vibration Defect Analysis

DTIC Science & Technology

2010-06-04

415. In one embodiment, the frequencies from the reflected ultrasonic wave 430 are sensed and transformed to an electrical signal by transducer...actuator and sensor patches, respectively. Then, a process module loads sensor signal data to identify wave modes, determine the time of arrival of...conditions. An interrogation system includes at least one wave generator for generating a wave signal and optical fiber sensors applied to a structure

Aile adaptable : Design du systeme d'actionnement de l'aileron rigide, caracterisation des capteurs de pression et instrumentation pour des tests statiques =

NASA Astrophysics Data System (ADS)

Vincent, Jean-Baptiste

This Master's thesis is part of a multidisciplinary optimisation project initiated by the Consortium for Research and Innovation in Aerospace in Quebec (CRIAQ) ; this project is about designing and manufacturing a morphing wing demonstrator. The morphing design adopted in this project is based on airfoil thickness variation applied to the upper skin. This morphing generates a change in the laminar to turbulent boundary layer transition position on top of the wing. The position of this transition area leads to significant changes in the aerodynamic performance of the wing. The study presented here focuses on the design of the conventional aileron actuation system and on the characterization of the high sensitivity differential pressure sensors installed on the upper skin in order to determine the laminar to turbulent transition position. Furthermore, the study focuses on the data acquisition system for the morphing wing structural test validation. The aileron actuation system is based on a linear actuator actuated by a brushless motor. The component choice is presented as well as the command method. A static validation as well as wind tunnel validation is presented. The pressure sensor characterization is performed by installing three of those high sensitivity differential pressure sensors in a bi-dimensional known airfoil. This study goes through the process of determining the sensor position in order to observe the transition area by using a computational fluid dynamics (CFD) statistic approach. The validation of the laminar to turbulent transition position is carried out with a series of wind tunnel tests. A structural test has been executed in order to validate the wing structure. This Master's thesis shows the data acquisition system for the microstrain measurement installed inside the morphing wing. A hardware and software architecture description is developed and presented as well as the practical results.

Improved process for forming a three-dimensional undersurface on a printed cantilever

NASA Astrophysics Data System (ADS)

Kanazawa, Shusuke; Kusaka, Yasuyuki; Yamamoto, Noritaka; Ushijima, Hirobumi

2018-05-01

An improvement in the lift-on offset printing process is reported as a means of enabling the structural customization of hollow structures used as moving parts of sensors and actuators. The improved process can add structures to the underside of a hollow structure by modifying the preparation of the pre-structure. As a demonstration, the mechanical displacement of a cantilever in a gravitational acceleration sensor was enhanced by the addition of a proof mass. The improved process can be expected to further produce functionalized hollow structures by an efficient manufacturing process.

Contact position sensor using constant contact force control system

NASA Technical Reports Server (NTRS)

Sturdevant, Jay (Inventor)

1995-01-01

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

Performance enhanced piezoelectric-based crack detection system for high temperature I-beam SHM

NASA Astrophysics Data System (ADS)

Zhang, Chen; Zhang, Haifeng

2017-04-01

This paper proposes an innovative sensing system for high temperature (up to 150°C) I-beam crack detection. The proposed system is based on the piezoelectric effect and laser sensing mechanisms, which is proved to be effective at high temperature environment (up to 150°C). Different from other high temperature SHM approaches, the proposed sensing system is employing a piezoelectric disk as an actuator and a laser vibrometer as a sensor for remote detection. Lab tests are carried out and the vibrational properties are studied to characterize the relationship between crack depth and sensor responses by analyzing the RMS of sensor responses. Instead of utilizing a pair of piezoelectric actuator and sensor, using the laser vibrometer will enable 1) a more flexible detection, which will not be limited to specific area or dimension, 2) wireless sensing, which lowers the risk of operating at high temperature/harsh environment. The proposed sensing system can be applied to engineering structures such as in nuclear power plant reactor vessel and heat pipe structures/systems.

Damage detection in composite materials using Lamb wave methods

NASA Astrophysics Data System (ADS)

Kessler, Seth S.; Spearing, S. Mark; Soutis, Constantinos

2002-04-01

Cost-effective and reliable damage detection is critical for the utilization of composite materials. This paper presents part of an experimental and analytical survey of candidate methods for in situ damage detection of composite materials. Experimental results are presented for the application of Lamb wave techniques to quasi-isotropic graphite/epoxy test specimens containing representative damage modes, including delamination, transverse ply cracks and through-holes. Linear wave scans were performed on narrow laminated specimens and sandwich beams with various cores by monitoring the transmitted waves with piezoceramic sensors. Optimal actuator and sensor configurations were devised through experimentation, and various types of driving signal were explored. These experiments provided a procedure capable of easily and accurately determining the time of flight of a Lamb wave pulse between an actuator and sensor. Lamb wave techniques provide more information about damage presence and severity than previously tested methods (frequency response techniques), and provide the possibility of determining damage location due to their local response nature. These methods may prove suitable for structural health monitoring applications since they travel long distances and can be applied with conformable piezoelectric actuators and sensors that require little power.

Built-in active sensing diagnostic system for civil infrastructure systems

NASA Astrophysics Data System (ADS)

Wu, Fan; Chang, Fu-Kuo

2001-07-01

A reliable, robust monitoring system can improve the maintenance of and provide safety protection for civil structures and therefore prolong their service lives. A built-in, active sensing diagnostic technique for civil structures has been under investigation. In this technique, piezoelectric materials are used as sensors/actuators to receive and generate signals. The transducers are embedded in reinforced concrete (RC) beams and are designed to detect damage, particularly debonding damage between the reinforcing bars and concrete. This paper presents preliminary results from a feasibility study of the technology. Laboratory experiments performed on RC beams, with piezo-electric sensors and actuators mounted on reinforced steel bars, have clearly demonstrated that the proposed technique could detect debonding damage. Analytical work, using a special purpose finite-element software, PZFlex, was also conducted to interpret the relationship between the measured data and actual debonding damage. Effectiveness of the proposed technique for detecting debonding damage in civil structures has been demonstrated.

De novo design of a synthetic riboswitch that regulates transcription termination

PubMed Central

Wachsmuth, Manja; Findeiß, Sven; Weissheimer, Nadine; Stadler, Peter F.; Mörl, Mario

2013-01-01

Riboswitches are regulatory RNA elements typically located in the 5′-untranslated region of certain mRNAs and control gene expression at the level of transcription or translation. These elements consist of a sensor and an adjacent actuator domain. The sensor usually is an aptamer that specifically interacts with a ligand. The actuator contains an intrinsic terminator or a ribosomal binding site for transcriptional or translational regulation, respectively. Ligand binding leads to structural rearrangements of the riboswitch and to presentation or masking of these regulatory elements. Based on this modular organization, riboswitches are an ideal target for constructing synthetic regulatory systems for gene expression. Although riboswitches for translational control have been designed successfully, attempts to construct synthetic elements regulating transcription have failed so far. Here, we present an in silico pipeline for the rational design of synthetic riboswitches that regulate gene expression at the transcriptional level. Using the well-characterized theophylline aptamer as sensor, we designed the actuator part as RNA sequences that can fold into functional intrinsic terminator structures. In the biochemical characterization, several of the designed constructs show ligand-dependent control of gene expression in Escherichia coli, demonstrating that it is possible to engineer riboswitches not only for translational but also for transcriptional regulation. PMID:23275562

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

NASA Technical Reports Server (NTRS)

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

1983-01-01

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

Self-organizing sensing and actuation for automatic control

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

Cheng, George Shu-Xing

A Self-Organizing Process Control Architecture is introduced with a Sensing Layer, Control Layer, Actuation Layer, Process Layer, as well as Self-Organizing Sensors (SOS) and Self-Organizing Actuators (SOA). A Self-Organizing Sensor for a process variable with one or multiple input variables is disclosed. An artificial neural network (ANN) based dynamic modeling mechanism as part of the Self-Organizing Sensor is described. As a case example, a Self-Organizing Soft-Sensor for CFB Boiler Bed Height is presented. Also provided is a method to develop a Self-Organizing Sensor.

Magnetic resonance elastography using an air ball-actuator.

PubMed

Numano, Tomokazu; Kawabata, Yoshihiko; Mizuhara, Kazuyuki; Washio, Toshikatsu; Nitta, Naotaka; Homma, Kazuhiro

2013-07-01

The purpose of this study was to develop a new technique for a powerful compact MR elastography (MRE) actuator based on a pneumatic ball-vibrator. This is a compact actuator that generates powerful centrifugal force vibrations via high speed revolutions of an internal ball using compressed air. This equipment is easy to handle due to its simple principles and structure. Vibration frequency and centrifugal force are freely adjustable via air pressure changes (air flow volume), and replacement of the internal ball. In order to achieve MRI compatibility, all parts were constructed from non-ferromagnetic materials. Vibration amplitudes (displacements) were measured optically by a laser displacement sensor. From a bench test of displacement, even though the vibration frequency increased, the amount of displacement did not decrease. An essential step in MRE is the generation of mechanical waves within tissue via an actuator, and MRE sequences are synchronized to several phase offsets of vibration. In this system, the phase offset was detected by a four-channel optical-fiber sensor, and it was used as an MRI trigger signal. In an agarose gel phantom experiment, this actuator was used to make an MR elastogram. This study shows that the use of a ball actuator for MRE is feasible. Copyright © 2013 Elsevier Inc. All rights reserved.

Compact Active Vibration Control System for a Flexible Panel

NASA Technical Reports Server (NTRS)

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

2014-01-01

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

Structural control by the use of piezoelectric active members

NASA Technical Reports Server (NTRS)

Fanson, J. L.; Chen, J.-C.

1987-01-01

Large Space Structures (LSS) exhibit characteristics which make the LSS control problem different form other control problems. LSS will most likely exhibit low frequency, densely spaced and lightly damped modes. In theory, the number of these modes is infinite. Because these structures are flexible, Vibration Suppression (VS) is an important aspect of LSS operation. In terms of VS, the control actuators should be as low mass as possible, have infinite bandwidth, and be electrically powered. It is proposed that actuators be built into the structure as dual purpose structural elements. A piezoelectric active member is proposed for the control of LSS. Such a device would consist of a piezoelectric actuator and sensor for measuring strain, and screwjack actuator in series for use in quasi-static shape control. An experiment simulates an active member using piezoelectric ceramic thin sheet material on a thin, uniform cantilever beam. The feasibility of using the piezoelectric materials for VS on LSS was demonstrated. Positive positive feedback as a VS control strategy was implemented. Multi-mode VS was achieved with dramatic reduction in dynamic response.

Active Piezoelectric Structures for Tip Clearance Management Assessed

NASA Technical Reports Server (NTRS)

1995-01-01

Managing blade tip clearance in turbomachinery stages is critical to developing advanced subsonic propulsion systems. Active casing structures with embedded piezoelectric actuators appear to be a promising solution. They can control static and dynamic tip clearance, compensate for uneven deflections, and accomplish electromechanical coupling at the material level. In addition, they have a compact design. To assess the feasibility of this concept and assist the development of these novel structures, the NASA Lewis Research Center developed in-house computational capabilities for composite structures with piezoelectric actuators and sensors, and subsequently used them to simulate candidate active casing structures. The simulations indicated the potential of active casings to modify the blade tip clearance enough to improve stage efficiency. They also provided valuable design information, such as preliminary actuator configurations (number and location) and the corresponding voltage patterns required to compensate for uneven casing deformations. An active ovalization of a casing with four discrete piezoceramic actuators attached on the outer surface is shown. The center figure shows the predicted radial displacements along the hoop direction that are induced when electrostatic voltage is applied at the piezoceramic actuators. This work, which has demonstrated the capabilities of in-house computational models to analyze and design active casing structures, is expected to contribute toward the development of advanced subsonic engines.

A uniform energy consumption algorithm for wireless sensor and actuator networks based on dynamic polling point selection.

PubMed

Li, Shuo; Peng, Jun; Liu, Weirong; Zhu, Zhengfa; Lin, Kuo-Chi

2013-12-19

Recent research has indicated that using the mobility of the actuator in wireless sensor and actuator networks (WSANs) to achieve mobile data collection can greatly increase the sensor network lifetime. However, mobile data collection may result in unacceptable collection delays in the network if the path of the actuator is too long. Because real-time network applications require meeting data collection delay constraints, planning the path of the actuator is a very important issue to balance the prolongation of the network lifetime and the reduction of the data collection delay. In this paper, a multi-hop routing mobile data collection algorithm is proposed based on dynamic polling point selection with delay constraints to address this issue. The algorithm can actively update the selection of the actuator's polling points according to the sensor nodes' residual energies and their locations while also considering the collection delay constraint. It also dynamically constructs the multi-hop routing trees rooted by these polling points to balance the sensor node energy consumption and the extension of the network lifetime. The effectiveness of the algorithm is validated by simulation.

Microfabricated magnetic structures for future medicine: from sensors to cell actuators

PubMed Central

Vitol, Elina A; Novosad, Valentyn; Rozhkova, Elena A

2013-01-01

In this review, we discuss the prospective medical application of magnetic carriers microfabricated by top-down techniques. Physical methods allow the fabrication of a variety of magnetic structures with tightly controlled magnetic properties and geometry, which makes them very attractive for a cost-efficient mass-production in the fast growing field of nanomedicine. Stand-alone fabricated particles along with integrated devices combining lithographically defined magnetic structures and synthesized magnetic tags will be considered. Applications of microfabricated multifunctional magnetic structures for future medicinal purposes range from ultrasensitive in vitro diagnostic bioassays, DNA sequencing and microfluidic cell sorting to magnetomechanical actuation, cargo delivery, contrast enhancement and heating therapy. PMID:23148542

Light-Driven Polymeric Bimorph Actuators

NASA Technical Reports Server (NTRS)

Adamovsky, Gregory; Sarkisov, Sergey S.; Curley, Michael J.

2009-01-01

Light-driven polymeric bimorph actuators are being developed as alternatives to prior electrically and optically driven actuators in advanced, highly miniaturized devices and systems exemplified by microelectromechanical systems (MEMS), micro-electro-optical-mechanical systems (MEOMS), and sensor and actuator arrays in smart structures. These light-driven polymeric bimorph actuators are intended to satisfy a need for actuators that (1) in comparison with the prior actuators, are simpler and less power-hungry; (2) can be driven by low-power visible or mid-infrared light delivered through conventional optic fibers; and (3) are suitable for integration with optical sensors and multiple actuators of the same or different type. The immediate predecessors of the present light-driven polymeric bimorph actuators are bimorph actuators that exploit a photorestrictive effect in lead lanthanum zirconate titanate (PLZT) ceramics. The disadvantages of the PLZT-based actuators are that (1) it is difficult to shape the PLZT ceramics, which are hard and brittle; (2) for actuation, it is necessary to use ultraviolet light (wavelengths < 380 nm), which must be generated by use of high-power, high-pressure arc lamps or lasers; (3) it is difficult to deliver sufficient ultraviolet light through conventional optical fibers because of significant losses in the fibers; (4) the response times of the PLZT actuators are of the order of several seconds unacceptably long for typical applications; and (5) the maximum mechanical displacements of the PLZT-based actuators are limited to those characterized by low strains beyond which PLZT ceramics disintegrate because of their brittleness. The basic element of a light-driven bimorph actuator of the present developmental type is a cantilever beam comprising two layers, at least one of which is a polymer that exhibits a photomechanical effect (see figure). The dominant mechanism of the photomechanical effect is a photothermal one: absorption of light energy causes heating, which, in turn, causes thermal expansion.

Cylindrical Piezoelectric Fiber Composite Actuators

NASA Technical Reports Server (NTRS)

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

2008-01-01

The use of piezoelectric devices has become widespread since Pierre and Jacques Curie discovered the piezoelectric effect in 1880. Examples of current applications of piezoelectric devices include ultrasonic transducers, micro-positioning devices, buzzers, strain sensors, and clocks. The invention of such lightweight, relatively inexpensive piezoceramic-fiber-composite actuators as macro fiber composite (MFC) actuators has made it possible to obtain strains and displacements greater than those that could be generated by prior actuators based on monolithic piezoceramic sheet materials. MFC actuators are flat, flexible actuators designed for bonding to structures to apply or detect strains. Bonding multiple layers of MFC actuators together could increase force capability, but not strain or displacement capability. Cylindrical piezoelectric fiber composite (CPFC) actuators have been invented as alternatives to MFC actuators for applications in which greater forces and/or strains or displacements may be required. In essence, a CPFC actuator is an MFC or other piezoceramic fiber composite actuator fabricated in a cylindrical instead of its conventional flat shape. Cylindrical is used here in the general sense, encompassing shapes that can have circular, elliptical, rectangular or other cross-sectional shapes in the planes perpendicular to their longitudinal axes.

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

NASA Technical Reports Server (NTRS)

Umland, Jeffrey W.; Inman, Daniel J.

1991-01-01

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

Smooth adaptive sliding mode vibration control of a flexible parallel manipulator with multiple smart linkages in modal space

NASA Astrophysics Data System (ADS)

Zhang, Quan; Li, Chaodong; Zhang, Jiantao; Zhang, Jianhui

2017-12-01

This paper addresses the dynamic model and active vibration control of a rigid-flexible parallel manipulator with three smart links actuated by three linear ultrasonic motors. To suppress the vibration of three flexible intermediate links under high speed and acceleration, multiple Lead Zirconium Titanate (PZT) sensors and actuators are collocated mounted on each link, forming a smart structure which can achieve self-sensing and self-actuating. The dynamic characteristics and equations of the flexible link incorporated with the PZT sensors and actuator are analyzed and formulated. The smooth adaptive sliding mode based active vibration control is proposed to suppress the vibration of the smart links, and the first and second modes of the three links are targeted to be suppressed in modal space to avoid the spillover phenomenon. Simulations and experiments are implemented to validate the effectiveness of the smart structures and the proposed control laws. Experimental results show that the vibration of the first mode around 92 Hz and the second mode around 240 Hz of the three smart links are reduced respectively by 64.98%, 59.47%, 62.28%, and 45.80%, 36.79%, 33.33%, which further verify the multi-mode vibration control ability of the smooth adaptive sliding mode control law.

Application of physical parameter identification to finite-element models

NASA Technical Reports Server (NTRS)

Bronowicki, Allen J.; Lukich, Michael S.; Kuritz, Steven P.

1987-01-01

The time domain parameter identification method described previously is applied to TRW's Large Space Structure Truss Experiment. Only control sensors and actuators are employed in the test procedure. The fit of the linear structural model to the test data is improved by more than an order of magnitude using a physically reasonable parameter set. The electro-magnetic control actuators are found to contribute significant damping due to a combination of eddy current and back electro-motive force (EMF) effects. Uncertainties in both estimated physical parameters and modal behavior variables are given.

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

PubMed

Wu, Pang; Jiangbei, Wang; Yanqiong, Fei

2018-02-01

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

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.

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

NASA Astrophysics Data System (ADS)

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

2010-12-01

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

Structural sensing of interior sound for active control of noise in structural-acoustic cavities.

PubMed

Bagha, Ashok K; Modak, S V

2015-07-01

This paper proposes a method for structural sensing of acoustic potential energy for active control of noise in a structural-acoustic cavity. The sensing strategy aims at global control and works with a fewer number of sensors. It is based on the established concept of radiation modes and hence does not add too many states to the order of the system. Acoustic potential energy is sensed using a combination of a Kalman filter and a frequency weighting filter with the structural response measurements as the inputs. The use of Kalman filter also makes the system robust against measurement noise. The formulation of the strategy is presented using finite element models of the system including that of sensors and actuators so that it can be easily applied to practical systems. The sensing strategy is numerically evaluated in the framework of Linear Quadratic Gaussian based feedback control of interior noise in a rectangular box cavity with a flexible plate with single and multiple pairs of piezoelectric sensor-actuator patches when broadband disturbances act on the plate. The performance is compared with an "acoustic filter" that models the complete transfer function from the structure to the acoustic domain. The sensing performance is also compared with a direct estimation strategy.

Method and apparatus for conducting structural health monitoring in a cryogenic, high vibration environment

NASA Technical Reports Server (NTRS)

Qing, Xinlin (Inventor); Beard, Shawn J. (Inventor); Li, Irene (Inventor)

2013-01-01

Sensors affixed to various such structures, where the sensors can withstand, remain affixed, and operate while undergoing both cryogenic temperatures and high vibrations. In particular, piezoelectric single crystal transducers are utilized, and these sensors are coupled to the structure via a low temperature, heat cured epoxy. This allows the transducers to monitor the structure while the engine is operating, even despite the harsh operating conditions. Aspects of the invention thus allow for real time monitoring and analysis of structures that operate in conditions that previously did not permit such analysis. A further aspect of the invention relates to use of piezoelectric single crystal transducers. In particular, use of such transducers allows the same elements to be used as both sensors and actuators.

Active vibration damping using smart material

NASA Technical Reports Server (NTRS)

Baras, John S.; Yan, Zhuang

1994-01-01

We consider the modeling and active damping of an elastic beam using distributed actuators and sensors. The piezoelectric ceramic material (PZT) is used to build the actuator. The sensor is made of the piezoelectric polymer polyvinylidene fluoride (PVDF). These materials are glued on both sides of the beam. For the simple clamped beam, the closed loop controller has been shown to be able to extract energy from the beam. The shape of the actuator and its influence on the closed loop system performance are discussed. It is shown that it is possible to suppress the selected mode by choosing the appropriate actuator layout. It is also shown that by properly installing the sensor and determining the sensor shape we can further extract and manipulate the sensor signal for our control need.

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

PubMed Central

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

2017-01-01

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

Carbohydrate-actuated nanofluidic diode: switchable current rectification in a nanopipette

PubMed Central

Vilozny, Boaz; Wollenberg, Alexander L.; Actis, Paolo; Hwang, Daniel; Singaram, Bakthan

2013-01-01

Nanofluidic structures share many properties with ligand-gated ion channels. However, actuating ion conductance in artificial systems is a challenge. We have designed a system that uses a carbohydrate-responsive polymer to modulate ion conductance in a quartz nanopipette. The cationic polymer, a poly(vinylpyridine) quaternized with benzylboronic acid groups, undergoes a transition from swollen to collapsed upon binding to monosaccharides. As a result, the current rectification in nanopipettes can be reversibly switched depending on the concentration of monosaccharides. Such molecular actuation of nanofluidic conductance may be used in novel sensors and drug delivery systems. PMID:23934399

Carbohydrate-actuated nanofluidic diode: switchable current rectification in a nanopipette.

PubMed

Vilozny, Boaz; Wollenberg, Alexander L; Actis, Paolo; Hwang, Daniel; Singaram, Bakthan; Pourmand, Nader

2013-10-07

Nanofluidic structures share many properties with ligand-gated ion channels. However, actuating ion conductance in artificial systems is a challenge. We have designed a system that uses a carbohydrate-responsive polymer to modulate ion conductance in a quartz nanopipette. The cationic polymer, a poly(vinylpyridine) quaternized with benzylboronic acid groups, undergoes a transition from swollen to collapsed upon binding to monosaccharides. As a result, the current rectification in nanopipettes can be reversibly switched depending on the concentration of monosaccharides. Such molecular actuation of nanofluidic conductance may be used in novel sensors and drug delivery systems.

Resonant Vibrations and Vibrational Heating of Physically Nonlinear Viscoelastic Shells and Their Damping Using Piezoelectric Sensor and Actuator

NASA Astrophysics Data System (ADS)

Kirichok, I. F.

2017-09-01

Forced axisymmetric resonant vibrations and vibrational heating of viscoelastic, physically nonlinear, closed, spherical, and infinitely long cylindrical shells and ring with piezoelectric sensor and actuator are considered. The effect of physical nonlinearity of passive material on the vibration amplitude and vibrational heating temperature is studied. The possibility of active damping of vibrations by piezoelectric sensors and actuators is demonstrated.

Bindings and RESTlets: A Novel Set of CoAP-Based Application Enablers to Build IoT Applications.

PubMed

Teklemariam, Girum Ketema; Van Den Abeele, Floris; Moerman, Ingrid; Demeester, Piet; Hoebeke, Jeroen

2016-08-02

Sensors and actuators are becoming important components of Internet of Things (IoT) applications. Today, several approaches exist to facilitate communication of sensors and actuators in IoT applications. Most communications go through often proprietary gateways requiring availability of the gateway for each and every interaction between sensors and actuators. Sometimes, the gateway does some processing of the sensor data before triggering actuators. Other approaches put this processing logic further in the cloud. These approaches introduce significant latencies and increased number of packets. In this paper, we introduce a CoAP-based mechanism for direct binding of sensors and actuators. This flexible binding solution is utilized further to build IoT applications through RESTlets. RESTlets are defined to accept inputs and produce outputs after performing some processing tasks. Sensors and actuators could be associated with RESTlets (which can be hosted on any device) through the flexible binding mechanism we introduced. This approach facilitates decentralized IoT application development by placing all or part of the processing logic in Low power and Lossy Networks (LLNs). We run several tests to compare the performance of our solution with existing solutions and found out that our solution reduces communication delay and number of packets in the LLN.

Easy Handling of Sensors and Actuators over TCP/IP Networks by Open Source Hardware/Software

PubMed Central

Mejías, Andrés; Herrera, Reyes S.; Márquez, Marco A.; Calderón, Antonio José; González, Isaías; Andújar, José Manuel

2017-01-01

There are several specific solutions for accessing sensors and actuators present in any process or system through a TCP/IP network, either local or a wide area type like the Internet. The usage of sensors and actuators of different nature and diverse interfaces (SPI, I2C, analogue, etc.) makes access to them from a network in a homogeneous and secure way more complex. A framework, including both software and hardware resources, is necessary to simplify and unify networked access to these devices. In this paper, a set of open-source software tools, specifically designed to cover the different issues concerning the access to sensors and actuators, and two proposed low-cost hardware architectures to operate with the abovementioned software tools are presented. They allow integrated and easy access to local or remote sensors and actuators. The software tools, integrated in the free authoring tool Easy Java and Javascript Simulations (EJS) solve the interaction issues between the subsystem that integrates sensors and actuators into the network, called convergence subsystem in this paper, and the Human Machine Interface (HMI)—this one designed using the intuitive graphical system of EJS—located on the user’s computer. The proposed hardware architectures and software tools are described and experimental implementations with the proposed tools are presented. PMID:28067801

Bindings and RESTlets: A Novel Set of CoAP-Based Application Enablers to Build IoT Applications

PubMed Central

Teklemariam, Girum Ketema; Van Den Abeele, Floris; Moerman, Ingrid; Demeester, Piet; Hoebeke, Jeroen

2016-01-01

Sensors and actuators are becoming important components of Internet of Things (IoT) applications. Today, several approaches exist to facilitate communication of sensors and actuators in IoT applications. Most communications go through often proprietary gateways requiring availability of the gateway for each and every interaction between sensors and actuators. Sometimes, the gateway does some processing of the sensor data before triggering actuators. Other approaches put this processing logic further in the cloud. These approaches introduce significant latencies and increased number of packets. In this paper, we introduce a CoAP-based mechanism for direct binding of sensors and actuators. This flexible binding solution is utilized further to build IoT applications through RESTlets. RESTlets are defined to accept inputs and produce outputs after performing some processing tasks. Sensors and actuators could be associated with RESTlets (which can be hosted on any device) through the flexible binding mechanism we introduced. This approach facilitates decentralized IoT application development by placing all or part of the processing logic in Low power and Lossy Networks (LLNs). We run several tests to compare the performance of our solution with existing solutions and found out that our solution reduces communication delay and number of packets in the LLN. PMID:27490554

Easy Handling of Sensors and Actuators over TCP/IP Networks by Open Source Hardware/Software.

PubMed

Mejías, Andrés; Herrera, Reyes S; Márquez, Marco A; Calderón, Antonio José; González, Isaías; Andújar, José Manuel

2017-01-05

There are several specific solutions for accessing sensors and actuators present in any process or system through a TCP/IP network, either local or a wide area type like the Internet. The usage of sensors and actuators of different nature and diverse interfaces (SPI, I2C, analogue, etc.) makes access to them from a network in a homogeneous and secure way more complex. A framework, including both software and hardware resources, is necessary to simplify and unify networked access to these devices. In this paper, a set of open-source software tools, specifically designed to cover the different issues concerning the access to sensors and actuators, and two proposed low-cost hardware architectures to operate with the abovementioned software tools are presented. They allow integrated and easy access to local or remote sensors and actuators. The software tools, integrated in the free authoring tool Easy Java and Javascript Simulations (EJS) solve the interaction issues between the subsystem that integrates sensors and actuators into the network, called convergence subsystem in this paper, and the Human Machine Interface (HMI)-this one designed using the intuitive graphical system of EJS-located on the user's computer. The proposed hardware architectures and software tools are described and experimental implementations with the proposed tools are presented.

a New ER Fluid Based Haptic Actuator System for Virtual Reality

NASA Astrophysics Data System (ADS)

Böse, H.; Baumann, M.; Monkman, G. J.; Egersdörfer, S.; Tunayar, A.; Freimuth, H.; Ermert, H.; Khaled, W.

The concept and some steps in the development of a new actuator system which enables the haptic perception of mechanically inhomogeneous virtual objects are introduced. The system consists of a two-dimensional planar array of actuator elements containing an electrorheological (ER) fluid. When a user presses his fingers onto the surface of the actuator array, he perceives locally variable resistance forces generated by vertical pistons which slide in the ER fluid through the gaps between electrode pairs. The voltage in each actuator element can be individually controlled by a novel sophisticated switching technology based on optoelectric gallium arsenide elements. The haptic information which is represented at the actuator array can be transferred from a corresponding sensor system based on ultrasonic elastography. The combined sensor-actuator system may serve as a technology platform for various applications in virtual reality, like telemedicine where the information on the consistency of tissue of a real patient is detected by the sensor part and recorded by the actuator part at a remote location.

Engineering biomimetic hair bundle sensors for underwater sensing applications

NASA Astrophysics Data System (ADS)

Kottapalli, Ajay Giri Prakash; Asadnia, Mohsen; Karavitaki, K. Domenica; Warkiani, Majid Ebrahimi; Miao, Jianmin; Corey, David P.; Triantafyllou, Michael

2018-05-01

We present the fabrication of an artificial MEMS hair bundle sensor designed to approximate the structural and functional principles of the flow-sensing bundles found in fish neuromast hair cells. The sensor consists of micro-pillars of graded height connected with piezoelectric nanofiber "tip-links" and encapsulated by a hydrogel cupula-like structure. Fluid drag force actuates the hydrogel cupula and deflects the micro-pillar bundle, stretching the nanofibers and generating electric charges. These biomimetic sensors achieve an ultrahigh sensitivity of 0.286 mV/(mm/s) and an extremely low threshold detection limit of 8.24 µm/s. A complete version of this paper has been published [1].

Consensus positive position feedback control for vibration attenuation of smart structures

NASA Astrophysics Data System (ADS)

Omidi, Ehsan; Nima Mahmoodi, S.

2015-04-01

This paper presents a new network-based approach for active vibration control in smart structures. In this approach, a network with known topology connects collocated actuator/sensor elements of the smart structure to one another. Each of these actuators/sensors, i.e., agent or node, is enhanced by a separate multi-mode positive position feedback (PPF) controller. The decentralized PPF controlled agents collaborate with each other in the designed network, under a certain consensus dynamics. The consensus constraint forces neighboring agents to cooperate with each other such that the disagreement between the time-domain actuation of the agents is driven to zero. The controller output of each agent is calculated using state-space variables; hence, optimal state estimators are designed first for the proposed observer-based consensus PPF control. The consensus controller is numerically investigated for a flexible smart structure, i.e., a thin aluminum beam that is clamped at its both ends. Results demonstrate that the consensus law successfully imposes synchronization between the independently controlled agents, as the disagreements between the decentralized PPF controller variables converge to zero in a short time. The new consensus PPF controller brings extra robustness to vibration suppression in smart structures, where malfunctions of an agent can be compensated for by referencing the neighboring agents’ performance. This is demonstrated in the results by comparing the new controller with former centralized PPF approach.

Local feedback control of light honeycomb panels.

PubMed

Hong, Chinsuk; Elliott, Stephen J

2007-01-01

This paper summarizes theoretical and experimental work on the feedback control of sound radiation from honeycomb panels using piezoceramic actuators. It is motivated by the problem of sound transmission in aircraft, specifically the active control of trim panels. Trim panels are generally honeycomb structures designed to meet the design requirement of low weight and high stiffness. They are resiliently mounted to the fuselage for the passive reduction of noise transmission. Local coupling of the closely spaced sensor and actuator was observed experimentally and modeled using a single degree of freedom system. The effect of the local coupling was to roll off the response between the actuator and sensor at high frequencies, so that a feedback control system can have high gain margins. Unfortunately, only relatively poor global performance is then achieved because of localization of reduction around the actuator. This localization prompts the investigation of a multichannel active control system. Globalized reduction was predicted using a model of 12-channel direct velocity feedback control. The multichannel system, however, does not appear to yield a significant improvement in the performance because of decreased gain margin.

Application of a Broadband Active Vibration Control System to a Helicopter Trim Panel

NASA Technical Reports Server (NTRS)

Cabell, Randolph H.; Schiller, Noah H.; Simon, Frank

2013-01-01

This paper discusses testing of a broadband active vibration control concept on an interior trim panel in a helicopter cabin mockup located at ONERA's Centre de Toulouse. The control system consisted of twelve diamond-shaped piezoelectric actuators distributed around a 1.2m x 1.2m trim panel. Accelerometers were mounted at the four vertices of each diamond. The aspect ratio of the diamond was based on the dielectric constants of the piezoelectric material in order to create an actuator-sensor pair that was collocated over a broad frequency range. This allowed robust control to be implemented using simple, low power analog electronics. Initial testing on a thick acrylic window demonstrated the capability of the controller, but actuator performance was less satisfactory when mounted on a composite sandwich trim panel. This may have been due to the orthotropic nature of the trim panel, or due to its much higher stiffness relative to the acrylic window. Insights gained from a finite element study of the actuator-sensor-structural system are discussed.

Vibration suppression of planar truss structures utilizing uniform damping control

NASA Technical Reports Server (NTRS)

Andersen, G. C.; Silverberg, L. M.

1986-01-01

A variety of methods has been devised for vibrational control of a structure using both passive and active controls. Presented in this paper is a relatively new method for vibration suppression, uniform damping control. This method consists of implementing a control law which tends to dampen each vibrational mode of the structure at the same desirable exponential rate. The unique aspects of this method are that the control law is not explicitly dependent on the structural stiffness, the control forces are directly proportional to the distribution of the structural mass, and the control law is natural and decentralized. The control law was applied to a flexible planar truss structure and the various aspects of implementation of the control law examined are: actuator/sensor number, placement, and the impact of the actuator/sensor number and placement on the necessary control 'power' requirements such as peak power loads, total power requirements, etc. Also examined are the effects of using a limited number of active members in terms of the vibrational performance when compared with the 'ideal' distributed control law.

SPS flexible system control assessment analysis

NASA Technical Reports Server (NTRS)

Balas, M. J.

1981-01-01

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

A Uniform Energy Consumption Algorithm for Wireless Sensor and Actuator Networks Based on Dynamic Polling Point Selection

PubMed Central

Li, Shuo; Peng, Jun; Liu, Weirong; Zhu, Zhengfa; Lin, Kuo-Chi

2014-01-01

Recent research has indicated that using the mobility of the actuator in wireless sensor and actuator networks (WSANs) to achieve mobile data collection can greatly increase the sensor network lifetime. However, mobile data collection may result in unacceptable collection delays in the network if the path of the actuator is too long. Because real-time network applications require meeting data collection delay constraints, planning the path of the actuator is a very important issue to balance the prolongation of the network lifetime and the reduction of the data collection delay. In this paper, a multi-hop routing mobile data collection algorithm is proposed based on dynamic polling point selection with delay constraints to address this issue. The algorithm can actively update the selection of the actuator's polling points according to the sensor nodes' residual energies and their locations while also considering the collection delay constraint. It also dynamically constructs the multi-hop routing trees rooted by these polling points to balance the sensor node energy consumption and the extension of the network lifetime. The effectiveness of the algorithm is validated by simulation. PMID:24451455

Monitoring of bone healing by piezoelectric-EMI method

NASA Astrophysics Data System (ADS)

Mazlina, M. H.; Sarpinah, Bibi; Tawie, Rudy; Daho, Claira Dalislone; Annuar, Ishak

2016-02-01

Smart Piezoelectric devices which have excellent piezoelectric properties have been employed for various sensor and actuators applications. The work presented here is an attempt to demonstrate the feasibility of bone healing monitoring by using piezoelectric-electromechanical impedance (EMI) method that have several advantages such as low cost, portable, light weight and simplicity in measurement. A Piezoelectric sensor (PZT) has been widely used in damage detection of various structures including concrete, pipes and bones due to their unique sensing and actuating properties. The EMI technique has emerged as a universal Structural Health Monitoring (SHM) tool suitable for almost all engineering materials and structures. The method used for this proposed study consists of put healing agent in the host structure in particular cracks bone to be monitored by PZT-needle sensor which is embedded to the host structure. The measurements were taken in the frequency range between 0.04 to 100 kHz at 1 kHz interval using AD5933 evaluation board. The signals retrieved from the AD5933 evaluation board, were quantify and analyse to obtain Root Mean Square Deviation (RMSD) percentage value. Measurements were taken every hour for 12 hours. The result from the study shows the feasibility of the piezoelectric-EMI method to effectively detect changes during bone-cracks healing process until the cracks bone is fully recovered.

Differential Measurement Periodontal Structures Mapping System

NASA Technical Reports Server (NTRS)

Companion, John A. (Inventor)

1998-01-01

This invention relates to a periodontal structure mapping system employing a dental handpiece containing first and second acoustic sensors for locating the Cemento-Enamel Junction (CEJ) and measuring the differential depth between the CEJ and the bottom of the periodontal pocket. Measurements are taken at multiple locations on each tooth of a patient, observed, analyzed by an optical analysis subsystem, and archived by a data storage system for subsequent study and comparison with previous and subsequent measurements. Ultrasonic transducers for the first and second acoustic sensors are contained within the handpiece and in connection with a control computer. Pressurized water is provided for the depth measurement sensor and a linearly movable probe sensor serves as the sensor for the CEJ finder. The linear movement of the CEJ sensor is obtained by a control computer actuated by the prober. In an alternate embodiment, the CEJ probe is an optical fiber sensor with appropriate analysis structure provided therefor.

Determination of poles and zeros of transfer functions for flexible spacecraft attitude control

NASA Technical Reports Server (NTRS)

Ohkami, Y.; Likins, P. W.

1976-01-01

The transfer function matrix is obtained for a three-input and three-output model of minimum sensors and actuators for the attitude control system of flexible spacecraft, and a method is described for determining the poles and zeros of this transfer function. Three cases are considered: (1) the actuators and the sensors are all attached to the primary body, (2) the actuators are on the primary body and the sensors are on the sub-body, and (3) the actuators are on the sub-body and the sensors are on the primary body. The zero-determination problem is shown to reduce to eigenvalue calculations of a matrix which is constructed from the inertial and modal matrices in a simple fashion.

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

NASA Astrophysics Data System (ADS)

Kumar, K. Ramesh; Narayanan, S.

2007-12-01

This paper considers the optimal placement of collocated piezoelectric actuator-sensor pairs on a thin plate using a model-based linear quadratic regulator (LQR) controller. LQR performance is taken as objective for finding the optimal location of sensor-actuator pairs. The problem is formulated using the finite element method (FEM) as multi-input-multi-output (MIMO) model control. The discrete optimal sensor and actuator location problem is formulated in the framework of a zero-one optimization problem. A genetic algorithm (GA) is used to solve the zero-one optimization problem. Different classical control strategies like direct proportional feedback, constant-gain negative velocity feedback and the LQR optimal control scheme are applied to study the control effectiveness.

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

PubMed Central

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

2012-01-01

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

Further Structural Intelligence for Sensors Cluster Technology in Manufacturing

PubMed Central

Mekid, Samir

2006-01-01

With the ever increasing complex sensing and actuating tasks in manufacturing plants, intelligent sensors cluster in hybrid networks becomes a rapidly expanding area. They play a dominant role in many fields from macro and micro scale. Global object control and the ability to self organize into fault-tolerant and scalable systems are expected for high level applications. In this paper, new structural concepts of intelligent sensors and networks with new intelligent agents are presented. Embedding new functionalities to dynamically manage cooperative agents for autonomous machines are interesting key enabling technologies most required in manufacturing for zero defects production.

A recurrent neural-network-based sensor and actuator fault detection and isolation for nonlinear systems with application to the satellite's attitude control subsystem.

PubMed

Talebi, H A; Khorasani, K; Tafazoli, S

2009-01-01

This paper presents a robust fault detection and isolation (FDI) scheme for a general class of nonlinear systems using a neural-network-based observer strategy. Both actuator and sensor faults are considered. The nonlinear system considered is subject to both state and sensor uncertainties and disturbances. Two recurrent neural networks are employed to identify general unknown actuator and sensor faults, respectively. The neural network weights are updated according to a modified backpropagation scheme. Unlike many previous methods developed in the literature, our proposed FDI scheme does not rely on availability of full state measurements. The stability of the overall FDI scheme in presence of unknown sensor and actuator faults as well as plant and sensor noise and uncertainties is shown by using the Lyapunov's direct method. The stability analysis developed requires no restrictive assumptions on the system and/or the FDI algorithm. Magnetorquer-type actuators and magnetometer-type sensors that are commonly employed in the attitude control subsystem (ACS) of low-Earth orbit (LEO) satellites for attitude determination and control are considered in our case studies. The effectiveness and capabilities of our proposed fault diagnosis strategy are demonstrated and validated through extensive simulation studies.

Significance of modeling internal damping in the control of structures

NASA Technical Reports Server (NTRS)

Banks, H. T.; Inman, D. J.

1992-01-01

Several simple systems are examined to illustrate the importance of the estimation of damping parameters in closed-loop system performance and stability. The negative effects of unmodeled damping are particularly pronounced in systems that do not use collocated sensors and actuators. An example is considered for which even the actuators (a tip jet nozzle and flexible hose) for a simple beam produce significant damping which, if ignored, results in a model that cannot yield a reasonable time response using physically meaningful parameter values. It is concluded that correct damping modeling is essential in structure control.

A controller design approach for large flexible space structures

NASA Technical Reports Server (NTRS)

Joshi, S. M.

1981-01-01

A controller design approach for large space structures is presented, which consists of a primary attitude controller and a secondary or damping enhancement controller. The secondary controller, which uses several Annular Momentum Control Device (AMCD's), is shown to make the closed loop system asymptotically stable under relatively simple conditions. The primary controller using torque actuators (or AMCD's) and colocated attitude and rate sensors is shown to be stable. It is shown that the same AMCD's can be used for simultaneous actuation of primary and secondary controllers. Numerical results are obtained for a large, thin, completely free plate model.

Adaptive feedforward control of non-minimum phase structural systems

NASA Astrophysics Data System (ADS)

Vipperman, J. S.; Burdisso, R. A.

1995-06-01

Adaptive feedforward control algorithms have been effectively applied to stationary disturbance rejection. For structural systems, the ideal feedforward compensator is a recursive filter which is a function of the transfer functions between the disturbance and control inputs and the error sensor output. Unfortunately, most control configurations result in a non-minimum phase control path; even a collocated control actuator and error sensor will not necessarily produce a minimum phase control path in the discrete domain. Therefore, the common practice is to choose a suitable approximation of the ideal compensator. In particular, all-zero finite impulse response (FIR) filters are desirable because of their inherent stability for adaptive control approaches. However, for highly resonant systems, large order filters are required for broadband applications. In this work, a control configuration is investigated for controlling non-minimum phase lightly damped structural systems. The control approach uses low order FIR filters as feedforward compensators in a configuration that has one more control actuator than error sensors. The performance of the controller was experimentally evaluated on a simply supported plate under white noise excitation for a two-input, one-output (2I1O) system. The results show excellent error signal reduction, attesting to the effectiveness of the method.

Design of a piezoelectric-based structural health monitoring system for damage detection in composite materials

NASA Astrophysics Data System (ADS)

Kessler, Seth S.; Spearing, S. Mark

2002-07-01

Cost-effective and reliable damage detection is critical for the utilization of composite materials. This paper presents the conclusions of an experimental and analytical survey of candidate methods for in-situ damage detection in composite structures. Experimental results are presented for the application of modal analysis and Lamb wave techniques to quasi-isotropic graphite/epoxy test specimens containing representative damage. Piezoelectric patches were used as actuators and sensors for both sets of experiments. Modal analysis methods were reliable for detecting small amounts of global damage in a simple composite structure. By comparison, Lamb wave methods were sensitive to all types of local damage present between the sensor and actuator, provided useful information about damage presence and severity, and present the possibility of estimating damage type and location. Analogous experiments were also performed for more complex built-up structures. These techniques are suitable for structural health monitoring applications since they can be applied with low power conformable sensors and can provide useful information about the state of a structure during operation. Piezoelectric patches could also be used as multipurpose sensors to detect damage by a variety of methods such as modal analysis, Lamb wave, acoustic emission and strain based methods simultaneously, by altering driving frequencies and sampling rates. This paper present guidelines and recommendations drawn from this research to assist in the design of a structural health monitoring system for a vehicle. These systems will be an important component in future designs of air and spacecraft to increase the feasibility of their missions.

Smart Sensing and Dynamic Fitting for Enhanced Comfort and Performance of Prosthetics

DTIC Science & Technology

2015-10-01

developing the antenna pressure/shear sensors and the bubble actuators for pressure regulation. An antenna sensor that is capable of measuring shear and...liner materials. We have characterized the load bearing capability of bubble actuator arrays at different actuation pressures. A “limb-socket...laboratory test setup was developed for capturing the internal pressure change of bubble actuators when the “limb” was subjected to the external force. 15

Sensor failure and multivariable control for airbreathing propulsion systems. Ph.D. Thesis - Dec. 1979 Final Report

NASA Technical Reports Server (NTRS)

Behbehani, K.

1980-01-01

A new sensor/actuator failure analysis technique for turbofan jet engines was developed. Three phases of failure analysis, namely detection, isolation, and accommodation are considered. Failure detection and isolation techniques are developed by utilizing the concept of Generalized Likelihood Ratio (GLR) tests. These techniques are applicable to both time varying and time invariant systems. Three GLR detectors are developed for: (1) hard-over sensor failure; (2) hard-over actuator failure; and (3) brief disturbances in the actuators. The probability distribution of the GLR detectors and the detectability of sensor/actuator failures are established. Failure type is determined by the maximum of the GLR detectors. Failure accommodation is accomplished by extending the Multivariable Nyquest Array (MNA) control design techniques to nonsquare system designs. The performance and effectiveness of the failure analysis technique are studied by applying the technique to a turbofan jet engine, namely the Quiet Clean Short Haul Experimental Engine (QCSEE). Single and multiple sensor/actuator failures in the QCSEE are simulated and analyzed and the effects of model degradation are studied.

Advanced Smart Structures Flight Experiments for Precision Spacecraft

NASA Astrophysics Data System (ADS)

Denoyer, Keith K.; Erwin, R. Scott; Ninneman, R. Rory

2000-07-01

This paper presents an overview as well as data from four smart structures flight experiments directed by the U.S. Air Force Research Laboratory's Space Vehicles Directorate in Albuquerque, New Mexico. The Middeck Active Control Experiment $¯Flight II (MACE II) is a space shuttle flight experiment designed to investigate modeling and control issues for achieving high precision pointing and vibration control of future spacecraft. The Advanced Controls Technology Experiment (ACTEX-I) is an experiment that has demonstrated active vibration suppression using smart composite structures with embedded piezoelectric sensors and actuators. The Satellite Ultraquiet Isolation Technology Experiment (SUITE) is an isolation platform that uses active piezoelectric actuators as well as damped mechanical flexures to achieve hybrid passive/active isolation. The Vibration Isolation, Suppression, and Steering Experiment (VISS) is another isolation platform that uses viscous dampers in conjunction with electromagnetic voice coil actuators to achieve isolation as well as a steering capability for an infra-red telescope.

Adaptive Control in the Presence of Simultaneous Sensor Bias and Actuator Failures

NASA Technical Reports Server (NTRS)

Joshi, Suresh M.

2012-01-01

The problem of simultaneously accommodating unknown sensor biases and unknown actuator failures in uncertain systems is considered in a direct model reference adaptive control (MRAC) setting for state tracking using state feedback. Sensor biases and actuator faults may be present at the outset or may occur at unknown instants of time during operation. A modified MRAC law is proposed, which combines sensor bias estimation with control gain adaptation for accommodation of sensor biases and actuator failures. This control law is shown to provide signal boundedness in the resulting system. For the case when an external asymptotically stable sensor bias estimator is available, an MRAC law is developed to accomplish asymptotic state tracking and signal boundedness. For a special case wherein biases are only present in the rate measurements and bias-free position measurements are available, an MRAC law is developed using a model-independent bias estimator, and is shown to provide asymptotic state tracking with signal boundedness.

Active vibration absorber for CSI evolutionary model: Design and experimental results

NASA Technical Reports Server (NTRS)

Bruner, Anne M.; Belvin, W. Keith; Horta, Lucas G.; Juang, Jer-Nan

1991-01-01

The development of control of large flexible structures technology must include practical demonstration to aid in the understanding and characterization of controlled structures in space. To support this effort, a testbed facility was developed to study practical implementation of new control technologies under realistic conditions. The design is discussed of a second order, acceleration feedback controller which acts as an active vibration absorber. This controller provides guaranteed stability margins for collocated sensor/actuator pairs in the absence of sensor/actuator dynamics and computational time delay. The primary performance objective considered is damping augmentation of the first nine structural modes. Comparison of experimental and predicted closed loop damping is presented, including test and simulation time histories for open and closed loop cases. Although the simulation and test results are not in full agreement, robustness of this design under model uncertainty is demonstrated. The basic advantage of this second order controller design is that the stability of the controller is model independent.

Enhanced modeling features within TREETOPS

NASA Technical Reports Server (NTRS)

Vandervoort, R. J.; Kumar, Manoj N.

1989-01-01

The original motivation for TREETOPS was to build a generic multi-body simulation and remove the burden of writing multi-body equations from the engineers. The motivation of the enhancement was twofold: (1) to extend the menu of built-in features (sensors, actuators, constraints, etc.) that did not require user code; and (2) to extend the control system design capabilities by linking with other government funded software (NASTRAN and MATLAB). These enhancements also serve to bridge the gap between structures and control groups. It is common on large space programs for the structures groups to build hi-fidelity models of the structure using NASTRAN and for the controls group to build lower order models because they lack the tools to incorporate the former into their analysis. Now the controls engineers can accept the hi-fidelity NASTRAN models into TREETOPS, add sensors and actuators, perform model reduction and couple the result directly into MATLAB to perform their design. The controller can then be imported directly into TREETOPS for non-linear, time-history simulation.

QoS Challenges and Opportunities in Wireless Sensor/Actuator Networks

PubMed Central

Xia, Feng

2008-01-01

A wireless sensor/actuator network (WSAN) is a group of sensors and actuators that are geographically distributed and interconnected by wireless networks. Sensors gather information about the state of physical world. Actuators react to this information by performing appropriate actions. WSANs thus enable cyber systems to monitor and manipulate the behavior of the physical world. WSANs are growing at a tremendous pace, just like the exploding evolution of Internet. Supporting quality of service (QoS) will be of critical importance for pervasive WSANs that serve as the network infrastructure of diverse applications. To spark new research and development interests in this field, this paper examines and discusses the requirements, critical challenges, and open research issues on QoS management in WSANs. A brief overview of recent progress is given. PMID:27879755

Detection of crack in thin cylindrical pipes using piezo-actuated Lamb waves

NASA Astrophysics Data System (ADS)

Tua, P. S.; Quek, S. T.; Wang, Q.

2005-05-01

The detection of cracks in beams and plates using piezo-actuated Lamb waves has been presented in the last SPIE Symposium. This paper is an extension of the technique to pipes. It has been shown that for a thin-walled pipe, the assumption of Lamb wave propagation is valid. Such waves can be efficiently excited using piezoceramic transducers (PZT) with good control on the pulse characteristics to assess the health of structural components, such as the presence of cracks. In this paper, a systematic methodology to detect and locate cracks in homogenous cylinder/pipe based on the time-of-flight and strength analysis of propagating Lamb wave is proposed. By observing the attenuation in strength of the direct wave incidence at the sensor, the presence of a crack along the propagation path can be determined. At least four actuation positions, two on each end of the pipe segment of interest, are needed to exhaustively interrogate for the presence of cracks. The detailed procedure for locating and tracing the geometry of the crack(s) is described. It is shown experimentally that the detection using circular PZT actuator and sensor, with dimensions of 5.0 mm diameter and 0.5 mm thick, is possible for an aluminum pipe segment of up to at least 4.0 m in length. The proposed methodology is also explored for the aluminum pipe under more practical situations, such as burying it in sand with only the actuator and sensor positions exposed. Experimental results obtained showed the feasibility of detecting the 'concealed' crack on the pipe buried in sand.

Six-degree-of-freedom active vibration isolation using a Stewart platform mechanism

NASA Technical Reports Server (NTRS)

Geng, Zheng; Haynes, Leonard S.

1993-01-01

The design and control problems of a class of multidegree-of-freedom vibration isolation systems (VISs) based on a Stewart platform mechanism are studied. A prototype of a six-degree-of-freedom VIS for precision control of a wide range of space-based structures implemented in Intelligent Automation, Inc. is described. The feasibility of using a Stewart platform to achieve 6-degree-of-freedom vibration control in space applications is shown. A new Terfenol-D actuator characterized by significantly longer stroke than any commercially available Terfenol-D actuator and direct flux and strain sensors integral to the actuator is described.

Software for Testing Electroactive Structural Components

NASA Technical Reports Server (NTRS)

Moses, Robert W.; Fox, Robert L.; Dimery, Archie D.; Bryant, Robert G.; Shams, Qamar

2003-01-01

A computer program generates a graphical user interface that, in combination with its other features, facilitates the acquisition and preprocessing of experimental data on the strain response, hysteresis, and power consumption of a multilayer composite-material structural component containing one or more built-in sensor(s) and/or actuator(s) based on piezoelectric materials. This program runs in conjunction with Lab-VIEW software in a computer-controlled instrumentation system. For a test, a specimen is instrumented with appliedvoltage and current sensors and with strain gauges. Once the computational connection to the test setup has been made via the LabVIEW software, this program causes the test instrumentation to step through specified configurations. If the user is satisfied with the test results as displayed by the software, the user activates an icon on a front-panel display, causing the raw current, voltage, and strain data to be digitized and saved. The data are also put into a spreadsheet and can be plotted on a graph. Graphical displays are saved in an image file for future reference. The program also computes and displays the power and the phase angle between voltage and current.

Active damage interrogation system for structural health monitoring

NASA Astrophysics Data System (ADS)

Lichtenwalner, Peter F.; Dunne, James P.; Becker, Ronald S.; Baumann, Erwin W.

1997-05-01

An integrated and automated smart structures approach for in situ damage assessment has been implemented and evaluated in a laboratory environment for health monitoring of a realistic aerospace structural component. This approach, called Active Damage Interrogation (ADI), utilizes an array of piezoelectric transducers attached to or embedded within the structure for both actuation and sensing. The ADI system, which is model independent, actively interrogates the structure through broadband excitation of multiple actuators across the desired frequency range. Statistical analysis of the changes in transfer functions between actuator/sensor pairs is used to detect, localize, and assess the severity of damage in the structure. This paper presents the overall concept of the ADI system and provides experimental results of damage assessment studies conducted for a composite structural component of the MD-900 Explorer helicopter rotor system. The potential advantages of this approach include simplicity (no need for a model), sensitivity, and low cost implementation. The results obtained thus far indicate considerably promise for integrated structural health monitoring of aerospace vehicles, leading to the practice of condition-based maintenance and consequent reduction in life cycle costs.

Analyte Kinetics in a Nanocluster-Based Chemiresistor: A Case Study

DTIC Science & Technology

2013-01-01

942 M.G. Ancona et al. / Sensors and Actuators B 177 (2013) 936– 946 Fig . 9 . Normalized recovery characteristics with temperature as a parameter fol...Sensors and Actuators B 177 (2013) 936– 946 Fig . 2. COOH–amine complex formation (a) with TEA in the cluster film, and (b) in several model systems...computer control with the TEA delivered by 940 M.G. Ancona et al. / Sensors and Actuators B 177 (2013) 936– 946 Fig . 4. The dependence of the conductance

Bio-inspired wooden actuators for large scale applications.

PubMed

Rüggeberg, Markus; Burgert, Ingo

2015-01-01

Implementing programmable actuation into materials and structures is a major topic in the field of smart materials. In particular the bilayer principle has been employed to develop actuators that respond to various kinds of stimuli. A multitude of small scale applications down to micrometer size have been developed, but up-scaling remains challenging due to either limitations in mechanical stiffness of the material or in the manufacturing processes. Here, we demonstrate the actuation of wooden bilayers in response to changes in relative humidity, making use of the high material stiffness and a good machinability to reach large scale actuation and application. Amplitude and response time of the actuation were measured and can be predicted and controlled by adapting the geometry and the constitution of the bilayers. Field tests in full weathering conditions revealed long-term stability of the actuation. The potential of the concept is shown by a first demonstrator. With the sensor and actuator intrinsically incorporated in the wooden bilayers, the daily change in relative humidity is exploited for an autonomous and solar powered movement of a tracker for solar modules.

Bio-Inspired Wooden Actuators for Large Scale Applications

PubMed Central

Rüggeberg, Markus; Burgert, Ingo

2015-01-01

Implementing programmable actuation into materials and structures is a major topic in the field of smart materials. In particular the bilayer principle has been employed to develop actuators that respond to various kinds of stimuli. A multitude of small scale applications down to micrometer size have been developed, but up-scaling remains challenging due to either limitations in mechanical stiffness of the material or in the manufacturing processes. Here, we demonstrate the actuation of wooden bilayers in response to changes in relative humidity, making use of the high material stiffness and a good machinability to reach large scale actuation and application. Amplitude and response time of the actuation were measured and can be predicted and controlled by adapting the geometry and the constitution of the bilayers. Field tests in full weathering conditions revealed long-term stability of the actuation. The potential of the concept is shown by a first demonstrator. With the sensor and actuator intrinsically incorporated in the wooden bilayers, the daily change in relative humidity is exploited for an autonomous and solar powered movement of a tracker for solar modules. PMID:25835386

30 CFR 75.1107-4 - Automatic fire sensors and manual actuators; installation; minimum requirements.

Code of Federal Regulations, 2011 CFR

2011-07-01

..., there shall be in addition, a manual actuator installed to operate the system. Where sprinklers are used... “Local Protective Signaling Systems” (NFPA No. 72A-1967). (c) On unattended equipment the fire... 30 Mineral Resources 1 2011-07-01 2011-07-01 false Automatic fire sensors and manual actuators...

30 CFR 75.1107-4 - Automatic fire sensors and manual actuators; installation; minimum requirements.

Code of Federal Regulations, 2014 CFR

2014-07-01

..., there shall be in addition, a manual actuator installed to operate the system. Where sprinklers are used... “Local Protective Signaling Systems” (NFPA No. 72A-1967). (c) On unattended equipment the fire... 30 Mineral Resources 1 2014-07-01 2014-07-01 false Automatic fire sensors and manual actuators...

30 CFR 75.1107-4 - Automatic fire sensors and manual actuators; installation; minimum requirements.

Code of Federal Regulations, 2012 CFR

2012-07-01

..., there shall be in addition, a manual actuator installed to operate the system. Where sprinklers are used... “Local Protective Signaling Systems” (NFPA No. 72A-1967). (c) On unattended equipment the fire... 30 Mineral Resources 1 2012-07-01 2012-07-01 false Automatic fire sensors and manual actuators...

30 CFR 75.1107-4 - Automatic fire sensors and manual actuators; installation; minimum requirements.

Code of Federal Regulations, 2013 CFR

2013-07-01

..., there shall be in addition, a manual actuator installed to operate the system. Where sprinklers are used... “Local Protective Signaling Systems” (NFPA No. 72A-1967). (c) On unattended equipment the fire... 30 Mineral Resources 1 2013-07-01 2013-07-01 false Automatic fire sensors and manual actuators...

Hybrid Piezoelectric/Fiber-Optic Sensor Sheets

NASA Technical Reports Server (NTRS)

Lin, Mark; Qing, Xinlin

2004-01-01

Hybrid piezoelectric/fiber-optic (HyPFO) sensor sheets are undergoing development. They are intended for use in nondestructive evaluation and long-term monitoring of the integrity of diverse structures, including aerospace, aeronautical, automotive, and large stationary ones. It is anticipated that the further development and subsequent commercialization of the HyPFO sensor systems will lead to economic benefits in the form of increased safety, reduction of life-cycle costs through real-time structural monitoring, increased structural reliability, reduction of maintenance costs, and increased readiness for service. The concept of a HyPFO sensor sheet is a generalization of the concept of a SMART Layer(TradeMark), which is a patented device that comprises a thin dielectric film containing an embedded network of distributed piezoelectric actuator/sensors. Such a device can be mounted on the surface of a metallic structure or embedded inside a composite-material structure during fabrication of the structure. There is has been substantial interest in incorporating sensors other than piezoelectric ones into SMART Layer(TradeMark) networks: in particular, because of the popularity of the use of fiber-optic sensors for monitoring the "health" of structures in recent years, it was decided to incorporate fiber-optic sensors, giving rise to the concept of HyPFO devices.

Engineering and characterization of fluorogenic glycine riboswitches

PubMed Central

Ketterer, Simon; Gladis, Lukas; Kozica, Adnan; Meier, Matthias

2016-01-01

A set of 12 fluorogenic glycine riboswitches with different thermodynamic and kinetic response properties was engineered. For the design of functional riboswitches, a three-part RNA approach was applied based on the idea of linking a RNA sensor, transmitter and actuator part together. For the RNA sensor and actuator part, we used the tandem glycine aptamer structure from Bacillus subtillis, and fluorogenic aptamer Spinach, respectively. To achieve optimal signal transduction from the sensor to the actuator, a riboswitch library with variable transmitter was screened with a microfluidic large-scale integration chip. This allowed us to establish the complete thermodynamic binding profiles of the riboswitch library. Glycine dissociation constants of the 12 strong fluorescence response riboswitches varied between 99.7 and 570 μM. Furthermore, the kinetic glycine binding (kon), and dissociation (koff) rates, and corresponding energy barriers of the 10 strongest fluorescence response riboswitches were determined with the same chip platform. kon and koff were in the order of 10−3s−1 and 10−2s−1, respectively. Conclusively, we demonstrate that systematic screening of synthetic and natural linked RNA parts with microfluidic chip technology is an effective approach to rapidly generate fluorogenic metabolite riboswitches with a broad range of biophysical response properties. PMID:27220466

Active Noise and Vibration Control Literature Survey: Sensors and Actuators

DTIC Science & Technology

1999-08-01

energy from being coupled into the structure of the surface ship or submarine. While t hese methods have proven to be effective in general, there are...3.12 3.5 .3 Sensors Based on the Photo-elastic Effect ......................................... 3 .13 3.6 Electro-reheological Fluids...4.3 4.2.3 Control Methods for Vibration Isolation .............................................. 4.7 4.2.4 Effect of

Microelectromechanical Systems; A DoD Dual Use Technology Industrial Assessment.

DTIC Science & Technology

1995-12-01

systems, • embedded sensors and actuators for condition-based maintenance of machines and vehicles, on-demand amplified structural strength in...will transmit temperature, pressure, and number-of- rotations information to a hand-held receiver used by the maintenance and service personnel. This...automobile industry being the major driver for most micro- machined sensors (pressure, acceleration and oxygen). In 1994 model year Projected Growth

An anticipative escape system for vehicles in water crashes

NASA Astrophysics Data System (ADS)

Shen, Chuanliang; Wang, Jiawei; Yin, Qi; Zhu, Yantao; Yang, Jiawei; Liao, Mengdi; Yang, Liming

2017-07-01

In this article, it designs an escape system for vehicles in water crashes. The structure mainly contains sensors, control organs and actuating mechanism for both doors and windows. Sensors judge whether the vehicle falls into water or is in the falling process. The actuating mechanism accepts the signal delivered by the control organs, then open the electronic central lock on doors and meanwhile lower the window. The water escape system is able to anticipate drowning situations for vehicles and controls both doors and windows in such an emergency. Under the premise of doors staying in an undamaged state, it is for sure that people in the vehicle can open the door while drowning in the water and safely escape.

Determining robot actions for tasks requiring sensor interaction

NASA Technical Reports Server (NTRS)

Budenske, John; Gini, Maria

1989-01-01

The performance of non-trivial tasks by a mobile robot has been a long term objective of robotic research. One of the major stumbling blocks to this goal is the conversion of the high-level planning goals and commands into the actuator and sensor processing controls. In order for a mobile robot to accomplish a non-trivial task, the task must be described in terms of primitive actions of the robot's actuators. Most non-trivial tasks require the robot to interact with its environment; thus necessitating coordination of sensor processing and actuator control to accomplish the task. The main contention is that the transformation from the high level description of the task to the primitive actions should be performed primarily at execution time, when knowledge about the environment can be obtained through sensors. It is proposed to produce the detailed plan of primitive actions by using a collection of low-level planning components that contain domain specific knowledge and knowledge about the available sensors, actuators, and sensor/actuator processing. This collection will perform signal and control processing as well as serve as a control interface between an actual mobile robot and a high-level planning system. Previous research has shown the usefulness of high-level planning systems to plan the coordination of activities such to achieve a goal, but none have been fully applied to actual mobile robots due to the complexity of interacting with sensors and actuators. This control interface is currently being implemented on a LABMATE mobile robot connected to a SUN workstation and will be developed such to enable the LABMATE to perform non-trivial, sensor-intensive tasks as specified by a planning system.

MEMS fluidic actuator

DOEpatents

Kholwadwala, Deepesh K [Albuquerque, NM; Johnston, Gabriel A [Trophy Club, TX; Rohrer, Brandon R [Albuquerque, NM; Galambos, Paul C [Albuquerque, NM; Okandan, Murat [Albuquerque, NM

2007-07-24

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

Development of multifunctional materials exhibiting distributed sensing and actuation inspired by fish

NASA Astrophysics Data System (ADS)

Philen, Michael

2011-04-01

This manuscript is an overview of the research that is currently being performed as part of a 2009 NSF Office of Emerging Frontiers in Research and Innnovation (EFRI) grant on BioSensing and BioActuation (BSBA). The objectives of this multi-university collaborative research are to achieve a greater understanding of the hierarchical organization and structure of the sensory, muscular, and control systems of fish, and to develop advanced biologically-inspired material systems having distributed sensing, actuation, and intelligent control. New experimental apparatus have been developed for performing experiments involving live fish and robotic devices, and new bio-inspired haircell sensors and artificial muscles are being developed using carbonaceous nanomaterials, bio-derived molecules, and composite technology. Results demonstrating flow sensing and actuation are presented.

Actuation stability test of the LISA pathfinder inertial sensor front-end electronics

NASA Astrophysics Data System (ADS)

Mance, Davor; Gan, Li; Weber, Bill; Weber, Franz; Zweifel, Peter

In order to limit the residual stray forces on the inertial sensor test mass in LISA pathfinder, √ it is required that the fluctuation of the test mass actuation voltage is within 2ppm/ Hz. The actuation voltage stability test on the flight hardware of the inertial sensor front-end electronics (IS FEE) is presented in this paper. This test is completed during the inertial sensor integration at EADS Astrium Friedrichshafen, Germany. The standard measurement method using voltmeter is not sufficient for verification, since the instrument low frequency √ fluctuation is higher than the 2ppm/ Hz requirement. In this test, by using the differential measurement method and the lock-in amplifier, the actuation stability performance is verified and the quality of the IS FEE hardware is confirmed by the test results.

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.

Distributed Environment Control Using Wireless Sensor/Actuator Networks for Lighting Applications

PubMed Central

Nakamura, Masayuki; Sakurai, Atsushi; Nakamura, Jiro

2009-01-01

We propose a decentralized algorithm to calculate the control signals for lights in wireless sensor/actuator networks. This algorithm uses an appropriate step size in the iterative process used for quickly computing the control signals. We demonstrate the accuracy and efficiency of this approach compared with the penalty method by using Mote-based mesh sensor networks. The estimation error of the new approach is one-eighth as large as that of the penalty method with one-fifth of its computation time. In addition, we describe our sensor/actuator node for distributed lighting control based on the decentralized algorithm and demonstrate its practical efficacy. PMID:22291525

Experimental evaluation of shape memory alloy actuation technique in adaptive antenna design concepts

NASA Astrophysics Data System (ADS)

Kefauver, W. Neill; Carpenter, Bernie F.

1994-09-01

Creation of an antenna system that could autonomously adapt contours of reflecting surfaces to compensate for structural loads induced by a variable environment would maximize performance of space-based communication systems. Design of such a system requires the comprehensive development and integration of advanced actuator, sensor, and control technologies. As an initial step in this process, a test has been performed to assess the use of a shape memory alloy as a potential actuation technique. For this test, an existing, offset, cassegrain antenna system was retrofit with a subreflector equipped with shape memory alloy actuators for surface contour control. The impacts that the actuators had on both the subreflector contour and the antenna system patterns were measured. The results of this study indicate the potential for using shape memory alloy actuation techniques to adaptively control antenna performance; both variations in gain and beam steering capabilities were demonstrated. Future development effort is required to evolve this potential into a useful technology for satellite applications.

Experimental evaluation of shape memory alloy actuation technique in adaptive antenna design concepts

NASA Technical Reports Server (NTRS)

Kefauver, W. Neill; Carpenter, Bernie F.

1994-01-01

Creation of an antenna system that could autonomously adapt contours of reflecting surfaces to compensate for structural loads induced by a variable environment would maximize performance of space-based communication systems. Design of such a system requires the comprehensive development and integration of advanced actuator, sensor, and control technologies. As an initial step in this process, a test has been performed to assess the use of a shape memory alloy as a potential actuation technique. For this test, an existing, offset, cassegrain antenna system was retrofit with a subreflector equipped with shape memory alloy actuators for surface contour control. The impacts that the actuators had on both the subreflector contour and the antenna system patterns were measured. The results of this study indicate the potential for using shape memory alloy actuation techniques to adaptively control antenna performance; both variations in gain and beam steering capabilities were demonstrated. Future development effort is required to evolve this potential into a useful technology for satellite applications.

Fluid flow sensing with ionic polymer-metal composites

NASA Astrophysics Data System (ADS)

Stalbaum, Tyler; Trabia, Sarah; Shen, Qi; Kim, Kwang J.

2016-04-01

Ionic polymer-metal composite (IPMC) actuators and sensors have been developed and modeled over the last two decades for use as soft-robotic deformable actuators and sensors. IPMC devices have been suggested for application as underwater actuators, energy harvesting devices, and medical devices such as in guided catheter insertion. Another interesting application of IPMCs in flow sensing is presented in this study. IPMC interaction with fluid flow is of interest to investigate the use of IPMC actuators as flow control devices and IPMC sensors as flow sensing devices. An organized array of IPMCs acting as interchanging sensors and actuators could potentially be designed for both flow measurement and control, providing an unparalleled tool in maritime operations. The underlying physics for this system include the IPMC ion transport and charge fundamental framework along with fluid dynamics to describe the flow around IPMCs. An experimental setup for an individual rectangular IPMC sensor with an externally controlled fluid flow has been developed to investigate this phenomenon and provide further insight into the design and application of this type of device. The results from this portion of the study include recommendations for IPMC device designs in flow control.

Superconductivity devices: Commercial use of space

NASA Technical Reports Server (NTRS)

Haertling, Gene; Furman, Eugene; Li, Guang

1995-01-01

The work described in this report covers various aspects of the Rainbow solid-state actuator technology. It is presented in six parts dealing with materials, processing, fabrication, properties and associated phenomena. The Rainbow actuator technology is a relatively new materials development which had its inception in 1992. It consists of a new processing technology for preparing piezoelectric and electrostrictive ceramic materials. It involves a high temperature chemical reduction process which leads to an internal pre-stressing of the oxide wafer, thus the name Rainbow, an acronym for Reduced And INternally Biased Oxide Wafer. Ceramics fabricated by this method produce bending-mode actuator devices which possess several times more displacement and load bearing capacity than present-day benders (unimorphs, bimorphs). It is anticipated that these solid-state, electromechanical actuators which can be used in a number of applications in space such as cryopump motors, anti-vibration active structures, autoleveling platforms, telescope mirror correctors and autofocusing devices. When considering any of these applications, the key to the development of a successful device is the successful development of a ceramic material which can produce maximum displacement per volt input; hence, this initiative involving a solid-state means for achieving unusually high electromechanical displacement can be significant and far reaching. An additional benefit obtained from employing the piezoelectric effect in these actuator devices is the ability to also utilize them as sensors; and, indeed, they can be used as both motor (actuator) and generator (sensor) in multifunction devices.

Grasp Assist Device with Automatic Mode Control Logic

NASA Technical Reports Server (NTRS)

Laske, Evan (Inventor); Davis, Donald R. (Inventor); Ihrke, Chris A. (Inventor)

2018-01-01

A system includes a glove, sensors, actuator assemblies, and controller. The sensors include load sensors which measure an actual grasping force and attitude sensors which determine a glove attitude. The actuator assembly provides a grasp assist force to the glove. Respective locations of work cells in the work environment and permitted work tasks for each work cell are programmed into the controller. The controller detects the glove location and attitude. A work task is selected by the controller for the location. The controller calculates a required grasp assist force using measured actual grasping forces from the load sensors. The required grasp assist force is applied via the glove using the actuator assembly to thereby assist the operator in performing the identified work task.

Performance improvement of IPMC flow sensors with a biologically-inspired cupula structure

NASA Astrophysics Data System (ADS)

Lei, Hong; Sharif, Montassar Aidi; Paley, Derek A.; McHenry, Matthew J.; Tan, Xiaobo

2016-04-01

Ionic polymer-metal composites (IPMCs) have inherent underwater sensing and actuation properties. They can be used as sensors to collect flow information. Inspired by the hair-cell mediated receptor in the lateral line system of fish, the impact of a flexible, cupula-like structure on the performance of IPMC flow sensors is experimentally explored. The fabrication method to create a silicone-capped IPMC sensor is reported. Experiments are conducted to compare the sensing performance of the IPMC flow sensor before and after the PDMS coating under the periodic flow stimulus generated by a dipole source in still water and the laminar flow stimulus generated in a flow tank. Experimental results show that the performance of IPMC flow sensors is significantly improved under the stimulus of both periodic flow and laminar flow by the proposed silicone-capping.

Piezoceramic devices and artificial intelligence time varying concepts in smart structures

NASA Technical Reports Server (NTRS)

Hanagud, S.; Calise, A. J.; Glass, B. J.

1990-01-01

The problem of development of smart structures and their vibration control by the use of piezoceramic sensors and actuators have been discussed. In particular, these structures are assumed to have time varying model form and parameters. The model form may change significantly and suddenly. Combined identification of the model from parameters of these structures and model adaptive control of these structures are discussed in this paper.

Reduction of the Radiating Sound of a Submerged Finite Cylindrical Shell Structure by Active Vibration Control

PubMed Central

Kim, Heung Soo; Sohn, Jung Woo; Jeon, Juncheol; Choi, Seung-Bok

2013-01-01

In this work, active vibration control of an underwater cylindrical shell structure was investigated, to suppress structural vibration and structure-borne noise in water. Finite element modeling of the submerged cylindrical shell structure was developed, and experimentally evaluated. Modal reduction was conducted to obtain the reduced system equation for the active feedback control algorithm. Three Macro Fiber Composites (MFCs) were used as actuators and sensors. One MFC was used as an exciter. The optimum control algorithm was designed based on the reduced system equations. The active control performance was then evaluated using the lab scale underwater cylindrical shell structure. Structural vibration and structure-borne noise of the underwater cylindrical shell structure were reduced significantly by activating the optimal controller associated with the MFC actuators. The results provide that active vibration control of the underwater structure is a useful means to reduce structure-borne noise in water. PMID:23389344

Reduction of the radiating sound of a submerged finite cylindrical shell structure by active vibration control.

PubMed

Kim, Heung Soo; Sohn, Jung Woo; Jeon, Juncheol; Choi, Seung-Bok

2013-02-06

In this work, active vibration control of an underwater cylindrical shell structure was investigated, to suppress structural vibration and structure-borne noise in water. Finite element modeling of the submerged cylindrical shell structure was developed, and experimentally evaluated. Modal reduction was conducted to obtain the reduced system equation for the active feedback control algorithm. Three Macro Fiber Composites (MFCs) were used as actuators and sensors. One MFC was used as an exciter. The optimum control algorithm was designed based on the reduced system equations. The active control performance was then evaluated using the lab scale underwater cylindrical shell structure. Structural vibration and structure-borne noise of the underwater cylindrical shell structure were reduced significantly by activating the optimal controller associated with the MFC actuators. The results provide that active vibration control of the underwater structure is a useful means to reduce structure-borne noise in water.

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.

Fused filament 3D printing of ionic polymer-metal composites (IPMCs)

NASA Astrophysics Data System (ADS)

Carrico, James D.; Traeden, Nicklaus W.; Aureli, Matteo; Leang, Kam K.

2015-12-01

This paper describes a new three-dimensional (3D) fused filament additive manufacturing (AM) technique in which electroactive polymer filament material is used to build soft active 3D structures, layer by layer. Specifically, the unique actuation and sensing properties of ionic polymer-metal composites (IPMCs) are exploited in 3D printing to create electroactive polymer structures for application in soft robotics and bio-inspired systems. The process begins with extruding a precursor material (non-acid Nafion precursor resin) into a thermoplastic filament for 3D printing. The filament is then used by a custom-designed 3D printer to manufacture the desired soft polymer structures, layer by layer. Since at this stage the 3D-printed samples are not yet electroactive, a chemical functionalization process follows, consisting in hydrolyzing the precursor samples in an aqueous solution of potassium hydroxide and dimethyl sulfoxide. Upon functionalization, metal electrodes are applied on the samples through an electroless plating process, which enables the 3D-printed IPMC structures to be controlled by voltage signals for actuation (or to act as sensors). This innovative AM process is described in detail and the performance of 3D printed IPMC actuators is compared to an IPMC actuator fabricated from commercially available Nafion sheet material. The experimental results show comparable performance between the two types of actuators, demonstrating the potential and feasibility of creating functional 3D-printed IPMCs.

Indirect adaptive fuzzy fault-tolerant tracking control for MIMO nonlinear systems with actuator and sensor failures.

PubMed

Bounemeur, Abdelhamid; Chemachema, Mohamed; Essounbouli, Najib

2018-05-10

In this paper, an active fuzzy fault tolerant tracking control (AFFTTC) scheme is developed for a class of multi-input multi-output (MIMO) unknown nonlinear systems in the presence of unknown actuator faults, sensor failures and external disturbance. The developed control scheme deals with four kinds of faults for both sensors and actuators. The bias, drift, and loss of accuracy additive faults are considered along with the loss of effectiveness multiplicative fault. A fuzzy adaptive controller based on back-stepping design is developed to deal with actuator failures and unknown system dynamics. However, an additional robust control term is added to deal with sensor faults, approximation errors, and external disturbances. Lyapunov theory is used to prove the stability of the closed loop system. Numerical simulations on a quadrotor are presented to show the effectiveness of the proposed approach. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

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

NASA Technical Reports Server (NTRS)

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

1998-01-01

This paper presents an introduction to ionic polymer-metal composites and some mathematical modeling pertaining to them. It further discusses a number of recent findings in connection with ion-exchange polymer-metal composites (IPMCS) as biomimetic sensors and actuators. Strips of these composites can undergo large bending and flapping displacement if an electric field is imposed across their thickness. Thus, in this sense they are large motion actuators. Conversely by bending the composite strip, either quasi-statically or dynamically, a voltage is produced across the thickness of the strip. Thus, they are also large motion sensors. The output voltage can be calibrated for a standard size sensor and correlated to the applied loads or stresses. They can be manufactured and cut in any size and shape. In this paper first the sensing capability of these materials is reported. The preliminary results show the existence of a linear relationship between the output voltage and the imposed displacement for almost all cases. Furthermore, the ability of these IPMCs as large motion actuators and robotic manipulators is presented. Several muscle configurations are constructed to demonstrate the capabilities of these IPMC actuators. This paper further identifies key parameters involving the vibrational and resonance characteristics of sensors and actuators made with IPMCS. When the applied signal frequency varies, so does the displacement up to a critical frequency called the resonant frequency where maximum deformation is observed, beyond which the actuator response is diminished. A data acquisition system was used to measure the parameters involved and record the results in real time basis. Also the load characterizations of the IPMCs were measured and it was shown that these actuators exhibit good force to weight characteristics in the presence of low applied voltages. Finally reported are the cryogenic properties of these muscles for potential utilization in an outer space environment of a few Torrs and temperatures of the order of - 140 degrees Celsius. These muscles are shown to work quite well in such harsh cryogenic environments and thus present a great potential as sensors and actuators that can operate at cryogenic temperatures.

Sensing and Tactile Artificial Muscles from Reactive Materials

PubMed Central

Conzuelo, Laura Valero; Arias-Pardilla, Joaquín; Cauich-Rodríguez, Juan V.; Smit, Mascha Afra; Otero, Toribio Fernández

2010-01-01

Films of conducting polymers can be oxidized and reduced in a reversible way. Any intermediate oxidation state determines an electrochemical equilibrium. Chemical or physical variables acting on the film may modify the equilibrium potential, so that the film acts as a sensor of the variable. The working potential of polypyrrole/DBSA (Dodecylbenzenesulfonic acid) films, oxidized or reduced under constant currents, changes as a function of the working conditions: electrolyte concentration, temperature or mechanical stress. During oxidation, the reactive material is a sensor of the ambient, the consumed electrical energy being the sensing magnitude. Devices based on any of the electrochemical properties of conducting polymers must act simultaneously as sensors of the working conditions. Artificial muscles, as electrochemical actuators constituted by reactive materials, respond to the ambient conditions during actuation. In this way, they can be used as actuators, sensing the surrounding conditions during actuation. Actuating and sensing signals are simultaneously included by the same two connecting wires. PMID:22319265

Optical signal processing of spatially distributed sensor data in smart structures

NASA Technical Reports Server (NTRS)

Bennett, K. D.; Claus, R. O.; Murphy, K. A.; Goette, A. M.

1989-01-01

Smart structures which contain dense two- or three-dimensional arrays of attached or embedded sensor elements inherently require signal multiplexing and processing capabilities to permit good spatial data resolution as well as the adequately short calculation times demanded by real time active feedback actuator drive circuitry. This paper reports the implementation of an in-line optical signal processor and its application in a structural sensing system which incorporates multiple discrete optical fiber sensor elements. The signal processor consists of an array of optical fiber couplers having tailored s-parameters and arranged to allow gray code amplitude scaling of sensor inputs. The use of this signal processor in systems designed to indicate the location of distributed strain and damage in composite materials, as well as to quantitatively characterize that damage, is described. Extension of similar signal processing methods to more complicated smart materials and structures applications are discussed.

Apparatus and method for gas turbine active combustion control system

NASA Technical Reports Server (NTRS)

Knobloch, Aaron (Inventor); Mancini, Alfred Albert (Inventor); Myers, William J. (Inventor); Fortin, Jeffrey B. (Inventor); Umeh, Chukwueloka (Inventor); Kammer, Leonardo C. (Inventor); Shah, Minesh (Inventor)

2011-01-01

An Active Combustion Control System and method provides for monitoring combustor pressure and modulating fuel to a gas turbine combustor to prevent combustion dynamics and/or flame extinguishments. The system includes an actuator, wherein the actuator periodically injects pulsed fuel into the combustor. The apparatus also includes a sensor connected to the combustion chamber down stream from an inlet, where the sensor generates a signal detecting the pressure oscillations in the combustor. The apparatus controls the actuator in response to the sensor. The apparatus prompts the actuator to periodically inject pulsed fuel into the combustor at a predetermined sympathetic frequency and magnitude, thereby controlling the amplitude of the pressure oscillations in the combustor by modulating the natural oscillations.

Micromachined actuators/sensors for intratubular positioning/steering

DOEpatents

Lee, Abraham P.; Krulevitch, Peter A.; Northrup, M. Allen; Trevino, Jimmy C.

1998-01-01

Micromachined thin film cantilever actuators having means for individually controlling the deflection of the cantilevers, valve members, and rudders for steering same through blood vessels, or positioning same within a blood vessel, for example. Such cantilever actuators include tactile sensor arrays mounted on a catheter or guide wire tip for navigation and tissues identification, shape-memory alloy film based catheter/guide wire steering mechanisms, and rudder-based steering devices that allow the selective actuation of rudders that use the flowing blood itself to help direct the catheter direction through the blood vessel. While particularly adapted for medical applications, these cantilever actuators can be used for steering through piping and tubing systems.

A cryogenic scan mechanism for use in Fourier transform spectrometers

NASA Technical Reports Server (NTRS)

Hakun, Claef F.; Blumenstock, Kenneth A.

1995-01-01

This paper describes the requirements, design, assembly and testing of the linear Scan Mechanism (SM) of the Composite Infrared Spectrometer (CIRS) Instrument. The mechanism consists of an over constrained flexible structure, an innovative moving magnet actuator, passive eddy current dampers, a Differential Eddy Current (DEC) sensor, Optical Limit Sensors (OLS), and a launch lock. Although all the components of the mechanism are discussed, the flexible structure and the magnetic components are the primary focus. Several problems encountered and solutions implemented during the development of the scan mechanism are also described.

A single sensor and single actuator approach to performance tailoring over a prescribed frequency band.

PubMed

Wang, Jiqiang

2016-03-01

Restricted sensing and actuation control represents an important area of research that has been overlooked in most of the design methodologies. In many practical control engineering problems, it is necessitated to implement the design through a single sensor and single actuator for multivariate performance variables. In this paper, a novel approach is proposed for the solution to the single sensor and single actuator control problem where performance over any prescribed frequency band can also be tailored. The results are obtained for the broad band control design based on the formulation for discrete frequency control. It is shown that the single sensor and single actuator control problem over a frequency band can be cast into a Nevanlinna-Pick interpolation problem. An optimal controller can then be obtained via the convex optimization over LMIs. Even remarkable is that robustness issues can also be tackled in this framework. A numerical example is provided for the broad band attenuation of rotor blade vibration to illustrate the proposed design procedures. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Underwater thrust and power generation using flexible piezoelectric composites: an experimental investigation toward self-powered swimmer-sensor platforms

NASA Astrophysics Data System (ADS)

Erturk, Alper; Delporte, Ghislain

2011-12-01

Fiber-based flexible piezoelectric composites offer several advantages to use in energy harvesting and biomimetic locomotion. These advantages include ease of application, high power density, effective bending actuation, silent operation over a range of frequencies, and light weight. Piezoelectric materials exhibit the well-known direct and converse piezoelectric effects. The direct piezoelectric effect has received growing attention for low-power generation to use in wireless electronic applications while the converse piezoelectric effect constitutes an alternative to replace the conventional actuators used in biomimetic locomotion. In this paper, underwater thrust and electricity generation are investigated experimentally by focusing on biomimetic structures with macro-fiber composite piezoelectrics. Fish-like bimorph configurations with and without a passive caudal fin (tail) are fabricated and compared. The favorable effect of having a passive caudal fin on the frequency bandwidth is reported. The presence of a passive caudal fin is observed to bring the second bending mode close to the first one, yielding a wideband behavior in thrust generation. The same smart fish configuration is tested for underwater piezoelectric power generation in response to harmonic excitation from its head. Resonant piezohydroelastic actuation is reported to generate milli-newton level hydrodynamic thrust using milli-watt level actuation power input. The average actuation power requirement for generating a mean thrust of 19 mN at 6 Hz using a 10 g piezoelastic fish with a caudal fin is measured as 120 mW. This work also discusses the feasibility of thrust generation using the harvested energy toward enabling self-powered swimmer-sensor platforms with comparisons based on the capacity levels of structural thin-film battery layers as well as harvested solar and vibrational energy.

Active control of flexible structures using a fuzzy logic algorithm

NASA Astrophysics Data System (ADS)

Cohen, Kelly; Weller, Tanchum; Ben-Asher, Joseph Z.

2002-08-01

This study deals with the development and application of an active control law for the vibration suppression of beam-like flexible structures experiencing transient disturbances. Collocated pairs of sensors/actuators provide active control of the structure. A design methodology for the closed-loop control algorithm based on fuzzy logic is proposed. First, the behavior of the open-loop system is observed. Then, the number and locations of collocated actuator/sensor pairs are selected. The proposed control law, which is based on the principles of passivity, commands the actuator to emulate the behavior of a dynamic vibration absorber. The absorber is tuned to a targeted frequency, whereas the damping coefficient of the dashpot is varied in a closed loop using a fuzzy logic based algorithm. This approach not only ensures inherent stability associated with passive absorbers, but also circumvents the phenomenon of modal spillover. The developed controller is applied to the AFWAL/FIB 10 bar truss. Simulated results using MATLAB© show that the closed-loop system exhibits fairly quick settling times and desirable performance, as well as robustness characteristics. To demonstrate the robustness of the control system to changes in the temporal dynamics of the flexible structure, the transient response to a considerably perturbed plant is simulated. The modal frequencies of the 10 bar truss were raised as well as lowered substantially, thereby significantly perturbing the natural frequencies of vibration. For these cases, too, the developed control law provides adequate settling times and rates of vibrational energy dissipation.

Smart composites with embedded shape memory alloy actuators and fibre Bragg grating sensors: activation and control

NASA Astrophysics Data System (ADS)

Balta, J. A.; Bosia, F.; Michaud, V.; Dunkel, G.; Botsis, J.; Månson, J.-A.

2005-08-01

This paper describes the production of an adaptive composite by embedding thin pre-strained shape memory alloy actuators into a Kevlar-epoxy host material. In order to combine the activation and sensing capabilities, fibre Bragg grating sensors are also embedded into the specimens, and the strain measured in situ during activation. The effect of manufacturing conditions, and hence of the initial stress state in the composite before activation, on the magnitude of the measured strains is discussed. The results of stress and strain simulations are compared with experimental data, and guidelines are provided for the optimization of the composite. Finally, a pilot experiment is carried out to provide an example of how a strain-stabilizing feedback mechanism can be implemented in the smart structure.

Synthesis and Development of Gold Polypyrrole Actuator for Underwater Application

NASA Astrophysics Data System (ADS)

Panda, S. K.; Bandopadhya, D.

2018-02-01

Electro-active polymer (EAP) such as Polypyrrole has gained much attention in the category of functional materials for fabrication of both active actuator and sensor. Particularly, PPy actuator has shown potential in fluid medium application because of high strain, large bending displacement and work density. This paper focuses on developing a low cost active actuator promising in delivering high performance in underwater environment. The proposed Au-pyrrole actuator is synthesized by adopting the layer-by-layer electrochemical polymerization technique and is fabricated as strip actuator from aqueous solution of Pyrrole and NaDBS in room temperature. In the follow-up, topographical analysis has been carried out using SEM and FESEM instruments showing surface morphology and surface integrity of chemical components of the structure. Several experiments have been conducted under DC input voltage evaluating performance effectiveness such as underwater bending displacement and tip force etc. This is observed that the actuator exhibits quite similar stress profile as of natural muscle, endowed with high modulus makes them effective in working nearly 10,000 cycles underwater environment. In addition, the bending displacement up to 5.4 mm with a low input voltage 1.3 V makes the actuator suitable for underwater micro-robotics applications.

Use of self-actuating and self-sensing cantilevers for imaging biological samples in fluid

PubMed Central

Barbero, R J; Deutschinger, A; Todorov, V; Gray, D S; Belcher, A M; Rangelow, I W; Youcef-Toumi, K

2014-01-01

In this paper, we present a detailed investigation into the suitability of atomic force microscopy (AFM) cantilevers with integrated deflection sensor and micro-actuator for imaging of soft biological samples in fluid. The Si cantilevers are actuated using a micro-heater at the bottom end of the cantilever. Sensing is achieved through p-doped resistors connected in a Wheatstone bridge. We investigated the influence of the water on the cantilever dynamics, the actuation and the sensing mechanisms, as well as the crosstalk between sensing and actuation. Successful imaging of yeast cells in water using the integrated sensor and actuator shows the potential of the combination of this actuation and sensing method. This constitutes a major step towards the automation and miniaturization required to establish AFM in routine biomedical diagnostics and in vivo applications. PMID:19801750

Automated real-time structure health monitoring via signature pattern recognition

NASA Astrophysics Data System (ADS)

Sun, Fanping P.; Chaudhry, Zaffir A.; Rogers, Craig A.; Majmundar, M.; Liang, Chen

1995-05-01

Described in this paper are the details of an automated real-time structure health monitoring system. The system is based on structural signature pattern recognition. It uses an array of piezoceramic patches bonded to the structure as integrated sensor-actuators, an electric impedance analyzer for structural frequency response function acquisition and a PC for control and graphic display. An assembled 3-bay truss structure is employed as a test bed. Two issues, the localization of sensing area and the sensor temperature drift, which are critical for the success of this technique are addressed and a novel approach of providing temperature compensation using probability correlation function is presented. Due to the negligible weight and size of the solid-state sensor array and its ability to sense incipient-type damage, the system can eventually be implemented on many types of structures such as aircraft, spacecraft, large-span dome roof and steel bridges requiring multilocation and real-time health monitoring.

Performance of Integrated Fiber Optic, Piezoelectric, and Shape Memory Alloy Actuators/Sensors in Thermoset Composites

NASA Technical Reports Server (NTRS)

Trottier, C. Michael

1996-01-01

Recently, scientists and engineers have investigated the advantages of smart materials and structures by including actuators in material systems for controlling and altering the response of structural environments. Applications of these materials systems include vibration suppression/isolation, precision positioning, damage detection and tunable devices. Some of the embedded materials being investigated for accomplishing these tasks include piezoelectric ceramics, shape memory alloys, and fiber optics. These materials have some benefits and some shortcomings; each is being studied for use in active material design in the SPICES (Synthesis and Processing of Intelligent Cost Effective Structures) Consortium. The focus of this paper concerns the manufacturing aspects of smart structures by incorporating piezoelectric ceramics, shape memory alloys and fiber optics in a reinforced thermoset matrix via resin transfer molding (RTM).

Ability of Impedance-Based Health Monitoring To Detect Structural Damage of Propulsion System Components Assessed

NASA Technical Reports Server (NTRS)

Martin, Richard E.; Gyekenyesi, Andrew L.; Sawicki, Jerzy T.; Baaklini, George Y.

2005-01-01

Impedance-based structural-health-monitoring uses piezoelectric (PZT) patches that are bonded onto or embedded in a structure. Each individual patch behaves as both an actuator of the surrounding structural area as well as a sensor of the structural response. The size of the excited area varies with the geometry and material composition of the structure, and an active patch is driven by a sinusoidal voltage sweep. When a PZT patch is subjected to an electric field, it produces a mechanical strain; and when it is stressed, it produces an electric charge. Since the patch is bonded to the structure, driving a patch deforms and vibrates the structure. The structure then produces a localized dynamic response. This structural system response is transferred back to the PZT patch, which in turn produces an electrical response. The electromechanical impedance method is based on the principle of electromechanical coupling between the active sensor and the structure, which allows researchers to assess local structural dynamics directly by interrogating a distributed sensor array. Because of mechanical coupling between the sensor and the host structure, this mechanical effect is picked up by the sensor and, through electromechanical coupling inside the active element, is reflected in electrical impedance measured at the sensor s terminals.

A Unified Nonlinear Adaptive Approach for Detection and Isolation of Engine Faults

NASA Technical Reports Server (NTRS)

Tang, Liang; DeCastro, Jonathan A.; Zhang, Xiaodong; Farfan-Ramos, Luis; Simon, Donald L.

2010-01-01

A challenging problem in aircraft engine health management (EHM) system development is to detect and isolate faults in system components (i.e., compressor, turbine), actuators, and sensors. Existing nonlinear EHM methods often deal with component faults, actuator faults, and sensor faults separately, which may potentially lead to incorrect diagnostic decisions and unnecessary maintenance. Therefore, it would be ideal to address sensor faults, actuator faults, and component faults under one unified framework. This paper presents a systematic and unified nonlinear adaptive framework for detecting and isolating sensor faults, actuator faults, and component faults for aircraft engines. The fault detection and isolation (FDI) architecture consists of a parallel bank of nonlinear adaptive estimators. Adaptive thresholds are appropriately designed such that, in the presence of a particular fault, all components of the residual generated by the adaptive estimator corresponding to the actual fault type remain below their thresholds. If the faults are sufficiently different, then at least one component of the residual generated by each remaining adaptive estimator should exceed its threshold. Therefore, based on the specific response of the residuals, sensor faults, actuator faults, and component faults can be isolated. The effectiveness of the approach was evaluated using the NASA C-MAPSS turbofan engine model, and simulation results are presented.

Aircraft panel with sensorless active sound power reduction capabilities through virtual mechanical impedances

NASA Astrophysics Data System (ADS)

Boulandet, R.; Michau, M.; Micheau, P.; Berry, A.

2016-01-01

This paper deals with an active structural acoustic control approach to reduce the transmission of tonal noise in aircraft cabins. The focus is on the practical implementation of the virtual mechanical impedances method by using sensoriactuators instead of conventional control units composed of separate sensors and actuators. The experimental setup includes two sensoriactuators developed from the electrodynamic inertial exciter and distributed over an aircraft trim panel which is subject to a time-harmonic diffuse sound field. The target mechanical impedances are first defined by solving a linear optimization problem from sound power measurements before being applied to the test panel using a complex envelope controller. Measured data are compared to results obtained with sensor-actuator pairs consisting of an accelerometer and an inertial exciter, particularly as regards sound power reduction. It is shown that the two types of control unit provide similar performance, and that here virtual impedance control stands apart from conventional active damping. In particular, it is clear from this study that extra vibrational energy must be provided by the actuators for optimal sound power reduction, mainly due to the high structural damping in the aircraft trim panel. Concluding remarks on the benefits of using these electrodynamic sensoriactuators to control tonal disturbances are also provided.

Engineering and characterization of fluorogenic glycine riboswitches.

PubMed

Ketterer, Simon; Gladis, Lukas; Kozica, Adnan; Meier, Matthias

2016-07-08

A set of 12 fluorogenic glycine riboswitches with different thermodynamic and kinetic response properties was engineered. For the design of functional riboswitches, a three-part RNA approach was applied based on the idea of linking a RNA sensor, transmitter and actuator part together. For the RNA sensor and actuator part, we used the tandem glycine aptamer structure from Bacillus subtillis, and fluorogenic aptamer Spinach, respectively. To achieve optimal signal transduction from the sensor to the actuator, a riboswitch library with variable transmitter was screened with a microfluidic large-scale integration chip. This allowed us to establish the complete thermodynamic binding profiles of the riboswitch library. Glycine dissociation constants of the 12 strong fluorescence response riboswitches varied between 99.7 and 570 μM. Furthermore, the kinetic glycine binding (k(on)), and dissociation (k(off)) rates, and corresponding energy barriers of the 10 strongest fluorescence response riboswitches were determined with the same chip platform. k(on) and k(off) were in the order of 10(-3)s(-1) and 10(-2)s(-1), respectively. Conclusively, we demonstrate that systematic screening of synthetic and natural linked RNA parts with microfluidic chip technology is an effective approach to rapidly generate fluorogenic metabolite riboswitches with a broad range of biophysical response properties. © The Author(s) 2016. Published by Oxford University Press on behalf of Nucleic Acids Research.

Improving control and estimation for distributed parameter systems utilizing mobile actuator-sensor network.

PubMed

Mu, Wenying; Cui, Baotong; Li, Wen; Jiang, Zhengxian

2014-07-01

This paper proposes a scheme for non-collocated moving actuating and sensing devices which is unitized for improving performance in distributed parameter systems. By Lyapunov stability theorem, each moving actuator/sensor agent velocity is obtained. To enhance state estimation of a spatially distributes process, two kinds of filters with consensus terms which penalize the disagreement of the estimates are considered. Both filters can result in the well-posedness of the collective dynamics of state errors and can converge to the plant state. Numerical simulations demonstrate that the effectiveness of such a moving actuator-sensor network in enhancing system performance and the consensus filters converge faster to the plant state when consensus terms are included. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

[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.

Sensors and actuators inherent in biological species

NASA Astrophysics Data System (ADS)

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

2007-04-01

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

Micromachined actuators/sensors for intratubular positioning/steering

DOEpatents

Lee, A.P.; Krulevitch, P.A.; Northrup, M.A.; Trevino, J.C.

1998-06-30

Micromachined thin film cantilever actuators having means for individually controlling the deflection of the cantilevers, valve members, and rudders for steering same through blood vessels, or positioning same within a blood vessel, for example. Such cantilever actuators include tactile sensor arrays mounted on a catheter or guide wire tip for navigation and tissues identification, shape-memory alloy film based catheter/guide wire steering mechanisms, and rudder-based steering devices that allow the selective actuation of rudders that use the flowing blood itself to help direct the catheter direction through the blood vessel. While particularly adapted for medical applications, these cantilever actuators can be used for steering through piping and tubing systems. 14 figs.

Self-sensing paper-based actuators employing ferromagnetic nanoparticles and graphite

NASA Astrophysics Data System (ADS)

Phan, Hoang-Phuong; Dinh, Toan; Nguyen, Tuan-Khoa; Vatani, Ashkan; Md Foisal, Abu Riduan; Qamar, Afzaal; Kermany, Atieh Ranjbar; Dao, Dzung Viet; Nguyen, Nam-Trung

2017-04-01

Paper-based microfluidics and sensors have attracted great attention. Although a large number of paper-based devices have been developed, surprisingly there are only a few studies investigating paper actuators. To fulfill the requirements for the integration of both sensors and actuators into paper, this work presents an unprecedented platform which utilizes ferromagnetic particles for actuation and graphite for motion monitoring. The use of the integrated mechanical sensing element eliminates the reliance on image processing for motion detection and also allows real-time measurements of the dynamic response in paper-based actuators. The proposed platform can also be quickly fabricated using a simple process, indicating its potential for controllable paper-based lab on chip.

A high resolution pneumatic stepping actuator for harsh reactor environments

NASA Astrophysics Data System (ADS)

Tippetts, Thomas B.; Evans, Paul S.; Riffle, George K.

1993-01-01

A reactivity control actuator for a high-power density nuclear propulsion reactor must be installed in close proximity to the reactor core. The energy input from radiation to the actuator structure could exceed hundreds of W/cc unless low-cross section, low-absorptivity materials are chosen. Also, for post-test handling and subsequent storage, materials should not be used that are activated into long half-life isotopes. Pneumatic actuators can be constructed from various reactor-compatible materials, but conventional pneumatic piston actuators generally lack the stiffness required for high resolution reactivity control unless electrical position sensors and compensated electronic control systems are used. To overcome these limitations, a pneumatic actuator is under development that positions an output shaft in response to a series of pneumatic pulses, comprising a pneumatic analog of an electrical stepping motor. The pneumatic pulses are generated remotely, beyond the strong radiation environment, and transmitted to the actuator through tubing. The mechanically simple actuator uses a nutating gear harmonic drive to convert motion of small pistons directly to high-resolution angular motion of the output shaft. The digital nature of this actuator is suitable for various reactor control algorithms but is especially compatible with the three bean salad algorithm discussed by Ball et al. (1991).

Micro-mechanics of ionic electroactive polymer actuators

NASA Astrophysics Data System (ADS)

Punning, Andres; Põldsalu, Inga; Kaasik, Friedrich; Vunder, Veiko; Aabloo, Alvo

2015-04-01

Commonly, modeling of the bending behavior of the ionic electroactive polymer (IEAP) actuators is based on the classical mechanics of cantilever beam. It is acknowledged, that the actuation of the ionic electroactive polymer (IEAP) actuators is symmetric about the centroid - the convex side of the actuator is expanding and the concave side is contracting for exactly the same amount, while the thickness of the actuator remains invariant. Actuating the IEAP actuators and sensors under scanning electron microscope (SEM), in situ, reveals that for some types of them this approach is incorrect. Comparison of the SEM micrographs using the Digital Image Correction (DIC) method results with the precise strain distribution of the IEAP actuators in two directions: in the axial direction, and in the direction of thickness. This information, in turn, points to the physical processes taking place within the electrodes as well as membrane of the trilayer laminate of sub-millimeter thickness. Comparison of the EAP materials, engaged as an actuator as well as a sensor, reveals considerable differences between the micro-mechanics of the two modes.

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

NASA Astrophysics Data System (ADS)

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

2017-12-01

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

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

NASA Astrophysics Data System (ADS)

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

2017-09-01

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

An accurate and efficient method for piezoelectric coated functional devices based on the two-dimensional Green’s function for a normal line force and line charge

NASA Astrophysics Data System (ADS)

Hou, Peng-Fei; Zhang, Yang

2017-09-01

Because most piezoelectric functional devices, including sensors, actuators and energy harvesters, are in the form of a piezoelectric coated structure, it is valuable to present an accurate and efficient method for obtaining the electro-mechanical coupling fields of this coated structure under mechanical and electrical loads. With this aim, the two-dimensional Green’s function for a normal line force and line charge on the surface of coated structure, which is a combination of an orthotropic piezoelectric coating and orthotropic elastic substrate, is presented in the form of elementary functions based on the general solution method. The corresponding electro-mechanical coupling fields of this coated structure under arbitrary mechanical and electrical loads can then be obtained by the superposition principle and Gauss integration. Numerical results show that the presented method has high computational precision, efficiency and stability. It can be used to design the best coating thickness in functional devices, improve the sensitivity of sensors, and improve the efficiency of actuators and energy harvesters. This method could be an efficient tool for engineers in engineering applications.

Superconductivity Devices: Commercial Use of Space

NASA Technical Reports Server (NTRS)

Haertling, Gene (Principal Investigator); Furman, Eugene; Li, Guang

1996-01-01

The work described in this report covers various aspects of the Rainbow solid-state actuator and sensor technologies. It is presented in five parts dealing with sensor applications, nonlinear properties, stress-optic and electrooptic properties, stacks and arrays, and publications. The Rainbow actuator technology is a relatively new materials development which had its inception in 1992. It involves a new processing technique for preparing pre-stressed, high lead containing piezoelectric and electrostrictive ceramic materials. Ceramics fabricated by this method produce bending-mode actuator devices which possess several times more displacement and load bearing capacity than present-day benders. Since they can also be used in sensor applications, Rainbows are part of the family of materials known as smart ceramics. During this period, PLZT Rainbow ceramics were characterized with respect to their piezoelectric properties for potential use in stress sensor applications. Studies of the nonlinear and stress-optic/electrooptic birefringent properties were also initiated during this period. Various means for increasing the utility of stress-enhanced Rainbow actuators are presently under investigation.

A haptic sensor-actor-system based on ultrasound elastography and electrorheological fluids for virtual reality applications in medicine.

PubMed

Khaled, W; Ermert, H; Bruhns, O; Boese, H; Baumann, M; Monkman, G J; Egersdoerfer, S; Meier, A; Klein, D; Freimuth, H

2003-01-01

Mechanical properties of biological tissue represent important diagnostic information and are of histological relevance (hard lesions, "nodes" in organs: tumors; calcifications in vessels: arteriosclerosis). The problem is, that such information is usually obtained by digital palpation only, which is limited with respect to sensitivity. It requires intuitive assessment and does not allow quantitative documentation. A suitable sensor is required for quantitative detection of mechanical tissue properties. On the other hand, there is also some need for a realistic mechanical display of those tissue properties. Suitable actuator arrays with high spatial resolution and real-time capabilities are required operating in a haptic sensor actuator system with different applications. The sensor system uses real time ultrasonic elastography whereas the tactile actuator is based on electrorheological fluids. Due to their small size the actuator array elements have to be manufactured by micro-mechanical production methods. In order to supply the actuator elements with individual high voltages a sophisticated switching and control concept have been designed. This haptic system has the potential of inducing real time substantial forces, using a compact lightweight mechanism which can be applied to numerous areas including intraoperative navigation, telemedicine, teaching, space and telecommunication.

Experimental investigations of the large deflection capabilities of a compliant parallel mechanism actuated by shape memory alloy wires

NASA Astrophysics Data System (ADS)

Sreekumar, M.; Nagarajan, T.; Singaperumal, M.

2008-12-01

This experimental study investigates the coupled effect of the force developed by the shape memory alloy (SMA) actuators and the force required for the large deflection of an elastica member in a compliant parallel mechanism. The compliant mechanism developed in house consists of a moving platform mounted on a superelastic pillar and three SMA wire actuators to manipulate the platform. A three-axis MEMS accelerometer has been mounted on the moving platform to measure its tilt angle. Three miniature force sensors have been designed and fabricated out of cantilever beams, each mounted with a pair of strain gauges, to measure the force developed by the respective actuators. The force sensors are highly sensitive and cost effective compared to commercially available miniature force sensors. Calibration of the force sensors has been accomplished with known weights, and for the three-axis MEMS accelerometer a rotary base has been considered which is usually used in optical applications. The calibration curves obtained, with R-squared values between 0.9997 and 1.0, show that both the tilt and force sensors considered are most appropriate for the respective applications. The mechanism fixed with the sensors and the drivers for the SMA actuators is integrated with a National Instrument's data acquisition system. The experimental results have been compared with the analytical results and it was found that the relative error is less than 2%. This is a preliminary study in the development of a mechanism for eye prosthesis and similar applications.

Analysis of Smart Composite Structures Including Debonding

NASA Technical Reports Server (NTRS)

Chattopadhyay, Aditi; Seeley, Charles E.

1997-01-01

Smart composite structures with distributed sensors and actuators have the capability to actively respond to a changing environment while offering significant weight savings and additional passive controllability through ply tailoring. Piezoelectric sensing and actuation of composite laminates is the most promising concept due to the static and dynamic control capabilities. Essential to the implementation of these smart composites are the development of accurate and efficient modeling techniques and experimental validation. This research addresses each of these important topics. A refined higher order theory is developed to model composite structures with surface bonded or embedded piezoelectric transducers. These transducers are used as both sensors and actuators for closed loop control. The theory accurately captures the transverse shear deformation through the thickness of the smart composite laminate while satisfying stress free boundary conditions on the free surfaces. The theory is extended to include the effect of debonding at the actuator-laminate interface. The developed analytical model is implemented using the finite element method utilizing an induced strain approach for computational efficiency. This allows general laminate geometries and boundary conditions to be analyzed. The state space control equations are developed to allow flexibility in the design of the control system. Circuit concepts are also discussed. Static and dynamic results of smart composite structures, obtained using the higher order theory, are correlated with available analytical data. Comparisons, including debonded laminates, are also made with a general purpose finite element code and available experimental data. Overall, very good agreement is observed. Convergence of the finite element implementation of the higher order theory is shown with exact solutions. Additional results demonstrate the utility of the developed theory to study piezoelectric actuation of composite laminates with pre-existing debonding. Significant changes in the modes shapes and reductions in the control authority result due to partially debonded actuators. An experimental investigation addresses practical issues, such as circuit design and implementation, associated with piezoelectric sensing and actuation of composite laminates. Composite specimens with piezoelectric transducers were designed, constructed and tested to validate the higher order theory. These specimens were tested with various stacking sequences, debonding lengths and gains for both open and closed loop cases. Frequency changes of 15% and damping on the order of more than 20% of critical damping, via closed loop control, was achieved. Correlation with the higher order theory is very good. Debonding is shown to adversely affect the open and closed loop frequencies, damping ratios, settling time and control authority.

A Lorentz force actuated magnetic field sensor with capacitive read-out

NASA Astrophysics Data System (ADS)

Stifter, M.; Steiner, H.; Kainz, A.; Keplinger, F.; Hortschitz, W.; Sauter, T.

2013-05-01

We present a novel design of a resonant magnetic field sensor with capacitive read-out permitting wafer level production. The device consists of a single-crystal silicon cantilever manufactured from the device layer of an SOI wafer. Cantilevers represent a very simple structure with respect to manufacturing and function. On the top of the structure, a gold lead carries AC currents that generate alternating Lorentz forces in an external magnetic field. The free end oscillation of the actuated cantilever depends on the eigenfrequencies of the structure. Particularly, the specific design of a U-shaped structure provides a larger force-to-stiffness-ratio than standard cantilevers. The electrodes for detecting cantilever deflections are separately fabricated on a Pyrex glass-wafer. They form the counterpart to the lead on the freely vibrating planar structure. Both wafers are mounted on top of each other. A custom SU-8 bonding process on wafer level creates a gap which defines the equilibrium distance between sensing electrodes and the vibrating structure. Additionally to the capacitive read-out, the cantilever oscillation was simultaneously measured with laser Doppler vibrometry through proper windows in the SOI handle wafer. Advantages and disadvantages of the asynchronous capacitive measurement configuration are discussed quantitatively and presented by a comprehensive experimental characterization of the device under test.

Overview of demonstrator program of Japanese Smart Materials and Structure System project

NASA Astrophysics Data System (ADS)

Tajima, Naoyuki; Sakurai, Tateo; Sasajima, Mikio; Takeda, Nobuo; Kishi, Teruo

2003-08-01

The Japanese Smart Material and Structure System Project started in 1998 as five years' program that funded by METI (Ministry of Economy, Trade and Industry) and supported by NEDO (New Energy and Industrial Technology Development Organization). Total budget of five years was finally about 3.8 billion Japanese yen. This project has been conducted as the Academic Institutions Centered Program, namely, one of collaborated research and development among seven universities (include one foreign university), seventeen Industries (include two foreign companies), and three national laboratories. At first, this project consisted of four research groups that were structural health monitoring, smart manufacturing, active/adaptive structures, and actuator material/devices. Two years later, we decided that two demonstrator programs should be added in order to integrate the developed sensor and actuator element into the smart structure system and verify the research and development results of above four research groups. The application target of these demonstrators was focused to the airplane, and two demonstrators that these shapes simulate to the fuselage of small commercial airplane (for example, Boeing B737) had been established. Both demonstrators are cylindrical structures with 1.5 m in diameter and 3 m in length that the first demonstrator has CFRP skin-stringer and the second one has CFRP skin. The first demonstrator integrates the following six innovative techniques: (1) impact monitoring using embedded small diameter optical fiber sensors newly developed in this program, (2) impact monitoring using the integrated acoustic emission (AE) systems, (3) whole-field strain mapping using the BOTDR/FBG integrated system, (4) damage suppression using embedded shape memory alloy (SMA) films, (5) maximum and cyclic strain sensing using smart composite patches, and (6) smart manufacturing using the integrated sensing system. The second one is for demonstrating the suppression of vibration and acoustic noise generated in the composite cylindrical structure. In this program, High-performance PZT actuators/sensors developed in this program are also installed. The whole tests and evaluations have now been finished. This paper presents the outline of demonstrator programs, followed by six presentations that show the detail verification results of industrial demonstration themes.

Comparison between Conduction and Convection Effects on Self-Heating in Doped Microcantilevers

PubMed Central

Ansari, Mohd Zahid; Cho, Chongdu

2012-01-01

The present study investigates the effects of thermal conduction and convection on self-heating temperatures and bimetallic deflections produced in doped microcantilever sensors. These cantilevers are commonly used as sensors and actuators in microsystems. The cantilever is a monolith, multi-layer structure with a thin U-shaped element inside. The cantilever substrate is made of silicon and silicon dioxide, respectively, and the element is p-doped silicon. A numerical analysis package (ANSYS) is used to study the effect of cantilever substrate material, element width, applied voltage and the operating environments on cantilever characteristics. The numerical results for temperature are compared against their analytical models. Results indicate the numerical results are accurate within 6% of analytical, and Si/Si cantilevers are more suitable for biosensors and AFM, whereas, Si/SiO2 are for hotplates and actuators applications. PMID:22438736

Formal specification and design techniques for wireless sensor and actuator networks.

PubMed

Martínez, Diego; González, Apolinar; Blanes, Francisco; Aquino, Raúl; Simo, José; Crespo, Alfons

2011-01-01

A current trend in the development and implementation of industrial applications is to use wireless networks to communicate the system nodes, mainly to increase application flexibility, reliability and portability, as well as to reduce the implementation cost. However, the nondeterministic and concurrent behavior of distributed systems makes their analysis and design complex, often resulting in less than satisfactory performance in simulation and test bed scenarios, which is caused by using imprecise models to analyze, validate and design these systems. Moreover, there are some simulation platforms that do not support these models. This paper presents a design and validation method for Wireless Sensor and Actuator Networks (WSAN) which is supported on a minimal set of wireless components represented in Colored Petri Nets (CPN). In summary, the model presented allows users to verify the design properties and structural behavior of the system.

High Detent Torque Rotary Actuator Development

NASA Astrophysics Data System (ADS)

Santos, I.; Sainz, I.; Allegranza, C.

2015-09-01

In the frame of an ESA ARTES 5 Contract, SENER has performed the design, manufacturing and testing at component and mechanism levels of a High Detent Torque Rotary Actuator (DTA in short), i.e. with high capability to hold a payload when unpowered.Two configurations were developed to allow the use on specific application flight opportunity; both are identical in terms of architecture, lubrication, structural and thermal design. The exception is the angular position sensor type: the DTA 100 with contactless sensors and the DTA 120 with potentiometers.The DTA is a fully european technology. This paper provides a synthesis of the obtained parameters in front of the requirements, the evolution from the initial concept to the final configuration and the results of the extensive test campaign (DTA 120). Lessons learned and the readiness for use at upper level are also highlighted.

Optical fiber sensors and signal processing for intelligent structure monitoring

NASA Technical Reports Server (NTRS)

Thomas, Daniel; Cox, Dave; Lindner, D. K.; Claus, R. O.

1989-01-01

Few mode optical fibers have been shown to produce predictable interference patterns when placed under strain. The use is described of a modal domain sensor in a vibration control experiment. An optical fiber is bonded along the length of a flexible beam. Output from the modal domain sensor is used to suppress vibrations induced in the beam. A distributed effect model for the modal domain sensor is developed. This model is combined with the beam and actuator dynamics to produce a system suitable for control design. Computer simulations predict open and closed loop dynamic responses. An experimental apparatus is described and experimental results are presented.

Math Machines: Using Actuators in Physics Classes

ERIC Educational Resources Information Center

Thomas, Frederick J.; Chaney, Robert A.; Gruesbeck, Marta

2018-01-01

Probeware (sensors combined with data-analysis software) is a well-established part of physics education. In engineering and technology, sensors are frequently paired with actuators--motors, heaters, buzzers, valves, color displays, medical dosing systems, and other devices that are activated by electrical signals to produce intentional physical…

Concomitant sensing and actuation for piezoelectric microrobots

NASA Astrophysics Data System (ADS)

Jayaram, Kaushik; Jafferis, Noah T.; Doshi, Neel; Goldberg, Ben; Wood, Robert J.

2018-06-01

Sensor fabrication for microrobots is challenging due to their small size and low mass. As a potential solution, we present a technique for estimating the velocity of piezoelectric bending bimorph actuators, a popular choice for driving such microscale devices, that requires simple electronics and no additional mechanical components. Our approach relies on the insight that motion of the actuators causes varying strains on the surface on the piezoelectric material, which via the direct piezoelectric effect, results in a current proportional to the actuator velocity. We propose that the actuator be electrically approximated as a parallel combination of a frequency and voltage dependent resistor and capacitor, and a velocity proportional current source. We develop an experimental procedure to measure these quantities, and are able to experimentally determine the actuator tip velocity to within 10% accuracy over a range of voltages (25–200 V) and frequencies (1–2000 Hz, well beyond actuator resonance). We successfully apply this sensing methodology to two microrobots, the RoboBee and the Harvard Ambulatory MicroRobot (HAMR), to estimate the wing and limb motion respectively. We further use sensor feedback to close the loop on HAMR’s leg phase and obtain desired leg trajectories near transmission resonance. The proposed sensor methodology is generic and can be applied to piezoelectric actuators of different geometries and configurations for uses in microrobotic applications.

The Alpha-Proton-X-ray Spectrometer deployment mechanism: an anthropomorphic approach to sensor placement on Martian rocks and soil

NASA Astrophysics Data System (ADS)

Blomquist, Richard S.

1995-05-01

On July 4,1997, the Mars Pathfinder spacecraft lands on Mars and starts conducting technological and scientific experiments. One experiment, the Alpha-Proton-X-ray Spectrometer, uses a sensor head placed against rocks and soil to determine their composition. To guarantee proper placement, a deployment mechanism mounted on the Mars Rover aligns the sensor head to within 20 deg of the rock and soil surfaces. In carrying out its task, the mechanism mimics the action of a human hand and arm. Consisting of a flexible wrist, a parallel link arm, a brush dc motor actuator, and a revolutionary non-pyrotechnic fail-safe release device, the mechanism correctly positions the sensor head on rocks as high as 0.29 m and on targets whose surfaces are tilted as much as 45 deg from the nominal orientation of the sensor head face. The mechanism weighs less than 0.5 kg, can withstand 100 g's, and requires less than 2.8 N x m of actuation torque. The fail-safe coupler utilizes Cerrobend, a metal alloy that melts at 60 C, to fuse the actuator and the rest of the mechanism together. A film heater wrapped around the coupler melts the metal, and Negator springs drive the mechanism into its stowed position. The fail-safe actuates using 6.75 Watts for 5 minutes in the event of an actuator failure.

The Alpha-Proton-X-ray Spectrometer deployment mechanism: An anthropomorphic approach to sensor placement on Martian rocks and soil

NASA Technical Reports Server (NTRS)

Blomquist, Richard S.

1995-01-01

On July 4,1997, the Mars Pathfinder spacecraft lands on Mars and starts conducting technological and scientific experiments. One experiment, the Alpha-Proton-X-ray Spectrometer, uses a sensor head placed against rocks and soil to determine their composition. To guarantee proper placement, a deployment mechanism mounted on the Mars Rover aligns the sensor head to within 20 deg of the rock and soil surfaces. In carrying out its task, the mechanism mimics the action of a human hand and arm. Consisting of a flexible wrist, a parallel link arm, a brush dc motor actuator, and a revolutionary non-pyrotechnic fail-safe release device, the mechanism correctly positions the sensor head on rocks as high as 0.29 m and on targets whose surfaces are tilted as much as 45 deg from the nominal orientation of the sensor head face. The mechanism weighs less than 0.5 kg, can withstand 100 g's, and requires less than 2.8 N x m of actuation torque. The fail-safe coupler utilizes Cerrobend, a metal alloy that melts at 60 C, to fuse the actuator and the rest of the mechanism together. A film heater wrapped around the coupler melts the metal, and Negator springs drive the mechanism into its stowed position. The fail-safe actuates using 6.75 Watts for 5 minutes in the event of an actuator failure.

Time response for sensor sensed to actuator response for mobile robotic system

NASA Astrophysics Data System (ADS)

Amir, N. S.; Shafie, A. A.

2017-11-01

Time and performance of a mobile robot are very important in completing the tasks given to achieve its ultimate goal. Tasks may need to be done within a time constraint to ensure smooth operation of a mobile robot and can result in better performance. The main purpose of this research was to improve the performance of a mobile robot so that it can complete the tasks given within time constraint. The problem that is needed to be solved is to minimize the time interval between sensor detection and actuator response. The research objective is to analyse the real time operating system performance of sensors and actuators on one microcontroller and on two microcontroller for a mobile robot. The task for a mobile robot for this research is line following with an obstacle avoidance. Three runs will be carried out for the task and the time between the sensors senses to the actuator responses were recorded. Overall, the results show that two microcontroller system have better response time compared to the one microcontroller system. For this research, the average difference of response time is very important to improve the internal performance between the occurrence of a task, sensors detection, decision making and actuator response of a mobile robot. This research helped to develop a mobile robot with a better performance and can complete task within the time constraint.

Active tuning of vibration and wave propagation in elastic beams with periodically placed piezoelectric actuator/sensor pairs

NASA Astrophysics Data System (ADS)

Li, Fengming; Zhang, Chuanzeng; Liu, Chunchuan

2017-04-01

A novel strategy is proposed to actively tune the vibration and wave propagation properties in elastic beams. By periodically placing the piezoelectric actuator/sensor pairs along the beam axis, an active periodic beam structure which exhibits special vibration and wave propagation properties such as the frequency pass-bands and stop-bands (or band-gaps) is developed. Hamilton's principle is applied to establish the equations of motion of the sub-beam elements i.e. the unit-cells, bonded by the piezoelectric patches. A negative proportional feedback control strategy is employed to design the controllers which can provide a positive active stiffness to the beam for a positive feedback control gain, which can increase the stability of the structural system. By means of the added positive active stiffness, the periodicity or the band-gap property of the beam with periodically placed piezoelectric patches can be actively tuned. From the investigation, it is shown that better band-gap characteristics can be achieved by using the negative proportional feedback control. The band-gaps can be obviously broadened by properly increasing the control gain, and they can also be greatly enlarged by appropriately designing the structural sizes of the controllers. The control voltages applied on the piezoelectric actuators are in reasonable and controllable ranges, especially, they are very low in the band-gaps. Thus, the vibration and wave propagation behaviors of the elastic beam can be actively controlled by the periodically placed piezoelectric patches.

Closed Loop Vibrational Control: Theory and Applications

DTIC Science & Technology

1993-10-01

the open loop system dynamics will be close to that of Bit. However, in general, in a closed loop system with a specified feedback co-’ - oller , for...Juang, and G. Rodriguez , "Formulations and Applications of Large Structure Actuator and Sensor Placements," Second VPI & SU/AIAA Symposium on Dynamics

An overview of wireless structural health monitoring for civil structures.

PubMed

Lynch, Jerome Peter

2007-02-15

Wireless monitoring has emerged in recent years as a promising technology that could greatly impact the field of structural monitoring and infrastructure asset management. This paper is a summary of research efforts that have resulted in the design of numerous wireless sensing unit prototypes explicitly intended for implementation in civil structures. Wireless sensing units integrate wireless communications and mobile computing with sensors to deliver a relatively inexpensive sensor platform. A key design feature of wireless sensing units is the collocation of computational power and sensors; the tight integration of computing with a wireless sensing unit provides sensors with the opportunity to self-interrogate measurement data. In particular, there is strong interest in using wireless sensing units to build structural health monitoring systems that interrogate structural data for signs of damage. After the hardware and the software designs of wireless sensing units are completed, the Alamosa Canyon Bridge in New Mexico is utilized to validate their accuracy and reliability. To improve the ability of low-cost wireless sensing units to detect the onset of structural damage, the wireless sensing unit paradigm is extended to include the capability to command actuators and active sensors.

Low-authority control synthesis for large space structures

NASA Technical Reports Server (NTRS)

Aubrun, J. N.; Margulies, G.

1982-01-01

The control of vibrations of large space structures by distributed sensors and actuators is studied. A procedure is developed for calculating the feedback loop gains required to achieve specified amounts of damping. For moderate damping (Low Authority Control) the procedure is purely algebraic, but it can be applied iteratively when larger amounts of damping are required and is generalized for arbitrary time invariant systems.

Smart patch piezoceramic actuator issues

NASA Technical Reports Server (NTRS)

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

1993-01-01

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

Experiments In Characterizing Vibrations Of A Structure

NASA Technical Reports Server (NTRS)

Yam, Yeung; Hadaegh, Fred Y.; Bayard, David S.

1993-01-01

Report discusses experiments conducted to test methods of identification of vibrational and coupled rotational/vibrational modes of flexible structure. Report one in series that chronicle development of integrated system of methods, sensors, actuators, analog and digital signal-processing equipment, and algorithms to suppress vibrations in large, flexible structure even when dynamics of structure partly unknown and/or changing. Two prior articles describing aspects of research, "Autonomous Frequency-Domain Indentification" (NPO-18099), and "Automated Characterization Of Vibrations Of A Structure" (NPO-18141).

Polymeric blends for sensor and actuation dual functionality

NASA Technical Reports Server (NTRS)

St. Clair, Terry L. (Inventor); Harrison, Joycelyn S. (Inventor); Su, Ji (Inventor); Ounaies, Zoubeida (Inventor)

2004-01-01

The invention described herein supplies a new class of electroactive polymeric blend materials which offer both sensing and actuation dual functionality. The blend comprises two components, one component having a sensing capability and the other component having an actuating capability. These components should be co-processable and coexisting in a phase separated blend system. Specifically, the materials are blends of a sensing component selected from the group consisting of ferroelectric, piezoelectric, pyroelectric and photoelectric polymers and an actuating component that responds to an electric field in terms of dimensional change. Said actuating component includes, but is not limited to, electrostrictive graft elastomers, dielectric electroactive elastomers, liquid crystal electroactive elastomers and field responsive polymeric gels. The sensor functionality and actuation functionality are designed by tailoring the relative fraction of the two components. The temperature dependence of the piezoelectric response and the mechanical toughness of the dual functional blends are also tailored by the composition adjustment.

Health Monitoring of a Satellite System

NASA Technical Reports Server (NTRS)

Chen, Robert H.; Ng, Hok K.; Speyer, Jason L.; Guntur, Lokeshkumar S.; Carpenter, Russell

2004-01-01

A health monitoring system based on analytical redundancy is developed for satellites on elliptical orbits. First, the dynamics of the satellite including orbital mechanics and attitude dynamics is modelled as a periodic system. Then, periodic fault detection filters are designed to detect and identify the satellite's actuator and sensor faults. In addition, parity equations are constructed using the algebraic redundant relationship among the actuators and sensors. Furthermore, a residual processor is designed to generate the probability of each of the actuator and sensor faults by using a sequential probability test. Finally, the health monitoring system, consisting of periodic fault detection lters, parity equations and residual processor, is evaluated in the simulation in the presence of disturbances and uncertainty.

Health Monitoring System Technology Assessments: Cost Benefits Analysis

NASA Technical Reports Server (NTRS)

Kent, Renee M.; Murphy, Dennis A.

2000-01-01

The subject of sensor-based structural health monitoring is very diverse and encompasses a wide range of activities including initiatives and innovations involving the development of advanced sensor, signal processing, data analysis, and actuation and control technologies. In addition, it embraces the consideration of the availability of low-cost, high-quality contributing technologies, computational utilities, and hardware and software resources that enable the operational realization of robust health monitoring technologies. This report presents a detailed analysis of the cost benefit and other logistics and operational considerations associated with the implementation and utilization of sensor-based technologies for use in aerospace structure health monitoring. The scope of this volume is to assess the economic impact, from an end-user perspective, implementation health monitoring technologies on three structures. It specifically focuses on evaluating the impact on maintaining and supporting these structures with and without health monitoring capability.

Unpowered wireless generation and sensing of ultrasound

NASA Astrophysics Data System (ADS)

Huang, Haiying

2013-04-01

This paper presents a wireless ultrasound pitch-catch system that demonstrates the wireless generation and sensing of ultrasounds based on the principle of frequency conversion. The wireless ultrasound pitch-catch system consists of a wireless interrogator and two wireless ultrasound transducers. The wireless interrogator generates an ultrasound-modulated signal and a carrier signal, both at the microwave frequency, and transmits these two signals to the wireless ultrasound actuator using a pair of antennas. Upon receiving these two signals, the wireless ultrasound actuator recovers the ultrasound excitation signal using a passive mixer and then supplies it to a piezoelectric wafer sensor for ultrasound generation in the structure. For wireless ultrasound sensing, the frequency conversion process is reversed. The ultrasound sensing signal is up-converted to a microwave signal by the wireless ultrasound sensor and is recovered at the wireless interrogator using a homodyne receiver. To differentiate the wireless actuator from the wireless sensor, each wireless transducer is equipped with a narrowband microwave filter so that it only responds to the carrier frequency that matches the filter's operation bandwidth. The principle of operation of the wireless pitch-catch system, the hardware implementation, and the associated data processing algorithm to recover the ultrasound signal from the wirelessly received signal are described. The wirelessly acquired ultrasound signal is compared with those acquired using wired connection in both time and frequency domain.

Controls for space structures

NASA Astrophysics Data System (ADS)

Balas, Mark

1991-11-01

Assembly and operation of large space structures (LSS) in orbit will require robot-assisted docking and berthing of partially-assembled structures. These operations require new solutions to the problems of controls. This is true because of large transient and persistent disturbances, controller-structure interaction with unmodeled modes, poorly known structure parameters, slow actuator/sensor dynamical behavior, and excitation of nonlinear structure vibrations during control and assembly. For on-orbit assembly, controllers must start with finite element models of LSS and adapt on line to the best operating points, without compromising stability. This is not easy to do, since there are often unmodeled dynamic interactions between the controller and the structure. The indirect adaptive controllers are based on parameter estimation. Due to the large number of modes in LSS, this approach leads to very high-order control schemes with consequent poor stability and performance. In contrast, direct model reference adaptive controllers operate to force the LSS to track the desirable behavior of a chosen model. These schemes produce simple control algorithms which are easy to implement on line. One problem with their use for LSS has been that the model must be the same dimension as the LSS - i.e., quite large. A control theory based on the command generator tracker (CGT) ideas of Sobel, Mabins, Kaufman and Wen, Balas to obtain very low-order models based on adaptive algorithms was developed. Closed-loop stability for both finite element models and distributed parameter models of LSS was proved. In addition, successful numerical simulations on several LSS databases were obtained. An adaptive controller based on our theory was also implemented on a flexible robotic manipulator at Martin Marietta Astronautics. Computation schemes for controller-structure interaction with unmodeled modes, the residual mode filters or RMF, were developed. The RMF theory was modified to compensate slow actuator/sensor dynamics. These new ideas are being applied to LSS simulations to demonstrate the ease with which one can incorporate slow actuator/sensor effects into our design. It was also shown that residual mode filter compensation can be modified for small nonlinearities to produce exponentially stable closed-loop control.

Controls for space structures

NASA Technical Reports Server (NTRS)

Balas, Mark

1991-01-01

Assembly and operation of large space structures (LSS) in orbit will require robot-assisted docking and berthing of partially-assembled structures. These operations require new solutions to the problems of controls. This is true because of large transient and persistent disturbances, controller-structure interaction with unmodeled modes, poorly known structure parameters, slow actuator/sensor dynamical behavior, and excitation of nonlinear structure vibrations during control and assembly. For on-orbit assembly, controllers must start with finite element models of LSS and adapt on line to the best operating points, without compromising stability. This is not easy to do, since there are often unmodeled dynamic interactions between the controller and the structure. The indirect adaptive controllers are based on parameter estimation. Due to the large number of modes in LSS, this approach leads to very high-order control schemes with consequent poor stability and performance. In contrast, direct model reference adaptive controllers operate to force the LSS to track the desirable behavior of a chosen model. These schemes produce simple control algorithms which are easy to implement on line. One problem with their use for LSS has been that the model must be the same dimension as the LSS - i.e., quite large. A control theory based on the command generator tracker (CGT) ideas of Sobel, Mabins, Kaufman and Wen, Balas to obtain very low-order models based on adaptive algorithms was developed. Closed-loop stability for both finite element models and distributed parameter models of LSS was proved. In addition, successful numerical simulations on several LSS databases were obtained. An adaptive controller based on our theory was also implemented on a flexible robotic manipulator at Martin Marietta Astronautics. Computation schemes for controller-structure interaction with unmodeled modes, the residual mode filters or RMF, were developed. The RMF theory was modified to compensate slow actuator/sensor dynamics. These new ideas are being applied to LSS simulations to demonstrate the ease with which one can incorporate slow actuator/sensor effects into our design. It was also shown that residual mode filter compensation can be modified for small nonlinearities to produce exponentially stable closed-loop control. A theory for disturbance accommodating controllers based on reduced order models of structures was developed, and stability results for these controllers in closed-loop with large-scale finite element models of structures were obtained.

Overview of the ARPA/WL Smart Structures and Materials Development-Smart Wing contract

NASA Astrophysics Data System (ADS)

Kudva, Jayanth N.; Jardine, A. Peter; Martin, Christopher A.; Appa, Kari

1996-05-01

While the concept of an adaptive aircraft wing, i.e., a wing whose shape parameters such as camber, wing twist, and thickness can be varied to optimize the wing shape for various flight conditions, has been extensively studied, the complexity and weight penalty of the actuation mechanisms have precluded their practical implementation. Recent development of sensors and actuators using smart materials could potentially alleviate the shortcomings of prior designs, paving the way for a practical, `smart' adaptive wing which responds to changes in flight and environmental conditions by modifying its shape to provide optimal performance. This paper presents a summary of recent work done on adaptive wing designs under an on-going ARPA/WL contract entitled `Smart Structures and Materials Development--Smart Wing.' Specifically, the design, development and planned wind tunnel testing of a 16% model representative of a fighter aircraft wing and incorporating the following features, are discussed: (1) a composite wing torque box whose span-wise twist can be varied by activating built-in shape memory alloy (SMA) torque tubes to provide increased lift and enhanced maneuverability at multiple flight conditions, (2) trailing edge control surfaces deployed using composite SMA actuators to provide smooth, hingeless aerodynamic surfaces, and (3) a suite of fiber optic sensors integrated into the wing skin which provide real-time strain and pressure data to a feedback control system.

Real-Time Implementation of Intelligent Actuator Control with a Transducer Health Monitoring Capability

NASA Technical Reports Server (NTRS)

Jethwa, Dipan; Selmic, Rastko R.; Figueroa, Fernando

2008-01-01

This paper presents a concept of feedback control for smart actuators that are compatible with smart sensors, communication protocols, and a hierarchical Integrated System Health Management (ISHM) architecture developed by NASA s Stennis Space Center. Smart sensors and actuators typically provide functionalities such as automatic configuration, system condition awareness and self-diagnosis. Spacecraft and rocket test facilities are in the early stages of adopting these concepts. The paper presents a concept combining the IEEE 1451-based ISHM architecture with a transducer health monitoring capability to enhance the control process. A control system testbed for intelligent actuator control, with on-board ISHM capabilities, has been developed and implemented. Overviews of the IEEE 1451 standard, the smart actuator architecture, and control based on this architecture are presented.

Active Control of Surge in Compressors Which Exhibit Abrupt Stall

DTIC Science & Technology

2001-06-01

sensor (of pressure, flow rate, etc.) is fed to a controller which applies a proper control law to drive the actuator (valve, The present paper reports...1993), who analyzed the influence of sensor and numerical simulation shows that: t) the predictions of control acutrsltin o th mxmm sabizd opesr...a sensor of compressor face total pressure), a The present paper considers the active suppression of surge in a butterfly throttle/actuation valve

Microfabricated Electrical Connector for Atomic Force Microscopy Probes with Integrated Sensor/Actuator

NASA Astrophysics Data System (ADS)

Akiyama, Terunobu; Staufer, Urs; Rooij, Nico F. de

2002-06-01

A microfabricated, electrical connector is proposed for facilitating the mounting of atomic force microscopy (AFM) probes, which have an integrated sensor and/or actuator. Only a base chip, which acts as a socket, is permanently fixed onto a printed circuit board and electronically connected by standard wire bonding. The AFM chip, the “plug”, is flipped onto the base chip and pressed from the backside by a spring. Electrical contact with the eventual stress sensors, capacitive or piezoelectric sensor/actuators, is provided by contact bumps. These bumps of about 8 μm height are placed onto the base chip. They touch the pads on the AFM chip that were originally foreseen to be for wire bonding and thus provide the electrical contact. This connector schema was successfully used to register AFM images with piezoresistive cantilevers.

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

NASA Technical Reports Server (NTRS)

Balakrishnan, A. V.

1994-01-01

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

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

NASA Technical Reports Server (NTRS)

Balakrishnan, A. V.

1994-01-01

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

An observer-based compensator for distributed delays

NASA Technical Reports Server (NTRS)

Luck, Rogelio; Ray, Asok

1990-01-01

This paper presents an algorithm for compensating delays that are distributed between the sensor(s), controller and actuator(s) within a control loop. This observer-based algorithm is specially suited to compensation of network-induced delays in integrated communication and control systems. The robustness of the algorithm relative to plant model uncertainties has been examined.

Piezoelectric assisted smart satellite structure (PEASSS): an innovative low cost nano-satellite

NASA Astrophysics Data System (ADS)

Rockberger, D.; Abramovich, H.

2014-03-01

The present manuscript is aimed at describing the PEASSS - PiezoElectric Assisted Smart Satellite Structure project, which was initiated at the beginning of 2013 and financed by the Seventh Framework Program (FP7) of the European Commission. The aims of the project were to develop, manufacture, test and qualify "smart structures" which combine composite panels, piezoelectric materials, and next generation sensors, for autonomously improved pointing accuracy and power generation in space. The smart panels will enable fine angle control, and thermal and vibration compensation, improving all types of future Earth observations, such as environmental and planetary mapping, border and regional imaging. This new technology will help keep Europe on the cutting edge of space research, potentially improving the cost and development time for more accurate future sensor platforms including synthetic aperture optics, moving target detection and identification, and compact radars. The system components include new nano-satellite electronics, a piezo power generation system based on the pyroelectric effect, a piezo actuated smart structure, and a fiber-optic sensor and interrogator system. The present paper will deal only with two of the components, namely the piezo power generation system and the piezo actuated smart structure The designs are going to be prototyped into breadboard models for functional development and testing. Following completion of operational breadboards, components will evolve to flight-test ready hardware and related software, ready to be integrated into a working satellite. Once the nanosattelite is assembled, on ground tests will be performed. Finally, the satellite will be launched and tested in space at the end of 2015.

STRETCHY ELECTRONICS. Hierarchically buckled sheath-core fibers for superelastic electronics, sensors, and muscles.

PubMed

Liu, Z F; Fang, S; Moura, F A; Ding, J N; Jiang, N; Di, J; Zhang, M; Lepró, X; Galvão, D S; Haines, C S; Yuan, N Y; Yin, S G; Lee, D W; Wang, R; Wang, H Y; Lv, W; Dong, C; Zhang, R C; Chen, M J; Yin, Q; Chong, Y T; Zhang, R; Wang, X; Lima, M D; Ovalle-Robles, R; Qian, D; Lu, H; Baughman, R H

2015-07-24

Superelastic conducting fibers with improved properties and functionalities are needed for diverse applications. Here we report the fabrication of highly stretchable (up to 1320%) sheath-core conducting fibers created by wrapping carbon nanotube sheets oriented in the fiber direction on stretched rubber fiber cores. The resulting structure exhibited distinct short- and long-period sheath buckling that occurred reversibly out of phase in the axial and belt directions, enabling a resistance change of less than 5% for a 1000% stretch. By including other rubber and carbon nanotube sheath layers, we demonstrated strain sensors generating an 860% capacitance change and electrically powered torsional muscles operating reversibly by a coupled tension-to-torsion actuation mechanism. Using theory, we quantitatively explain the complementary effects of an increase in muscle length and a large positive Poisson's ratio on torsional actuation and electronic properties. Copyright © 2015, American Association for the Advancement of Science.

Formal Specification and Design Techniques for Wireless Sensor and Actuator Networks

PubMed Central

Martínez, Diego; González, Apolinar; Blanes, Francisco; Aquino, Raúl; Simo, José; Crespo, Alfons

2011-01-01

A current trend in the development and implementation of industrial applications is to use wireless networks to communicate the system nodes, mainly to increase application flexibility, reliability and portability, as well as to reduce the implementation cost. However, the nondeterministic and concurrent behavior of distributed systems makes their analysis and design complex, often resulting in less than satisfactory performance in simulation and test bed scenarios, which is caused by using imprecise models to analyze, validate and design these systems. Moreover, there are some simulation platforms that do not support these models. This paper presents a design and validation method for Wireless Sensor and Actuator Networks (WSAN) which is supported on a minimal set of wireless components represented in Colored Petri Nets (CPN). In summary, the model presented allows users to verify the design properties and structural behavior of the system. PMID:22344203

Electronic sensor and actuator webs for large-area complex geometry cardiac mapping and therapy

PubMed Central

Kim, Dae-Hyeong; Ghaffari, Roozbeh; Lu, Nanshu; Wang, Shuodao; Lee, Stephen P.; Keum, Hohyun; D’Angelo, Robert; Klinker, Lauren; Su, Yewang; Lu, Chaofeng; Kim, Yun-Soung; Ameen, Abid; Li, Yuhang; Zhang, Yihui; de Graff, Bassel; Hsu, Yung-Yu; Liu, ZhuangJian; Ruskin, Jeremy; Xu, Lizhi; Lu, Chi; Omenetto, Fiorenzo G.; Huang, Yonggang; Mansour, Moussa; Slepian, Marvin J.; Rogers, John A.

2012-01-01

Curved surfaces, complex geometries, and time-dynamic deformations of the heart create challenges in establishing intimate, nonconstraining interfaces between cardiac structures and medical devices or surgical tools, particularly over large areas. We constructed large area designs for diagnostic and therapeutic stretchable sensor and actuator webs that conformally wrap the epicardium, establishing robust contact without sutures, mechanical fixtures, tapes, or surgical adhesives. These multifunctional web devices exploit open, mesh layouts and mount on thin, bio-resorbable sheets of silk to facilitate handling in a way that yields, after dissolution, exceptionally low mechanical moduli and thicknesses. In vivo studies in rabbit and pig animal models demonstrate the effectiveness of these device webs for measuring and spatially mapping temperature, electrophysiological signals, strain, and physical contact in sheet and balloon-based systems that also have the potential to deliver energy to perform localized tissue ablation. PMID:23150574

Molecular robots with sensors and intelligence.

PubMed

Hagiya, Masami; Konagaya, Akihiko; Kobayashi, Satoshi; Saito, Hirohide; Murata, Satoshi

2014-06-17

CONSPECTUS: What we can call a molecular robot is a set of molecular devices such as sensors, logic gates, and actuators integrated into a consistent system. The molecular robot is supposed to react autonomously to its environment by receiving molecular signals and making decisions by molecular computation. Building such a system has long been a dream of scientists; however, despite extensive efforts, systems having all three functions (sensing, computation, and actuation) have not been realized yet. This Account introduces an ongoing research project that focuses on the development of molecular robotics funded by MEXT (Ministry of Education, Culture, Sports, Science and Technology, Japan). This 5 year project started in July 2012 and is titled "Development of Molecular Robots Equipped with Sensors and Intelligence". The major issues in the field of molecular robotics all correspond to a feedback (i.e., plan-do-see) cycle of a robotic system. More specifically, these issues are (1) developing molecular sensors capable of handling a wide array of signals, (2) developing amplification methods of signals to drive molecular computing devices, (3) accelerating molecular computing, (4) developing actuators that are controllable by molecular computers, and (5) providing bodies of molecular robots encapsulating the above molecular devices, which implement the conformational changes and locomotion of the robots. In this Account, the latest contributions to the project are reported. There are four research teams in the project that specialize on sensing, intelligence, amoeba-like actuation, and slime-like actuation, respectively. The molecular sensor team is focusing on the development of molecular sensors that can handle a variety of signals. This team is also investigating methods to amplify signals from the molecular sensors. The molecular intelligence team is developing molecular computers and is currently focusing on a new photochemical technology for accelerating DNA-based computations. They also introduce novel computational models behind various kinds of molecular computers necessary for designing such computers. The amoeba robot team aims at constructing amoeba-like robots. The team is trying to incorporate motor proteins, including kinesin and microtubules (MTs), for use as actuators implemented in a liposomal compartment as a robot body. They are also developing a methodology to link DNA-based computation and molecular motor control. The slime robot team focuses on the development of slime-like robots. The team is evaluating various gels, including DNA gel and BZ gel, for use as actuators, as well as the body material to disperse various molecular devices in it. They also try to control the gel actuators by DNA signals coming from molecular computers.

The effect of time synchronization of wireless sensors on the modal analysis of structures

NASA Astrophysics Data System (ADS)

Krishnamurthy, V.; Fowler, K.; Sazonov, E.

2008-10-01

Driven by the need to reduce the installation cost and maintenance cost of structural health monitoring (SHM) systems, wireless sensor networks (WSNs) are becoming increasingly popular. Perfect time synchronization amongst the wireless sensors is a key factor enabling the use of low-cost, low-power WSNs for structural health monitoring applications based on output-only modal analysis of structures. In this paper we present a theoretical framework for analysis of the impact created by time delays in the measured system response on the reconstruction of mode shapes using the popular frequency domain decomposition (FDD) technique. This methodology directly estimates the change in mode shape values based on sensor synchronicity. We confirm the proposed theoretical model by experimental validation in modal identification experiments performed on an aluminum beam. The experimental validation was performed using a wireless intelligent sensor and actuator network (WISAN) which allows for close time synchronization between sensors (0.6-10 µs in the tested configuration) and guarantees lossless data delivery under normal conditions. The experimental results closely match theoretical predictions and show that even very small delays in output response impact the mode shapes.

FR4-based electromagnetic energy harvester for wireless sensor nodes

NASA Astrophysics Data System (ADS)

Hatipoglu, G.; Ürey, H.

2010-01-01

Electromagnetic (EM) energy harvesting seems to be one of the most promising ways to power wireless sensors in a wireless sensor network. In this paper, FR4, the most commonly used PCB material, is utilized as a mechanical vibrating structure for EM energy harvesting for body-worn sensors and intelligent tire sensors, which involve impact loadings. FR4 can be a better material for such applications compared to silicon MEMS devices due to lower stiffness and broadband response. In order to demonstrate FR4 performance and broadband response, three moving magnet type EM generator designs are developed and investigated throughout the paper. A velocity-damped harvester simulation model is first developed, including a detailed magnetic model and the magnetic damping effects. The numerical results agree well with the experimental results. Human running acceleration at the hip area that is obtained experimentally is simulated in order to demonstrate system performance, which results in a scavenged power of about 40 µW with 15 m s-2 acceleration input. The designed FR4 energy scavengers with mechanical stoppers implemented are particularly well suited for nearly periodic and non-sinusoidal high- g excitations with rich harmonic content. For the intelligent tire applications, a special compact FR4 scavenger is designed that is able to withstand large shocks and vibrations due to mechanical shock stoppers built into the structure. Using our design, 0.4 mW power across a load resistance at off-resonance operation is obtained in shaker experiments. In the actual operation, the tangential accelerations as a result of the tire-road contact are estimated to supply power around 1 mW with our design, which is sufficient for powering wireless tire sensors. The normalized power density (NPD) of the designed actuators compares favorably with most actuators reported in the literature.

Polybenzoxazole Nanofiber-Reinforced Moisture-Responsive Soft Actuators.

PubMed

Chen, Meiling; Frueh, Johannes; Wang, Daolin; Lin, Xiankun; Xie, Hui; He, Qiang

2017-04-10

Hydromorphic biological systems, such as morning glory flowers, pinecones, and awns, have inspired researchers to design moisture-sensitive soft actuators capable of directly converting the change of moisture into motion or mechanical work. Here, we report a moisture-sensitive poly(p-phenylene benzobisoxazole) nanofiber (PBONF)-reinforced carbon nanotube/poly(vinyl alcohol) (CNT/PVA) bilayer soft actuator with fine performance on conductivity and mechanical properties. The embedded PBONFs not only assist CNTs to form a continuous, conductive film, but also enhance the mechanical performance of the actuators. The PBONF-reinforced CNT/PVA bilayer actuators can unsymmetrically adsorb and desorb water, resulting in a reversible deformation. More importantly, the actuators show a pronounced increase of conductivity due to the deformation induced by the moisture change, which allows the integration of a moisture-sensitive actuator and a humidity sensor. Upon changing the environmental humidity, the actuators can respond by the deformation for shielding and report the humidity change in a visual manner, which has been demonstrated by a tweezer and a curtain. Such nanofiber-reinforced bilayer actuators with the sensing capability should hold considerable promise for the applications such as soft robots, sensors, intelligent switches, integrated devices, and material storage.

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

NASA Astrophysics Data System (ADS)

Lathers, Steven M.

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

Development of an active structure flight experiment

NASA Astrophysics Data System (ADS)

Manning, R. A.; Wyse, R. E.; Schubert, S. R.

1993-02-01

The design and development of the Air Force and TRW's Advanced Control Technology Experiment (ACTEX) flight experiment is described in this paper. The overall objective of ACTEX is to provide an active structure trailblazer which will demonstrate the compatibility of active structures with operational spacecraft performance and lifetime measures. At the heart of the experiment is an active tripod driven by a digitally-programmable analog control electronics subsystem. Piezoceramic sensors and actuators embedded in a graphite epoxy host material provide the sensing and actuation mechanism for the active tripod. Low noise ground-programmable electronics provide a virtually unlimited number of control schemes that can be implemented in the space environment. The flight experiment program provides the opportunity to gather performance, reliability, adaptability, and lifetime performance data on vibration suppression hardware for the next generation of DoD and NASA spacecraft.

Space Mirror Alignment System

NASA Technical Reports Server (NTRS)

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

2011-01-01

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

Design and modeling of an efficiency horizontal thermal micro-actuator with integrated piezoresistors for precise control.

PubMed

Zhang, Yan; Lee, Dong-Weon

2010-05-01

An integrated system made up of a double-hot arm electro-thermal microactuator and a piezoresistor embedded at the base of the 'cold arm' is proposed. The electro-thermo-mechanical modeling and optimization is developed to elaborate the operation mechanism of the hybrid system through numerical simulations. For given materials, the geometry design mostly influences the performance of the sensor and actuator, which can be considered separately. That is because thermal expansion induced heating energy has less influence on the base area of the 'cold arm,' where is the maximum stress. The piezoresistor is positioned here for large sensitivity to monitor the in-plane movement of the system and characterize the actuator response precisely in real time. Force method is used to analyze the thermal induced mechanical expansion in the redundant structure. On the other hand, the integrated actuating mechanism is designed for high speed imaging. Based on the simulation results, the actuator operates at levels below 5 mA appearing to be very reliable, and the stress sensitivity is about 40 MPa per micron.

Proprioceptive Flexible Fluidic Actuators Using Conductive Working Fluids

PubMed Central

Rossiter, Jonathan

2018-01-01

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

Proprioceptive Flexible Fluidic Actuators Using Conductive Working Fluids.

PubMed

Helps, Tim; Rossiter, Jonathan

2018-04-01

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

Development of active and sensitive material systems based on composites

NASA Astrophysics Data System (ADS)

Asanuma, Hiroshi

2002-07-01

This paper describes new concepts proposed by the author to realize active and sensitive structural material systems. Two examples of multifunctional composites were fabricated and evaluated in this study as follows: (1) An active laminate of aluminum plate (works as muscle), epoxy film (as insulator), unidirectional CFRP prepreg (as bone and blood vessel) and copper foil electrode (to apply voltage on CFRP) was made with an embedded optical fiber multiply fractured in the CFRP layer (works as nerve), of which curvature change could be effectively monitored with the fractured optical fiber. (2) A stainless steel fiber/aluminum active composite with embedded Ti oxide/Ti composite fiber was fabricated. The Ti oxide/Ti fiber could work as a sensor for temperature by removing a part of the oxide before embedment to make a metallic contact between the embedded titanium fiber and aluminum matrix to be able to generate thermal electromotive force, and also could work as a sensor for strain and as a heater for actuation. In the both cases, the outputs from their embedded sensors can be used to control their actuations.

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.

A Simple Sensor Model for THUNDER Actuators

NASA Technical Reports Server (NTRS)

Campbell, Joel F.; Bryant, Robert G.

2009-01-01

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

Optical interferometer testbed

NASA Technical Reports Server (NTRS)

Blackwood, Gary H.

1991-01-01

Viewgraphs on optical interferometer testbed presented at the MIT Space Research Engineering Center 3rd Annual Symposium are included. Topics covered include: space-based optical interferometer; optical metrology; sensors and actuators; real time control hardware; controlled structures technology (CST) design methodology; identification for MIMO control; FEM/ID correlation for the naked truss; disturbance modeling; disturbance source implementation; structure design: passive damping; low authority control; active isolation of lightweight mirrors on flexible structures; open loop transfer function of mirror; and global/high authority control.

NWTC Researchers Field-Test Advanced Control Turbine Systems to Increase Performance, Decrease Structural Loading of Wind Turbines and Plants

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

Researchers at the National Renewable Energy Laboratory's (NREL's) National Wind Technology Center (NWTC) are studying component controls, including new advanced actuators and sensors, for both conventional turbines as well as wind plants. This research will help develop innovative control strategies that reduce aerodynamic structural loads and improve performance. Structural loads can cause damage that increase maintenance costs and shorten the life of a turbine or wind plant.

Parallel processor for real-time structural control

NASA Astrophysics Data System (ADS)

Tise, Bert L.

1993-07-01

A parallel processor that is optimized for real-time linear control has been developed. This modular system consists of A/D modules, D/A modules, and floating-point processor modules. The scalable processor uses up to 1,000 Motorola DSP96002 floating-point processors for a peak computational rate of 60 GFLOPS. Sampling rates up to 625 kHz are supported by this analog-in to analog-out controller. The high processing rate and parallel architecture make this processor suitable for computing state-space equations and other multiply/accumulate-intensive digital filters. Processor features include 14-bit conversion devices, low input-to-output latency, 240 Mbyte/s synchronous backplane bus, low-skew clock distribution circuit, VME connection to host computer, parallelizing code generator, and look- up-tables for actuator linearization. This processor was designed primarily for experiments in structural control. The A/D modules sample sensors mounted on the structure and the floating- point processor modules compute the outputs using the programmed control equations. The outputs are sent through the D/A module to the power amps used to drive the structure's actuators. The host computer is a Sun workstation. An OpenWindows-based control panel is provided to facilitate data transfer to and from the processor, as well as to control the operating mode of the processor. A diagnostic mode is provided to allow stimulation of the structure and acquisition of the structural response via sensor inputs.

Test of FBG sensors for monitoring high pressure pipes

NASA Astrophysics Data System (ADS)

Paolozzi, Antonio; Paris, Claudio; Vendittozzi, Cristian; Felli, Ferdinando; Mongelli, Marialuisa; De Canio, Gerardo; Colucci, Alessandro; Asanuma, Hiroshi

2017-04-01

Fibre Bragg Grating (FBG) sensors are increasingly being used on a wide range of civil, industrial and aerospace structures. The sensors are created inside optical fibres (usually standard telecommunication fibres); the optical fibres technology allows to install the sensors on structures working in harsh environments, since the materials are almost insensitive to corrosion, the monitoring system can be positioned far away from the sensors without sensible signal losses, and there is no risk of electric discharge. FBG sensors can be used to create strain gages, thermometers or accelerometers, depending on the coating on the grating, on the way the grating is fixed to the structure, and on the presence of a specifically designed interface that can act as a transducer. This paper describes a test of several different FBG sensors to monitor an high pressure pipe that feeds the hydraulic actuators of a 6 degrees-of-freedom shaking table at the ENEA Casaccia research centre. A bare FBG sensor and a copper coated FBG sensor have been glued on the pipe. A third sensor has been mounted on a special interface to amplify the vibrations; this last sensor can be placed on the steel pipe by a magnetic mounting system, that also allows the its removal. All the sensor are placed parallel to the axis of the pipe. The analysis of the data recorded when the shaking table is operated will allow to determine which kind of sensor is best suited for structural monitoring of high pressure pipelines.

Surface Control of Actuated Hybrid Space Mirrors

DTIC Science & Technology

2010-10-01

precision Nanolaminate foil facesheet and Silicon Carbide ( SiC ) substrate embedded with electroactive ceramic actuators. Wavefront sensors are used to...integrate precision Nanolaminate foil facesheet with Silicon Carbide ( SiC ) substrate equipped with embedded electroactive ceramic actuators...IAC-10.C2.5.8 SURFACE CONTROL OF ACTUATED HYBRID SPACE MIRRORS Brij. N. Agrawal Naval Postgraduate School, Monterey, CA, 93943, agrawal

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

PubMed Central

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

2015-01-01

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

Output feedback control for a class of nonlinear systems with actuator degradation and sensor noise.

PubMed

Ai, Weiqing; Lu, Zhenli; Li, Bin; Fei, Shumin

2016-11-01

This paper investigates the output feedback control problem of a class of nonlinear systems with sensor noise and actuator degradation. Firstly, by using the descriptor observer approach, the origin system is transformed into a descriptor system. On the basis of the descriptor system, a novel Proportional Derivative (PD) observer is developed to asymptotically estimate sensor noise and system state simultaneously. Then, by designing an adaptive law to estimate the effectiveness of actuator, an adaptive observer-based controller is constructed to ensure that system state can be regulated to the origin asymptotically. Finally, the design scheme is applied to address a flexible joint robot link problem. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Parameter identification of civil engineering structures

NASA Technical Reports Server (NTRS)

Juang, J. N.; Sun, C. T.

1980-01-01

This paper concerns the development of an identification method required in determining structural parameter variations for systems subjected to an extended exposure to the environment. The concept of structural identifiability of a large scale structural system in the absence of damping is presented. Three criteria are established indicating that a large number of system parameters (the coefficient parameters of the differential equations) can be identified by a few actuators and sensors. An eight-bay-fifteen-story frame structure is used as example. A simple model is employed for analyzing the dynamic response of the frame structure.

Sensor fault-tolerant control for gear-shifting engaging process of automated manual transmission

NASA Astrophysics Data System (ADS)

Li, Liang; He, Kai; Wang, Xiangyu; Liu, Yahui

2018-01-01

Angular displacement sensor on the actuator of automated manual transmission (AMT) is sensitive to fault, and the sensor fault will disturb its normal control, which affects the entire gear-shifting process of AMT and results in awful riding comfort. In order to solve this problem, this paper proposes a method of fault-tolerant control for AMT gear-shifting engaging process. By using the measured current of actuator motor and angular displacement of actuator, the gear-shifting engaging load torque table is built and updated before the occurrence of the sensor fault. Meanwhile, residual between estimated and measured angular displacements is used to detect the sensor fault. Once the residual exceeds a determined fault threshold, the sensor fault is detected. Then, switch control is triggered, and the current observer and load torque table estimates an actual gear-shifting position to replace the measured one to continue controlling the gear-shifting process. Numerical and experiment tests are carried out to evaluate the reliability and feasibility of proposed methods, and the results show that the performance of estimation and control is satisfactory.

A wirelessly programmable actuation and sensing system for structural health monitoring

NASA Astrophysics Data System (ADS)

Long, James; Büyüköztürk, Oral

2016-04-01

Wireless sensor networks promise to deliver low cost, low power and massively distributed systems for structural health monitoring. A key component of these systems, particularly when sampling rates are high, is the capability to process data within the network. Although progress has been made towards this vision, it remains a difficult task to develop and program 'smart' wireless sensing applications. In this paper we present a system which allows data acquisition and computational tasks to be specified in Python, a high level programming language, and executed within the sensor network. Key features of this system include the ability to execute custom application code without firmware updates, to run multiple users' requests concurrently and to conserve power through adjustable sleep settings. Specific examples of sensor node tasks are given to demonstrate the features of this system in the context of structural health monitoring. The system comprises of individual firmware for nodes in the wireless sensor network, and a gateway server and web application through which users can remotely submit their requests.

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

PubMed Central

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

2011-01-01

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

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

PubMed

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

2011-01-01

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

Power assist EVA glove development

NASA Technical Reports Server (NTRS)

Main, John A.; Peterson, Steven W.; Strauss, Alvin M.

1992-01-01

Structural modeling of the EVA glove indicates that flexibility in the metacarpophalangeal (MCP) joint can be improved by selectively lowering the elasticity of the glove fabric. Two strategies are used to accomplish this. One method uses coil springs on the back of the glove to carry the tension in the glove skin due to pressurization. These springs carry the loads normally borne by the glove fabric, but are more easily deformed. An active system was also designed for the same purpose and uses gas filled bladders attached to the back of the EVA glove that change the dimensions of the back of the glove and allow the glove to bend at the MCP joint, thus providing greater flexibility at this joint. A threshold control scheme was devised to control the action of the joint actuators. Input to the controller was provided by thin resistive pressure sensors placed between the hand and the pressurized glove. The pressure sensors consist of a layer of polyester film that has a thin layer of ink screened on the surface. The resistivity of the ink is pressure dependent, so an extremely thin pressure sensor can be fabricated by covering the ink patch with another layer of polyester film and measuring the changing resistance of the ink with a bridge circuit. In order to sense the force between the hand and the glove at the MCP joint, a sensor was placed on the palmar face of the middle finger. The resultant signal was used by the controller to decide whether to fill or exhaust the bladder actuators on the back of the glove. The information from the sensor can also be used to evaluate the effectiveness of a given control scheme or glove design since the magnitude of the measured pressures gives some idea of the torque required to bend a glove finger at the MCP joint. Tests of this actuator, sensor, and control system were conducted in an 57.2 kPa glove box by performing a series of 90 degree finger bends with a glove without an MCP joint assembly, a glove with the coil spring assembly, and with the four fingered actuated glove. The tests of these three glove designs confirm the validity of the model.

Application of Conductive Carbon Nanotube Fibers and Composites: Gas Sensor

DTIC Science & Technology

2013-05-01

Lee, D.-D. Sensors and Actuators B: Chemical 2005, 108, 298–304. 31. Parikh, K.; Cattanach, K.; Rao , R.; Suh, D.-S.; Wu, A.; Manohar, S. K...Adv Mater 2004, 16, 2049–2052. 53. Zribi, A.; Knobloch, A.; Rao , R. Appl Phys Lett 2005, 86, 203112. 54. Philip, B.; Abraham, J. K.; Chandrasekhar, A...Yujin, C. et al. Nanotechnology 2006, 17, 3012. 61. Krishna Kumar, M.; Leela Mohana Reddy, A.; Ramaprabhu, S. Sensors and Actuators B: Chemical

Initial Work Toward a Robotically Assisted EVA Glove

NASA Technical Reports Server (NTRS)

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

2016-01-01

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

Neuromechanical sensor fusion yields highest accuracies in predicting ambulation mode transitions for trans-tibial amputees.

PubMed

Tkach, D C; Hargrove, L J

2013-01-01

Advances in battery and actuator technology have enabled clinical use of powered lower limb prostheses such as the BiOM Powered Ankle. To allow ambulation over various types of terrains, such devices rely on built-in mechanical sensors or manual actuation by the amputee to transition into an operational mode that is suitable for a given terrain. It is unclear if mechanical sensors alone can accurately modulate operational modes while voluntary actuation prevents seamless, naturalistic gait. Ensuring that the prosthesis is ready to accommodate new terrain types at first step is critical for user safety. EMG signals from patient's residual leg muscles may provide additional information to accurately choose the proper mode of prosthesis operation. Using a pattern recognition classifier we compared the accuracy of predicting 8 different mode transitions based on (1) prosthesis mechanical sensor output (2) EMG recorded from residual limb and (3) fusion of EMG and mechanical sensor data. Our findings indicate that the neuromechanical sensor fusion significantly decreases errors in predicting 10 mode transitions as compared to using either mechanical sensors or EMG alone (2.3±0.7% vs. 7.8±0.9% and 20.2±2.0% respectively).

Dual measurement self-sensing technique of NiTi actuators for use in robust control

NASA Astrophysics Data System (ADS)

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

2017-10-01

Using a shape memory alloy actuator as both an actuator and a sensor provides huge benefits in cost reduction and miniaturization of robotic devices. Despite much effort, reliable and robust self-sensing (using the actuator as a position sensor) had not been achieved for general temperature, loading, hysteresis path, and fatigue conditions. Prior research has sought to model the intricacies of the electrical resistivity changes within the NiTi material. However, for the models to be solvable, nearly every previous technique only models the actuator within very specific boundary conditions. Here, we measure both the voltage across the entire NiTi wire and of a fixed-length segment of it; these dual measurements allow direct calculation of the actuator length without a material model. We review previous self-sensing literature, illustrate the mechanism design that makes the new technique possible, and use the dual measurement technique to determine the length of a single straight wire actuator under controlled conditions. This robust measurement can be used for feedback control in unknown ambient and loading conditions.

Materials science. Materials that couple sensing, actuation, computation, and communication.

PubMed

McEvoy, M A; Correll, N

2015-03-20

Tightly integrating sensing, actuation, and computation into composites could enable a new generation of truly smart material systems that can change their appearance and shape autonomously. Applications for such materials include airfoils that change their aerodynamic profile, vehicles with camouflage abilities, bridges that detect and repair damage, or robotic skins and prosthetics with a realistic sense of touch. Although integrating sensors and actuators into composites is becoming increasingly common, the opportunities afforded by embedded computation have only been marginally explored. Here, the key challenge is the gap between the continuous physics of materials and the discrete mathematics of computation. Bridging this gap requires a fundamental understanding of the constituents of such robotic materials and the distributed algorithms and controls that make these structures smart. Copyright © 2015, American Association for the Advancement of Science.

Self-sensing of dielectric elastomer actuator enhanced by artificial neural network

NASA Astrophysics Data System (ADS)

Ye, Zhihang; Chen, Zheng

2017-09-01

Dielectric elastomer (DE) is a type of soft actuating material, the shape of which can be changed under electrical voltage stimuli. DE materials have promising usage in future’s soft actuators and sensors, such as soft robotics, energy harvesters, and wearable sensors. In this paper, a stripe DE actuator with integrated sensing capability is designed, fabricated, and characterized. Since the strip actuator can be approximated as a compliant capacitor, it is possible to detect the actuator’s displacement by analyzing the actuator’s impedance change. An integrated sensing scheme that adds a high frequency probing signal into actuation signal is developed. Electrical impedance changes in the probing signal are extracted by fast Fourier transform algorithm, and nonlinear data fitting methods involving artificial neural network are implemented to detect the actuator’s displacement. A series of experiments show that by improving data processing and analyzing methods, the integrated sensing method can achieve error level of lower than 1%.

A gimbaled low noise momentum wheel

NASA Technical Reports Server (NTRS)

Bichler, U.; Eckardt, T.

1993-01-01

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

Soft Somatosensitive Actuators via Embedded 3D Printing.

PubMed

Truby, Ryan L; Wehner, Michael; Grosskopf, Abigail K; Vogt, Daniel M; Uzel, Sebastien G M; Wood, Robert J; Lewis, Jennifer A

2018-04-01

Humans possess manual dexterity, motor skills, and other physical abilities that rely on feedback provided by the somatosensory system. Herein, a method is reported for creating soft somatosensitive actuators (SSAs) via embedded 3D printing, which are innervated with multiple conductive features that simultaneously enable haptic, proprioceptive, and thermoceptive sensing. This novel manufacturing approach enables the seamless integration of multiple ionically conductive and fluidic features within elastomeric matrices to produce SSAs with the desired bioinspired sensing and actuation capabilities. Each printed sensor is composed of an ionically conductive gel that exhibits both long-term stability and hysteresis-free performance. As an exemplar, multiple SSAs are combined into a soft robotic gripper that provides proprioceptive and haptic feedback via embedded curvature, inflation, and contact sensors, including deep and fine touch contact sensors. The multimaterial manufacturing platform enables complex sensing motifs to be easily integrated into soft actuating systems, which is a necessary step toward closed-loop feedback control of soft robots, machines, and haptic devices. © 2018 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Experimental Comparison of two Active Vibration Control Approaches: Velocity Feedback and Negative Capacitance Shunt Damping

NASA Technical Reports Server (NTRS)

Beck, Benjamin; Schiller, Noah

2013-01-01

This paper outlines a direct, experimental comparison between two established active vibration control techniques. Active vibration control methods, many of which rely upon piezoelectric patches as actuators and/or sensors, have been widely studied, showing many advantages over passive techniques. However, few direct comparisons between different active vibration control methods have been made to determine the performance benefit of one method over another. For the comparison here, the first control method, velocity feedback, is implemented using four accelerometers that act as sensors along with an analog control circuit which drives a piezoelectric actuator. The second method, negative capacitance shunt damping, consists of a basic analog circuit which utilizes a single piezoelectric patch as both a sensor and actuator. Both of these control methods are implemented individually using the same piezoelectric actuator attached to a clamped Plexiglas window. To assess the performance of each control method, the spatially averaged velocity of the window is compared to an uncontrolled response.

Vibration attenuation of the NASA Langley evolutionary structure experiment using H(sub infinity) and structured singular value (micron) robust multivariable control techniques

NASA Technical Reports Server (NTRS)

Balas, Gary J.

1992-01-01

The use is studied of active control to attenuate structural vibrations of the NASA Langley Phase Zero Evolutionary Structure due to external disturbance excitations. H sub infinity and structured singular value (mu) based control techniques are used to analyze and synthesize control laws for the NASA Langley Controls Structures Interaction (CSI) Evolutionary Model (CEM). The CEM structure experiment provides an excellent test bed to address control design issues for large space structures. Specifically, control design for structures with numerous lightly damped, coupled flexible modes, collocated and noncollocated sensors and actuators and stringent performance specifications. The performance objectives are to attenuate the vibration of the structure due to external disturbances, and minimize the actuator control force. The control design problem formulation for the CEM Structure uses a mathematical model developed with finite element techniques. A reduced order state space model for the control design is formulated from the finite element model. It is noted that there are significant variations between the design model and the experimentally derived transfer function data.

Damage Characterization Method for Structural Health Management Using Reduced Number of Sensor Inputs

NASA Technical Reports Server (NTRS)

Krishnamurthy, T.; Hochhalter, Jacob D.; Gallegos, Adam M.

2012-01-01

The development of validated multidisciplinary Integrated Vehicle Health Management (IVHM) tools, technologies, and techniques to enable detection, diagnosis, prognosis, and mitigation in the presence of adverse conditions during flight will provide effective solutions to deal with safety related challenges facing next generation aircraft. The adverse conditions include loss of control caused by environmental factors, actuator and sensor faults or failures, and damage conditions. A major concern in these structures is the growth of undetected damage (cracks) due to fatigue and low velocity foreign impacts that can reach a critical size during flight, resulting in loss of control of the aircraft. Hence, development of efficient methodologies to determine the presence, location, and severity of damage in critical structural components is highly important in developing efficient structural health management systems.

Powered orthosis and attachable power-assist device with Hydraulic Bilateral Servo System.

PubMed

Ohnishi, Kengo; Saito, Yukio; Oshima, Toru; Higashihara, Takanori

2013-01-01

This paper discusses the developments and control strategies of exoskeleton-type robot systems for the application of an upper limb powered orthosis and an attachable power-assist device for care-givers. Hydraulic Bilateral Servo System, which consist of a computer controlled motor, parallel connected hydraulic actuators, position sensors, and pressure sensors, are installed in the system to derive the joint motion of the exoskeleton arm. The types of hydraulic component structure and the control strategy are discussed in relation to the design philosophy and target joints motions.

Communal Sensor Network for Adaptive Noise Reduction in Aircraft Engine Nacelles

NASA Technical Reports Server (NTRS)

Jones, Kennie H.; Nark, Douglas M.; Jones, Michael G.

2011-01-01

Emergent behavior, a subject of much research in biology, sociology, and economics, is a foundational element of Complex Systems Science and is apropos in the design of sensor network systems. To demonstrate engineering for emergent behavior, a novel approach in the design of a sensor/actuator network is presented maintaining optimal noise attenuation as an adaptation to changing acoustic conditions. Rather than use the conventional approach where sensors are managed by a central controller, this new paradigm uses a biomimetic model where sensor/actuators cooperate as a community of autonomous organisms, sharing with neighbors to control impedance based on local information. From the combination of all individual actions, an optimal attenuation emerges for the global system.

Electromagnetomechanical elastodynamic model for Lamb wave damage quantification in composites

NASA Astrophysics Data System (ADS)

Borkowski, Luke; Chattopadhyay, Aditi

2014-03-01

Physics-based wave propagation computational models play a key role in structural health monitoring (SHM) and the development of improved damage quantification methodologies. Guided waves (GWs), such as Lamb waves, provide the capability to monitor large plate-like aerospace structures with limited actuators and sensors and are sensitive to small scale damage; however due to the complex nature of GWs, accurate and efficient computation tools are necessary to investigate the mechanisms responsible for dispersion, coupling, and interaction with damage. In this paper, the local interaction simulation approach (LISA) coupled with the sharp interface model (SIM) solution methodology is used to solve the fully coupled electro-magneto-mechanical elastodynamic equations for the piezoelectric and piezomagnetic actuation and sensing of GWs in fiber reinforced composite material systems. The final framework provides the full three-dimensional displacement as well as electrical and magnetic potential fields for arbitrary plate and transducer geometries and excitation waveform and frequency. The model is validated experimentally and proven computationally efficient for a laminated composite plate. Studies are performed with surface bonded piezoelectric and embedded piezomagnetic sensors to gain insight into the physics of experimental techniques used for SHM. The symmetric collocation of piezoelectric actuators is modeled to demonstrate mode suppression in laminated composites for the purpose of damage detection. The effect of delamination and damage (i.e., matrix cracking) on the GW propagation is demonstrated and quantified. The developed model provides a valuable tool for the improvement of SHM techniques due to its proven accuracy and computational efficiency.

Engine control system having fuel-based adjustment

DOEpatents

Willi, Martin L [Dunlap, IL; Fiveland, Scott B [Metamora, IL; Montgomery, David T [Edelstein, IL; Gong, Weidong [Dunlap, IL

2011-03-15

A control system for an engine having a cylinder is disclosed having an engine valve configured to affect a fluid flow of the cylinder, an actuator configured to move the engine valve, and an in-cylinder sensor configured to generate a signal indicative of a characteristic of fuel entering the cylinder. The control system also has a controller in communication with the actuator and the sensor. The controller is configured to determine the characteristic of the fuel based on the signal and selectively regulate the actuator to adjust a timing of the engine valve based on the characteristic of the fuel.

Control Augmented Structural Synthesis

NASA Technical Reports Server (NTRS)

Lust, Robert V.; Schmit, Lucien A.

1988-01-01

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

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

NASA Astrophysics Data System (ADS)

Dua, Rohit; Watkins, Steve E.

2009-03-01

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

Ambulatory position and orientation tracking fusing magnetic and inertial sensing.

PubMed

Roetenberg, Daniel; Slycke, Per J; Veltink, Peter H

2007-05-01

This paper presents the design and testing of a portable magnetic system combined with miniature inertial sensors for ambulatory 6 degrees of freedom (DOF) human motion tracking. The magnetic system consists of three orthogonal coils, the source, fixed to the body and 3-D magnetic sensors, fixed to remote body segments, which measure the fields generated by the source. Based on the measured signals, a processor calculates the relative positions and orientations between source and sensor. Magnetic actuation requires a substantial amount of energy which limits the update rate with a set of batteries. Moreover, the magnetic field can easily be disturbed by ferromagnetic materials or other sources. Inertial sensors can be sampled at high rates, require only little energy and do not suffer from magnetic interferences. However, accelerometers and gyroscopes can only measure changes in position and orientation and suffer from integration drift. By combing measurements from both systems in a complementary Kalman filter structure, an optimal solution for position and orientation estimates is obtained. The magnetic system provides 6 DOF measurements at a relatively low update rate while the inertial sensors track the changes position and orientation in between the magnetic updates. The implemented system is tested against a lab-bound camera tracking system for several functional body movements. The accuracy was about 5 mm for position and 3 degrees for orientation measurements. Errors were higher during movements with high velocities due to relative movement between source and sensor within one cycle of magnetic actuation.

Continuous monitoring of large civil structures using a digital fiber optic motion sensor system

NASA Astrophysics Data System (ADS)

Hodge, Malcolm H.; Kausel, Theodore C., Jr.

1998-03-01

There is no single attribute which can always predict structural deterioration. Accordingly, we have developed a scheme for monitoring a wide range of incipient deterioration parameters, all based on a single motion sensor concept. In this presentation, we describe how an intrinsically low power- consumption fiber optic harness can be permanently deployed to poll an array of optical sensors. The function and design of these simple, durable, and naturally digital sensors is described, along with the manner in which they have been configured to collect information for changes in the most important structural aspects. The SIMS system is designed to interrogate each sensor up to five-thousand times per second for the life of the structure, and to report sensor data back to a remote computer base for current and long-term analysis, and is directed primarily towards bridges. By suitably modifying the actuation of this very precise motion sensor, SIMS is able to track bridge deck deflection and vibration, expansion joint travel, concrete and rebar corrosion, pothole development, pier scour and tilt. Other sensors will track bolt clamp load, cable tension, and metal fatigue. All of these data are received within microseconds, which means that appropriate computer algorithm manipulations can be carried out to correlate one sensor with other sensors in real time. This internal verification feature automatically enhances confidence in the system's predictive ability and alerts the user to any anomalous behavior.

Gyroscopic sensing in the wings of the hawkmoth Manduca sexta: the role of sensor location and directional sensitivity.

PubMed

Hinson, Brian T; Morgansen, Kristi A

2015-10-06

The wings of the hawkmoth Manduca sexta are lined with mechanoreceptors called campaniform sensilla that encode wing deformations. During flight, the wings deform in response to a variety of stimuli, including inertial-elastic loads due to the wing flapping motion, aerodynamic loads, and exogenous inertial loads transmitted by disturbances. Because the wings are actuated, flexible structures, the strain-sensitive campaniform sensilla are capable of detecting inertial rotations and accelerations, allowing the wings to serve not only as a primary actuator, but also as a gyroscopic sensor for flight control. We study the gyroscopic sensing of the hawkmoth wings from a control theoretic perspective. Through the development of a low-order model of flexible wing flapping dynamics, and the use of nonlinear observability analysis, we show that the rotational acceleration inherent in wing flapping enables the wings to serve as gyroscopic sensors. We compute a measure of sensor fitness as a function of sensor location and directional sensitivity by using the simulation-based empirical observability Gramian. Our results indicate that gyroscopic information is encoded primarily through shear strain due to wing twisting, where inertial rotations cause detectable changes in pronation and supination timing and magnitude. We solve an observability-based optimal sensor placement problem to find the optimal configuration of strain sensor locations and directional sensitivities for detecting inertial rotations. The optimal sensor configuration shows parallels to the campaniform sensilla found on hawkmoth wings, with clusters of sensors near the wing root and wing tip. The optimal spatial distribution of strain directional sensitivity provides a hypothesis for how heterogeneity of campaniform sensilla may be distributed.

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

NASA Astrophysics Data System (ADS)

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

2018-05-01

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

Modeling and analysis of pinhole occulter experiment

NASA Technical Reports Server (NTRS)

Ring, J. R.

1986-01-01

The objectives were to improve pointing control system implementation by converting the dynamic compensator from a continuous domain representation to a discrete one; to determine pointing stability sensitivites to sensor and actuator errors by adding sensor and actuator error models to treetops and by developing an error budget for meeting pointing stability requirements; and to determine pointing performance for alternate mounting bases (space station for example).

Contract-Based Integration of Cyber-Physical Analyses

DTIC Science & Technology

2014-10-14

for cyber-physical systems , 2013 [3] Torngren et al. Integrating viewpoints in the development of mechatronic products, 2013 [4] Rajhans et al...Conference on Embedded Software Report Documentation Page Form ApprovedOMB No. 0704-0188 Public reporting burden for the collection of information is...failures 5 Analytic aspect of integration Sensor Sampling PID Controller Actuator Controller Communication bus Sensor board CPU Actuator board System Bin

System for detecting operating errors in a variable valve timing engine using pressure sensors

DOEpatents

Wiles, Matthew A.; Marriot, Craig D

2013-07-02

A method and control module includes a pressure sensor data comparison module that compares measured pressure volume signal segments to ideal pressure volume segments. A valve actuation hardware remedy module performs a hardware remedy in response to comparing the measured pressure volume signal segments to the ideal pressure volume segments when a valve actuation hardware failure is detected.

Onboard Nonlinear Engine Sensor and Component Fault Diagnosis and Isolation Scheme

NASA Technical Reports Server (NTRS)

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

2011-01-01

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

Robust Fault Detection and Isolation for Stochastic Systems

NASA Technical Reports Server (NTRS)

George, Jemin; Gregory, Irene M.

2010-01-01

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

Fuzzy Logic Control Based QoS Management in Wireless Sensor/Actuator Networks

PubMed Central

Xia, Feng; Zhao, Wenhong; Sun, Youxian; Tian, Yu-Chu

2007-01-01

Wireless sensor/actuator networks (WSANs) are emerging rapidly as a new generation of sensor networks. Despite intensive research in wireless sensor networks (WSNs), limited work has been found in the open literature in the field of WSANs. In particular, quality-of-service (QoS) management in WSANs remains an important issue yet to be investigated. As an attempt in this direction, this paper develops a fuzzy logic control based QoS management (FLC-QM) scheme for WSANs with constrained resources and in dynamic and unpredictable environments. Taking advantage of the feedback control technology, this scheme deals with the impact of unpredictable changes in traffic load on the QoS of WSANs. It utilizes a fuzzy logic controller inside each source sensor node to adapt sampling period to the deadline miss ratio associated with data transmission from the sensor to the actuator. The deadline miss ratio is maintained at a pre-determined desired level so that the required QoS can be achieved. The FLC-QM has the advantages of generality, scalability, and simplicity. Simulation results show that the FLC-QM can provide WSANs with QoS support. PMID:28903288

A Gas Turbine Compressor Simulation Model for Inclusion of Active Control Strategies

DTIC Science & Technology

2001-06-01

family is based on a classic ,. ( feedback control system, i.e., a sensor /actuator pair and a suitable control law. Ffowcs Williams and Huang (1989...stabilized the 0,4 unstable flow in a small compression system by using a pressure 0 0.2 04 0.6 0 8 :, .4 16 . a) sensor located in the plenum and a...requirements: very fast response to frequency and a large number of sensors and actuators. The former conflicts with the use of analogic or AA = Kdp/dt

Polypyrrol/chitosan hydrogel hybrid microfiber as sensing artificial muscle

NASA Astrophysics Data System (ADS)

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

2011-04-01

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

Parallel processor for real-time structural control

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

Tise, B.L.

1992-01-01

A parallel processor that is optimized for real-time linear control has been developed. This modular system consists of A/D modules, D/A modules, and floating-point processor modules. The scalable processor uses up to 1,000 Motorola DSP96002 floating-point processors for a peak computational rate of 60 GFLOPS. Sampling rates up to 625 kHz are supported by this analog-in to analog-out controller. The high processing rate and parallel architecture make this processor suitable for computing state-space equations and other multiply/accumulate-intensive digital filters. Processor features include 14-bit conversion devices, low input-output latency, 240 Mbyte/s synchronous backplane bus, low-skew clock distribution circuit, VME connection tomore » host computer, parallelizing code generator, and look-up-tables for actuator linearization. This processor was designed primarily for experiments in structural control. The A/D modules sample sensors mounted on the structure and the floating-point processor modules compute the outputs using the programmed control equations. The outputs are sent through the D/A module to the power amps used to drive the structure's actuators. The host computer is a Sun workstation. An Open Windows-based control panel is provided to facilitate data transfer to and from the processor, as well as to control the operating mode of the processor. A diagnostic mode is provided to allow stimulation of the structure and acquisition of the structural response via sensor inputs.« less

Applications of Piezoelectric Materials in Structural Health Monitoring and Repair: Selected Research Examples

PubMed Central

Duan, Wen Hui; Wang, Quan; Quek, Ser Tong

2010-01-01

The paper reviews the recent applications of piezoelectric materials in structural health monitoring and repair conducted by the authors. First, commonly used piezoelectric materials in structural health monitoring and structure repair are introduced. The analysis of plain piezoelectric sensors and actuators and interdigital transducer and their applications in beam, plate and pipe structures for damage detection are reviewed in detail. Second, an overview is presented on the recent advances in the applications of piezoelectric materials in structural repair. In addition, the basic principle and the current development of the technique are examined. PMID:28883375

Manufacturing of Smart Structures Using Fiber Placement Manufacturing Processes

NASA Technical Reports Server (NTRS)

Thomas, Matthew M.; Glowasky, Robert A.; McIlroy, Bruce E.; Story, Todd A.

1996-01-01

Smart structures research and development, with the ultimate aim of rapid commercial and military production of these structures, are at the forefront of the Synthesis and Processing of Intelligent Cost-Effective Structures (SPICES) program. As part of this ARPA-sponsored program, MDA-E is using fiber placement processes to manufacture integrated smart structure systems. These systems comprise advanced composite structures with embedded fiber optic sensors, shape memory alloys, piezoelectric actuators, and miniature accelerometers. Cost-effective approaches and solutions to smart material synthesis in the fiber-placement process, based upon integrated product development, are discussed herein.

Micro-fabrication of a novel linear actuator

NASA Astrophysics Data System (ADS)

Jiang, Shuidong; Liu, Lei; Hou, Yangqing; Fang, Houfei

2017-04-01

The novel linear actuator is researched with light weight, small volume, low power consumption, fast response and relatively large displacement output. It can be used for the net surface control of large deployable mesh antennas, the tension precise adjustment of the controlled cable in the tension and tensile truss structure and many other applications. The structure and the geometry parameters are designed and analysed by finite element method in multi-physics coupling. Meantime, the relationship between input voltage and displacement output is computed, and the strength check is completed according to the stress distribution. Carbon fiber reinforced composite (CFRC), glass fiber reinforced composited (GFRC), and Lead Zirconium Titanate (PZT) materials are used to fabricate the actuator by using laser etching and others MEMS process. The displacement output is measured by the laser displacement sensor device at the input voltage range of DC0-180V. The response time is obtained by oscilloscope at the arbitrarily voltage in the above range. The nominal force output is measured by the PTR-1101 mechanics setup. Finally, the computed and test results are compared and analysed.

Fiber optics for propulsion control systems

NASA Technical Reports Server (NTRS)

Baumbick, R. J.

1985-01-01

In aircraft systems with digital controls, fiberoptics has advantages over wire systems because of its inherent immunity to electromagnetic noise (EMI) and electromagnetic pulses (EMP). It also offers a weight benefit when metallic conductors are replaced by optical fibers. To take full advantage of the benefits of optical waveguides, passive optical sensors are also being developed to eliminate the need for electrical power to the sensor. Fiberoptics may also be used for controlling actuators on engine and airframe. In this application, the optical fibers, connectors, etc. will be subjected to high temperature and vibrations. This paper discussed the use of fiberoptics in aircraft propulsion systems together with the optical sensors and optically controlled actuators being developed to take full advantage of the benefits which fiberoptics offers. The requirements for sensors and actuators in advanced propulsion systems are identified. The benefits of using fiberoptics in place of conventional wire systems are discussed as well as the environmental conditions under which the optical components must operate.

Fiberoptics for propulsion control system

NASA Technical Reports Server (NTRS)

Baumbick, R. J.

1984-01-01

In aircraft systems with digital controls, fiberoptics has advantages over wire systems because of its inherent immunity to electromagnetic noise (EMI) and electromagnetic pulses (EMP). It also offers a weight benefit when metallic conductors are replaced by optical fibers. To take full advantage of the benefits of optical waveguides, passive optical sensors are also being developed to eliminate the need for electrical power to the sensor. Fiberoptics may also be used for controlling actuators on engine and airframe. In this application, the optical fibers, connectors, etc. will be subjected to high temperature and vibrations. This paper discussed the use of fiberoptics in aircraft propulsion systems together with the optical sensors and optically controlled actuators being developed to take full advantage of the benefits which fiberoptics offers. The requirements for sensors and actuators in advanced propulsion systems are identified. The benefits of using fiberoptics in place of conventional wire systems are discussed as well as the environmental conditions under which the optical components must operate.

Control Law Synthesis for Vertical Fin Buffeting Alleviation Using Strain Actuation

NASA Technical Reports Server (NTRS)

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

1999-01-01

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

Multiscale Modeling of Advanced Materials for Damage Prediction and Structural Health Monitoring

DTIC Science & Technology

2015-05-01

Viscoplasticity Model ................................................. 71 4.1. PZT (APC 850) Orthotropic Properties...surface-mounted lead zirconate titanate ( PZT ) transducer using a coupled FEM-normal mode expansion method. Other researchers have also utilized the...orthotropic material properties of the PZT piezoelectric actuators and sensors are presented in Table 4.1. A 5 cycle cosine tone burst signal, seen in

Toward Self-Control Systems for Neurogenic Underactive Bladder: A Triboelectric Nanogenerator Sensor Integrated with a Bistable Micro-Actuator.

PubMed

Arab Hassani, Faezeh; Mogan, Roshini P; Gammad, Gil G L; Wang, Hao; Yen, Shih-Cheng; Thakor, Nitish V; Lee, Chengkuo

2018-04-24

Aging, neurologic diseases, and diabetes are a few risk factors that may lead to underactive bladder (UAB) syndrome. Despite all of the serious consequences of UAB, current solutions, the most common being ureteric catheterization, are all accompanied by serious shortcomings. The necessity of multiple catheterizations per day for a physically able patient not only reduces the quality of life with constant discomfort and pain but also can end up causing serious complications. Here, we present a bistable actuator to empty the bladder by incorporating shape memory alloy components integrated on flexible polyvinyl chloride sheets. The introduction of two compression and restoration phases for the actuator allows for repeated actuation for a more complete voiding of the bladder. The proposed actuator exhibits one of the highest reported voiding percentages of up to 78% of the bladder volume in an anesthetized rat after only 20 s of actuation. This amount of voiding is comparable to the common catheterization method, and its one time implantation onto the bladder rectifies the drawbacks of multiple catheterizations per day. Furthermore, the scaling of the device for animal models larger than rats can be easily achieved by adjusting the number of nitinol springs. For neurogenic UAB patients with degraded nerve function as well as degenerated detrusor muscle, we integrate a flexible triboelectric nanogenerator sensor with the actuator to detect the fullness of the bladder. The sensitivity of this sensor to the filling status of the bladder shows its capability for defining a self-control system in the future that would allow autonomous micturition.

Atomic force microscopy capable of vibration isolation with low-stiffness Z-axis actuation.

PubMed

Ito, Shingo; Schitter, Georg

2018-03-01

For high-resolution imaging without bulky external vibration isolation, this paper presents an atomic force microscope (AFM) capable of vibration isolation with its internal Z-axis (vertical) actuators moving the AFM probe. Lorentz actuators (voice coil actuators) are used for the Z-axis actuation, and flexures guiding the motion are designed to have a low stiffness between the mover and the base. The low stiffness enables a large Z-axis actuation of more than 700 µm and mechanically isolates the probe from floor vibrations at high frequencies. To reject the residual vibrations, the probe tracks the sample by using a displacement sensor for feedback control. Unlike conventional AFMs, the Z-axis actuation attains a closed-loop control bandwidth that is 35 times higher than the first mechanical resonant frequency. The closed-loop AFM system has robustness against the flexures' nonlinearity and uses the first resonance for better sample tracking. For further improvement, feedforward control with a vibration sensor is combined, and the resulting system rejects 98.4% of vibrations by turning on the controllers. The AFM system is demonstrated by successful AFM imaging in a vibrational environment. Copyright © 2017 Elsevier B.V. All rights reserved.

Blood monitoring systems and methods thereof

NASA Technical Reports Server (NTRS)

Zander, Dennis (Inventor); Mir, Jose (Inventor)

2012-01-01

A blood monitoring system is capable of monitoring the blood of a subject in vivo. The blood monitoring system comprises: 1) an array of movable microneedle micromachined within associated wells; 2) array of motion actuators able to move each needle in and out of their associated wells; 3) array of microvalves associated with each microneedle able to control the flow of air around the microneedle; 4) an array of chemical sensors inserted into patient by movable microneedles; 5) an array of inductors able to measure chemical concentration in the vicinity of inserted chemical sensors; 6) conducting vias that provide timed actuating signal signals from a control system to each motion actuator; 7) conducting vias that transmit signal produced by array of chemical sensors to the control system for processing, although the blood monitoring system can comprise other numbers and types of elements in other configurations.

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

NASA Technical Reports Server (NTRS)

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

1987-01-01

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

Design, Development and Tests in Real Time of Control Methodologies for a Morphing Wing in Wind Tunnel =

NASA Astrophysics Data System (ADS)

Tchatchueng Kammegne, Michel Joel

In order to leave a cleaner environmental space to future generations, the international community has been mobilized to find green solutions that are effective and feasible in all sectors. The CRIAQ MDO505 project was initiated to test the morphing wingtip (wing and aileron) technology as one of these possible solutions. The main objectives of this project are: the design and manufacturing of a morphing wing prototype, the extension and control of the laminar region over the extrados, and to compare the effects of morphing and rigid aileron in terms of lift, drag and pressure distributions. The advantage of the extension of the laminar region over a wing is the drag reduction that results by delaying the transition towards its trailing edge. The location of the transition region depends on the flight case and it is controlled, for a morphing wing, via the actuators positions and displacements. Therefore, this thesis work focuses on the control of the actuators positions and displacements. This thesis presents essentially the modeling, instrumentation and wind tunnel testing results. Three series of wind tunnel tests with different values of aileron deflection angle, angle of attack and Mach number have been performed in the subsonic wind tunnel of the IAR-NRC. The used wing airfoil consisted of stringers, ribs, spars and a flexible upper surface mad of composite materials (glass fiber carbon), a rigid aileron and flexible aileron. The aileron was able to move between +/-6 degrees. The demonstrator's span measures 1.5 m and its chord measures 1.5 m. Structural analyses have been performed to determine the plies orientation, and the number of fiberglass layers for the flexible skin. These analyses allowed also to determine the actuator's forces to push and pull the wing upper surface. The 2D XFoil and 3D solvers Fluent were used to find the optimized airfoil and the optimal location of the transition for each flight case. Based on the analyses done by the aerodynamic and structural teams in the MDO5050 project, the most efficient actuators and pressure sensors to integrate inside the wing were selected. The actuators (4 in total) are attached to the ribs and placed inside of the wing to deform the upper surface thereof. The actuators are controlled by a controller whose gains were obtained with different methodologies. Pressure sensors (32 in total) were fixed in the wing upper surface in order to estimate the transition zone from the measured and analyzed data. The evaluation code for raw pressure sensors data was designed at the LARCASE using the Matlab / Simulink software.

A Mathematical Formulation of the SCOLE Control Problem. Part 2: Optimal Compensator Design

NASA Technical Reports Server (NTRS)

Balakrishnan, A. V.

1988-01-01

The study initiated in Part 1 of this report is concluded and optimal feedback control (compensator) design for stability augmentation is considered, following the mathematical formulation developed in Part 1. Co-located (rate) sensors and (force and moment) actuators are assumed, and allowing for both sensor and actuator noise, stabilization is formulated as a stochastic regulator problem. Specializing the general theory developed by the author, a complete, closed form solution (believed to be new with this report) is obtained, taking advantage of the fact that the inherent structural damping is light. In particular, it is possible to solve in closed form the associated infinite-dimensional steady-state Riccati equations. The SCOLE model involves associated partial differential equations in a single space variable, but the compensator design theory developed is far more general since it is given in the abstract wave equation formulation. The results thus hold for any multibody system so long as the basic model is linear.

Manipulation of Microenvironment with a Built-in Electrochemical Actuator in Proximity of a Dissolved Oxygen Microsensor

NASA Technical Reports Server (NTRS)

Kim, Chang-Soo; Lee, Cae-Hyang; Fiering, Jason O.; Ufer, Stefan; Scarantino, Charles W.; Nagle, H. Troy; Fiering, Jason O.; Ufer, Stefan; Nagle, H. Troy; Scarantino, Charles W.

2004-01-01

Abstract - Biochemical sensors for continuous monitoring require dependable periodic self- diagnosis with acceptable simplicity to check its functionality during operation. An in situ self- diagnostic technique for a dissolved oxygen microsensor is proposed in an effort to devise an intelligent microsensor system with an integrated electrochemical actuation electrode. With a built- in platinum microelectrode that surrounds the microsensor, two kinds of microenvironments, called the oxygen-saturated or oxygen-depleted phases, can be created by water electrolysis depending on the polarity. The functionality of the microsensor can be checked during these microenvironment phases. The polarographic oxygen microsensor is fabricated on a flexible polyimide substrate (Kapton) and the feasibility of the proposed concept is demonstrated in a physiological solution. The sensor responds properly during the oxygen-generating and oxygen- depleting phases. The use of these microenvironments for in situ self-calibration is discussed to achieve functional integration as well as structural integration of the microsensor system.

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.

A class of stabilizing controllers for flexible multibody systems

NASA Technical Reports Server (NTRS)

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

1995-01-01

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

Robustness of reduced-order observer-based controllers in transitional 2D Blasius boundary layers

NASA Astrophysics Data System (ADS)

Belson, Brandt; Semeraro, Onofrio; Rowley, Clarence; Pralits, Jan; Henningson, Dan

2011-11-01

In this work, we seek to delay transition in the Blasius boundary layer. We trip the flow with an upstream disturbance and dampen the growth of the resulting structures downstream. The observer-based controllers use a single sensor and a single localized body force near the wall. To formulate the controllers, we first find a reduced-order model of the system via the Eigensystem Realization Algorithm (ERA), then find the H2 optimal controller for this reduced-order system. We find the resulting controllers are effective only when the sensor is upstream of the actuator (in a feedforward configuration), but as is expected, are sensitive to model uncertainty. When the sensor is downstream of the actuator (in a feedback configuration), the reduced-order observer-based controllers are not robust and ineffective on the full system. In order to investigate the robustness properties of the system, an iterative technique called the adjoint of the direct adjoint (ADA) is employed to find a full-dimensional H2 optimal controller. This avoids the reduced-order modelling step and serves as a reference point. ADA is promising for investigating the lack of robustness previously mentioned.

The Fraunhofer MAVO FASPAS for smart system design

NASA Astrophysics Data System (ADS)

Melz, Tobias; Matthias, Michael; Drossel, Welf-Guntram; Sporn, Dieter; Schoenecker, Andreas; Poigne, Axel

2005-05-01

The Fraunhofer Gesellschaft is the largest organization for applied research in Europe, having a staff of some 12,700, predominantly qualified scientists and engineers, with an annual research budget of over one billion euros. One of its current internal Market-oriented strategic preliminary research (MaVo) projects is FASPAS (Function Consolidated Adaptive Structures Combining Piezo and Software Technologies for Autonomous Systems) which aims to promote adaptive structure technology for commercial exploitation within the current main research fields of the participating FhIs, namely automotive and machine tools engineering. Under the project management of the Fraunhofer-Institute Structural Durability and System Reliability LBF the six Fraunhofer Institutes LBF, IWU, IKTS, ISC, AiS and IIS bring together their competences ranging from material sciences to system reliability, in order to clarify unanswered questions. The predominant goal is to develop and validate methods and tools to establish a closed, modular development chain for the design and realization of such active structures which shall be useful in its width and depth, i.e. for specific R&D achievements such as the actuator development (depth) as well as the complete system design and realization (width). FASPAS focuses on the development of systems and on the following scientific topics: 1) on design and manufacturing technology for piezo components as integrable actuator/sensor semi-finished modules, 2) on development and transducer module integration of miniaturized electronics for charge generating sensor systems, 3) on the development of methods to analyze system reliability of active structures, 4) on the development of autonomous software structures for flexible, low cost electronics hardware for bulk production and 5) on the construction and validation of the complete, cost-effective development chain of function consolidated structures through application oriented demonstration structures. The research work will be oriented towards active vibration control for existing components on the basis of highly integrated, both, more or less established and highly innovative piezoelectric actuator and sensor systems in compact, cost-effective and robust design combined with advanced controllers. Within the presentation the project work will be shown using the example of one demonstration structure which is a robust interface, here for being integrated within an automotive spring strut system. The interface is designed as a modular, scalable subsystem. Being such, it can be used for similar scenarios in different technology areas e.g. for active mounting of vibration-inducing aggregates. The interface design allows for controlling uniaxial vibrations (z-direction) as well as tilting (normal to the uniaxial effect) and wobbling (rotating around the z-axis).

Fabrication, sensation and control of fluidic elastomer actuators and their application towards hand orthotics and prosthetics

NASA Astrophysics Data System (ADS)

Zhao, Huichan

Due to their continuous and natural motion, fluidic elastomer actuators (FEAs) have shown potential in a range of robotic applications including prosthetics and orthotics. Despite their advantages and rapid developments, robots using these actuators still have several challenging issues to be addressed. First, the reliable production of low cost and complex actuators that can apply high forces is necessary, yet none of existing fabrication methods are both easy to implement and of high force output. Next, compliant or stretchable sensors that can be embedded into their bodies for sophisticated functions are required, however, many of these sensors suffer from hysteresis, fabrication complexity, chemical safety and environmental instability, and material incompatibility with soft actuators. Finally, feedback control for FEAs is necessary to achieve better performance, but most soft robots are still "open-loop". In this dissertation, I intend to help solve the above issues and drive the applications of soft robotics towards hand orthotics and prosthetics. First, I adapt rotational casting as a new manufacturing method for soft actuators. I present a cuboid soft actuator that can generate a force of >25 N at its tip, a near ten-fold increase over similar actuators previously reported. Next, I propose a soft orthotic finger with position control enabled via embedded optical fiber. I monitor both the static and dynamic states via the optical sensor and achieve the prescribed curvatures accurately and with stability by a gain-scheduled proportional-integral-derivative controller. Then I develop the soft orthotic fingers into a low-cost, closed-loop controlled, soft orthotic glove that can be worn by a typical human hand and helpful for grasping light objects, while also providing finger position control. I achieve motion control with inexpensive, binary pneumatic switches controlled by a simple finite-state-machine. Finally, I report the first use of stretchable optical waveguides for strain sensing in a soft prosthetic hand. These optoelectronic strain sensors are easy to fabricate, chemically inert, and demonstrate low hysteresis and high precision in their output signals. I use the optoelectronically innervated prosthetic hand to conduct various active sensation experiments inspired by the capabilities of a real hand.

Quasi-monolithic tunable optical resonator

NASA Technical Reports Server (NTRS)

Arbore, Mark (Inventor); Tapos, Francisc (Inventor)

2003-01-01

An optical resonator has a piezoelectric element attached to a quasi-monolithic structure. The quasi-monolithic structure defines an optical path. Mirrors attached to the structure deflect light along the optical path. The piezoelectric element controllably strains the quasi-monolithic structure to change a length of the optical path by about 1 micron. A first feedback loop coupled to the piezoelectric element provides fine control over the cavity length. The resonator may include a thermally actuated spacer attached to the cavity and a mirror attached to the spacer. The thermally actuated spacer adjusts the cavity length by up to about 20 microns. A second feedback loop coupled to the sensor and heater provides a coarse control over the cavity length. An alternative embodiment provides a quasi-monolithic optical parametric oscillator (OPO). This embodiment includes a non-linear optical element within the resonator cavity along the optical path. Such an OPO configuration is broadly tunable and capable of mode-hop free operation for periods of 24 hours or more.

Cellulose Electro-Active Paper: From Discovery to Technology Applications

NASA Astrophysics Data System (ADS)

Abas, Zafar; Kim, Heung Soo; Kim, Jaehwan; Kim, Joo-Hyung

2014-09-01

Cellulose electro-active paper (EAPap) is an attractive material of electro-active polymers (EAPs) family due to its smart characteristics. EAPap is thin cellulose film coated with metal electrodes on both sides. Its large displacement output, low actuation voltage and low power consumption can be used for biomimetic sensors/actuators and electromechanical system. Because cellulose EAPap is ultra-lightweight, easy to manufacture, inexpensive, biocompatible, and biodegradable, it has been employed for many applications such as bending actuator, vibration sensor, artificial muscle, flexible speaker, and can be advantageous in areas such as micro-insect robots, micro-flying objects, microelectromechanical systems, biosensors, and flexible displays.

Engine control system having fuel-based timing

DOEpatents

Willi, Martin L [Dunlap, IL; Fiveland, Scott B [Metamora, IL; Montgomery, David T [Edelstein, IL; Gong, Weidong [Dunlap, IL

2012-04-03

A control system for an engine having a cylinder is disclosed having an engine valve movable to regulate a fluid flow of the cylinder and an actuator associated with the engine valve. The control system also has a sensor configured to generate a signal indicative of an amount of an air/fuel mixture remaining within the cylinder after completion of a first combustion event and a controller in communication with the actuator and the sensor. The controller may be configured to compare the amount with a desired amount, and to selectively regulate the actuator to adjust a timing of the engine valve associated with a subsequent combustion event based on the comparison.

Waggle: A Framework for Intelligent Attentive Sensing and Actuation

NASA Astrophysics Data System (ADS)

Sankaran, R.; Jacob, R. L.; Beckman, P. H.; Catlett, C. E.; Keahey, K.

2014-12-01

Advances in sensor-driven computation and computationally steered sensing will greatly enable future research in fields including environmental and atmospheric sciences. We will present "Waggle," an open-source hardware and software infrastructure developed with two goals: (1) reducing the separation and latency between sensing and computing and (2) improving the reliability and longevity of sensing-actuation platforms in challenging and costly deployments. Inspired by "deep-space probe" systems, the Waggle platform design includes features that can support longitudinal studies, deployments with varying communication links, and remote management capabilities. Waggle lowers the barrier for scientists to incorporate real-time data from their sensors into their computations and to manipulate the sensors or provide feedback through actuators. A standardized software and hardware design allows quick addition of new sensors/actuators and associated software in the nodes and enables them to be coupled with computational codes both insitu and on external compute infrastructure. The Waggle framework currently drives the deployment of two observational systems - a portable and self-sufficient weather platform for study of small-scale effects in Chicago's urban core and an open-ended distributed instrument in Chicago that aims to support several research pursuits across a broad range of disciplines including urban planning, microbiology and computer science. Built around open-source software, hardware, and Linux OS, the Waggle system comprises two components - the Waggle field-node and Waggle cloud-computing infrastructure. Waggle field-node affords a modular, scalable, fault-tolerant, secure, and extensible platform for hosting sensors and actuators in the field. It supports insitu computation and data storage, and integration with cloud-computing infrastructure. The Waggle cloud infrastructure is designed with the goal of scaling to several hundreds of thousands of Waggle nodes. It supports aggregating data from sensors hosted by the nodes, staging computation, relaying feedback to the nodes and serving data to end-users. We will discuss the Waggle design principles and their applicability to various observational research pursuits, and demonstrate its capabilities.

Direct model reference adaptive control of a flexible robotic manipulator

NASA Technical Reports Server (NTRS)

Meldrum, D. R.

1985-01-01

Quick, precise control of a flexible manipulator in a space environment is essential for future Space Station repair and satellite servicing. Numerous control algorithms have proven successful in controlling rigid manipulators wih colocated sensors and actuators; however, few have been tested on a flexible manipulator with noncolocated sensors and actuators. In this thesis, a model reference adaptive control (MRAC) scheme based on command generator tracker theory is designed for a flexible manipulator. Quicker, more precise tracking results are expected over nonadaptive control laws for this MRAC approach. Equations of motion in modal coordinates are derived for a single-link, flexible manipulator with an actuator at the pinned-end and a sensor at the free end. An MRAC is designed with the objective of controlling the torquing actuator so that the tip position follows a trajectory that is prescribed by the reference model. An appealing feature of this direct MRAC law is that it allows the reference model to have fewer states than the plant itself. Direct adaptive control also adjusts the controller parameters directly with knowledge of only the plant output and input signals.

Entirely soft dielectric elastomer robots

NASA Astrophysics Data System (ADS)

Henke, E.-F. Markus; Wilson, Katherine E.; Anderson, Iain A.

2017-04-01

Multifunctional Dielectric Elastomer (DE) devices are well established as actuators, sensors and energy har- vesters. Since the invention of the Dielectric Elastomer Switch (DES), a piezoresistive electrode that can directly switch charge on and off, it has become possible to expand the wide functionality of DE structures even more. We show the application of fully soft DE subcomponents in biomimetic robotic structures. It is now possible to couple arrays of actuator/switch units together so that they switch charge between them- selves on and off. One can then build DE devices that operate as self-controlled oscillators. With an oscillator one can produce a periodic signal that controls a soft DE robot - a DE device with its own DE nervous system. DESs were fabricated using a special electrode mixture, and imprinting technology at an exact pre-strain. We have demonstrated six orders of magnitude change in conductivity within the DES over 50% strain. The control signal can either be a mechanical deformation from another DE or an electrical input to a connected dielectric elastomer actuator (DEA). We have demonstrated a variety of fully soft multifunctional subcomponents that enable the design of autonomous soft robots without conventional electronics. The combination of digital logic structures for basic signal processing, data storage in dielectric elastomer flip-flops and digital and analogue clocks with adjustable frequencies, made of dielectric elastomer oscillators (DEOs), enables fully soft, self-controlled and electronics-free robotic structures. DE robotic structures to date include stiff frames to maintain necessary pre-strains enabling sufficient actuation of DEAs. Here we present a design and production technology for a first robotic structure consisting only of soft silicones and carbon black.

Teleoperation System with Hybrid Pneumatic-Piezoelectric Actuation for MRI-Guided Needle Insertion with Haptic Feedback

PubMed Central

Shang, Weijian; Su, Hao; Li, Gang; Fischer, Gregory S.

2014-01-01

This paper presents a surgical master-slave tele-operation system for percutaneous interventional procedures under continuous magnetic resonance imaging (MRI) guidance. This system consists of a piezoelectrically actuated slave robot for needle placement with integrated fiber optic force sensor utilizing Fabry-Perot interferometry (FPI) sensing principle. The sensor flexure is optimized and embedded to the slave robot for measuring needle insertion force. A novel, compact opto-mechanical FPI sensor interface is integrated into an MRI robot control system. By leveraging the complementary features of pneumatic and piezoelectric actuation, a pneumatically actuated haptic master robot is also developed to render force associated with needle placement interventions to the clinician. An aluminum load cell is implemented and calibrated to close the impedance control loop of the master robot. A force-position control algorithm is developed to control the hybrid actuated system. Teleoperated needle insertion is demonstrated under live MR imaging, where the slave robot resides in the scanner bore and the user manipulates the master beside the patient outside the bore. Force and position tracking results of the master-slave robot are demonstrated to validate the tracking performance of the integrated system. It has a position tracking error of 0.318mm and sine wave force tracking error of 2.227N. PMID:25126446

Teleoperation System with Hybrid Pneumatic-Piezoelectric Actuation for MRI-Guided Needle Insertion with Haptic Feedback.

PubMed

Shang, Weijian; Su, Hao; Li, Gang; Fischer, Gregory S

2013-01-01

This paper presents a surgical master-slave tele-operation system for percutaneous interventional procedures under continuous magnetic resonance imaging (MRI) guidance. This system consists of a piezoelectrically actuated slave robot for needle placement with integrated fiber optic force sensor utilizing Fabry-Perot interferometry (FPI) sensing principle. The sensor flexure is optimized and embedded to the slave robot for measuring needle insertion force. A novel, compact opto-mechanical FPI sensor interface is integrated into an MRI robot control system. By leveraging the complementary features of pneumatic and piezoelectric actuation, a pneumatically actuated haptic master robot is also developed to render force associated with needle placement interventions to the clinician. An aluminum load cell is implemented and calibrated to close the impedance control loop of the master robot. A force-position control algorithm is developed to control the hybrid actuated system. Teleoperated needle insertion is demonstrated under live MR imaging, where the slave robot resides in the scanner bore and the user manipulates the master beside the patient outside the bore. Force and position tracking results of the master-slave robot are demonstrated to validate the tracking performance of the integrated system. It has a position tracking error of 0.318mm and sine wave force tracking error of 2.227N.

Nondestructive evaluation of orthopaedic implant stability in THA using highly nonlinear solitary waves

NASA Astrophysics Data System (ADS)

Yang, Jinkyu; Silvestro, Claudio; Sangiorgio, Sophia N.; Borkowski, Sean L.; Ebramzadeh, Edward; De Nardo, Luigi; Daraio, Chiara

2012-01-01

We propose a new biomedical sensing technique based on highly nonlinear solitary waves to assess orthopaedic implant stability in a nondestructive and efficient manner. We assemble a granular crystal actuator consisting of a one-dimensional tightly packed array of spherical particles, to generate acoustic solitary waves. Via direct contact with the specimen, we inject acoustic solitary waves into a biomedical prosthesis, and we nondestructively evaluate the mechanical integrity of the bone-prosthesis interface, studying the properties of the waves reflected from the contact zone between the granular crystal and the implant. The granular crystal contains a piezoelectric sensor to measure the travelling solitary waves, which allows it to function also as a sensor. We perform a feasibility study using total hip arthroplasty (THA) samples made of metallic stems implanted in artificial composite femurs using polymethylmethacrylate for fixation. We first evaluate the sensitivity of the proposed granular crystal sensor to various levels of prosthesis insertion into the composite femur. Then, we impose a sequence of harsh mechanical loading on the THA samples to degrade the mechanical integrity at the stem-cement interfaces, using a femoral load simulator that simulates aggressive, accelerated physiological loading. We investigate the implant stability via the granular crystal sensor-actuator during testing. Preliminary results suggest that the reflected waves respond sensitively to the degree of implant fixation. In particular, the granular crystal sensor-actuator successfully detects implant loosening at the stem-cement interface following violent cyclic loading. This study suggests that the granular crystal sensor and actuator has the potential to detect metal-cement defects in a nondestructive manner for orthopaedic applications.

Reliable actuators for twin rotor MIMO system

NASA Astrophysics Data System (ADS)

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

2017-11-01

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

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.

Prototyping a compact system for active vibration isolation using piezoelectric sensors and actuators.

PubMed

Shen, Hui; Wang, Chun; Li, Liufeng; Chen, Lisheng

2013-05-01

Being small in size and weight, piezoelectric transducers hold unique positions in vibration sensing and control. Here, we explore the possibility of building a compact vibration isolation system using piezoelectric sensors and actuators. The mechanical resonances of a piezoelectric actuator around a few kHz are suppressed by an order of magnitude via electrical damping, which improves the high-frequency response. Working with a strain gauge located on the piezoelectric actuator, an auxiliary control loop eliminates the drift associated with a large servo gain at dc. Following this approach, we design, optimize, and experimentally verify the loop responses using frequency domain analysis. The vibration isolation between 1 Hz and 200 Hz is achieved and the attenuation peaks at 60 near vibration frequency of 20 Hz. Restrictions and potentials for extending the isolation to lower vibration frequencies are discussed.

Silicon bulk micromachined, symmetric, degenerate vibratorygyroscope, accelerometer and sensor and method for using the same

NASA Technical Reports Server (NTRS)

Tang, Tony K. (Inventor); Kaiser, William J. (Inventor); Bartman, Randall K. (Inventor); Wilcox, Jaroslava Z. (Inventor); Gutierrez, Roman C. (Inventor); Calvet, Robert J. (Inventor)

1999-01-01

When embodied in a microgyroscope, the invention is comprised of a silicon, four-leaf clover structure with a post attached to the center. The whole structure is suspended by four silicon cantilevers or springs. The device is electrostatically actuated and capacitively detects Coriolis induced motions of the leaves of the leaf clover structure. In the case where the post is not symmetric with the plane of the clover leaves, the device can is usable as an accelerometer. If the post is provided in the shape of a dumb bell or an asymmetric post, the center of gravity is moved out of the plane of clover leaf structure and a hybrid device is provided. When the clover leaf structure is used without a center mass, it performs as a high Q resonator usable as a sensor of any physical phenomena which can be coupled to the resonant performance.

Optically defined modal sensors incorporating spiropyran-doped liquid crystals with piezoelectric sensors.

PubMed

Chen, Kuan-Ting; Chang, Chin-Kai; Kuo, Hui-Lung; Lee, Chih-Kung

2011-01-01

We integrated a piezoelectric sensing layer lamina containing liquid crystals (LC) and spiropyran (SP) in a LC/SP mixture to create an optically reconfigurable modal sensor for a cantilever beam. The impedance of this LC/SP lamina was decreased by UV irradiation which constituted the underlying mechanism to modulate the voltage externally applied to the piezoelectric actuating layer. Illuminating a specific pattern onto the LC/SP lamina provided us with a way to spatially modulate the piezoelectric vibration signal. We showed that if an UV illuminated pattern matches the strain distribution of a specific mode, a piezoelectric modal sensor can be created. Since UV illumination can be changed in situ in real-time, our results confirm for the first time since the inception of smart sensors, that an optically tailored modal sensor can be created. Some potential applications of this type of sensor include energy harvesting devices, bio-chips, vibration sensing and actuating devices.

UGV navigation in wireless sensor and actuator network environments

NASA Astrophysics Data System (ADS)

Zhang, Guyu; Li, Jianfeng; Duncan, Christian A.; Kanno, Jinko; Selmic, Rastko R.

2012-06-01

We consider a navigation problem in a distributed, self-organized and coordinate-free Wireless Sensor and Ac- tuator Network (WSAN). We rst present navigation algorithms that are veried using simulation results. Con- sidering more than one destination and multiple mobile Unmanned Ground Vehicles (UGVs), we introduce a distributed solution to the Multi-UGV, Multi-Destination navigation problem. The objective of the solution to this problem is to eciently allocate UGVs to dierent destinations and carry out navigation in the network en- vironment that minimizes total travel distance. The main contribution of this paper is to develop a solution that does not attempt to localize either the UGVs or the sensor and actuator nodes. Other than some connectivity as- sumptions about the communication graph, we consider that no prior information about the WSAN is available. The solution presented here is distributed, and the UGV navigation is solely based on feedback from neigh- boring sensor and actuator nodes. One special case discussed in the paper, the Single-UGV, Multi-Destination navigation problem, is essentially equivalent to the well-known and dicult Traveling Salesman Problem (TSP). Simulation results are presented that illustrate the navigation distance traveled through the network. We also introduce an experimental testbed for the realization of coordinate-free and localization-free UGV navigation. We use the Cricket platform as the sensor and actuator network and a Pioneer 3-DX robot as the UGV. The experiments illustrate the UGV navigation in a coordinate-free WSAN environment where the UGV successfully arrives at the assigned destinations.

In-space research, technology and engineering experiments and Space Station

NASA Technical Reports Server (NTRS)

Tyson, Richard; Gartrell, Charles F.

1988-01-01

The NASA Space Station will serve as a technology research laboratory, a payload-servicing facility, and a large structure fabrication and assembly facility. Space structures research will encompass advanced structural concepts and their dynamics, advanced control concepts, sensors, and actuators. Experiments dealing with fluid management will gather data on such fundamentals as multiphase flow phenomena. As requirements for power systems and thermal management grow, experiments quantifying the performance of energy systems and thermal management concepts will be undertaken, together with expanded efforts in the fields of information systems, automation, and robotics.

Development of magnetostrictive active members for control of space structures

NASA Technical Reports Server (NTRS)

Johnson, Bruce G.; Avakian, Kevin M.; Fenn, Ralph C.; Gaffney, Monique S.; Gerver, Michael J.; Hawkey, Timothy J.; Boudreau, Donald J.

1992-01-01

The goal of this Phase 2 Small Business Innovative Research (SBIR) project was to determine the technical feasibility of developing magnetostrictive active members for use as truss elements in space structures. Active members control elastic vibrations of truss-based space structures and integrate the functions of truss structure element, actively controlled actuator, and sensor. The active members must control structural motion to the sub-micron level and, for many proposed space applications, work at cryogenic temperatures. Under this program both room temperature and cryogenic temperature magnetostrictive active members were designed, fabricated, and tested. The results of these performance tests indicated that room temperature magnetostrictive actuators feature higher strain, stiffness, and force capability with lower amplifier requirements than similarly sized piezoelectric or electrostrictive active members, at the cost of higher mass. Two different cryogenic temperature magnetostrictive materials were tested at liquid nitrogen temperatures, both with larger strain capability than the room temperature magnetostrictive materials. The cryogenic active member development included the design and fabrication of a cryostat that allows operation of the cryogenic active member in a space structure testbed.

Development of magnetostrictive active members for control of space structures

NASA Astrophysics Data System (ADS)

Johnson, Bruce G.; Avakian, Kevin M.; Fenn, Ralph C.; Gaffney, Monique S.; Gerver, Michael J.; Hawkey, Timothy J.; Boudreau, Donald J.

1992-08-01

The goal of this Phase 2 Small Business Innovative Research (SBIR) project was to determine the technical feasibility of developing magnetostrictive active members for use as truss elements in space structures. Active members control elastic vibrations of truss-based space structures and integrate the functions of truss structure element, actively controlled actuator, and sensor. The active members must control structural motion to the sub-micron level and, for many proposed space applications, work at cryogenic temperatures. Under this program both room temperature and cryogenic temperature magnetostrictive active members were designed, fabricated, and tested. The results of these performance tests indicated that room temperature magnetostrictive actuators feature higher strain, stiffness, and force capability with lower amplifier requirements than similarly sized piezoelectric or electrostrictive active members, at the cost of higher mass. Two different cryogenic temperature magnetostrictive materials were tested at liquid nitrogen temperatures, both with larger strain capability than the room temperature magnetostrictive materials. The cryogenic active member development included the design and fabrication of a cryostat that allows operation of the cryogenic active member in a space structure testbed.

Description of New Inflatable/Rigidizable Hexapod Structure Testbed for Shape and Vibration Control

NASA Technical Reports Server (NTRS)

Adetona, O.; Keel, L. H.; Horta, L. G.; Cadogan, D. P.; Sapna, G. H.; Scarborough, S. E.

2002-01-01

Larger and more powerful space based instruments are needed to meet increasingly sophisticated scientific demand. To support this need, concepts for telescopes with apertures of 100 meters are being investigated, but the required technologies are not in hand today. Due to the capacity limits of launch vehicles, the idea of deploying, erecting, or inflating large structures in space is being considered. Recently, rigidization concepts of large inflatable structures have demonstrated the capability of weight reductions of up to 50% from current concepts with packaging efficiencies near 80%. One of the important aspects of inflatable structures is vibration mitigation and line-of-sight control. Such control tasks are possible only after actuators/sensors are properly integrated into a rigidizable concept. To study these issues, we have developed an inflatable/rigidizable hexapod structure testbed. The testbed integrates state of the art piezo-electric self-sensing actuators into an inflatable/rigidizable structure and a flat membrane reflector. Using this testbed, we plan to experimentally demonstrate achievable vibration and line-of-sight control. This paper contains a description of the testbed and an outline of the test plan.

Causal feedforward control of a stochastically excited fuselage structure with active sidewall panel.

PubMed

Misol, Malte; Haase, Thomas; Monner, Hans Peter; Sinapius, Michael

2014-10-01

This paper provides experimental results of an aircraft-relevant double panel structure mounted in a sound transmission loss facility. The primary structure of the double panel system is excited either by a stochastic point force or by a diffuse sound field synthesized in the reverberation room of the transmission loss facility. The secondary structure, which is connected to the frames of the primary structure, is augmented by actuators and sensors implementing an active feedforward control system. Special emphasis is placed on the causality of the active feedforward control system and its implications on the disturbance rejection at the error sensors. The coherence of the sensor signals is analyzed for the two different disturbance excitations. Experimental results are presented regarding the causality, coherence, and disturbance rejection of the active feedforward control system. Furthermore, the sound transmission loss of the double panel system is evaluated for different configurations of the active system. A principal result of this work is the evidence that it is possible to strongly influence the transmission of stochastic disturbance sources through double panel configurations by means of an active feedforward control system.

Method for Reading Sensors and Controlling Actuators Using Audio Interfaces of Mobile Devices

PubMed Central

Aroca, Rafael V.; Burlamaqui, Aquiles F.; Gonçalves, Luiz M. G.

2012-01-01

This article presents a novel closed loop control architecture based on audio channels of several types of computing devices, such as mobile phones and tablet computers, but not restricted to them. The communication is based on an audio interface that relies on the exchange of audio tones, allowing sensors to be read and actuators to be controlled. As an application example, the presented technique is used to build a low cost mobile robot, but the system can also be used in a variety of mechatronics applications and sensor networks, where smartphones are the basic building blocks. PMID:22438726

Method for reading sensors and controlling actuators using audio interfaces of mobile devices.

PubMed

Aroca, Rafael V; Burlamaqui, Aquiles F; Gonçalves, Luiz M G

2012-01-01

This article presents a novel closed loop control architecture based on audio channels of several types of computing devices, such as mobile phones and tablet computers, but not restricted to them. The communication is based on an audio interface that relies on the exchange of audio tones, allowing sensors to be read and actuators to be controlled. As an application example, the presented technique is used to build a low cost mobile robot, but the system can also be used in a variety of mechatronics applications and sensor networks, where smartphones are the basic building blocks.

Standardized Fault-Tolerant Sensing Nodes for an Intelligent Turbine Engine Control System (Preprint)

DTIC Science & Technology

2013-05-01

representation of a centralized control system on a turbine engine. All actuators and sensors are point-to-point cabled to the controller ( FADEC ) which...electronics themselves. Figure 1: Centralized Control System Each function resides within the FADEC and uses Unique Point-to-Point Analog...distributed control system on the same turbine engine. The actuators and sensors interface to Smart Nodes which, in turn communicate to the FADEC via

Advanced Layered Composite Polylaminate Electroactive Actuator and Sensor

NASA Technical Reports Server (NTRS)

Fox, Robert L. (Inventor); Hellbaum, Richard F. (Inventor); Copeland, Benjamin M., Jr. (Inventor); Bryant, Robert G. (Inventor)

2000-01-01

The present invention relates to the mounting of pre-stressed electroactive material in such a manner that large displacement actuators or sensors result. The invention comprises mounting the pre-stressed electroactive material to a support layer. This combination of a pre-stressed electroactive material and support layer may in turn be attached to a mounting surface. The pre-stressed electroactive material may be a ferroelectric, pyroelectric, piezoelectric, or magnetostrictive material. The size, stiffness, mass, and material of the support layer is selected to result in the electroactive device having dynamic response properties, environmental capability characteristics, and the required resilience optimized for a given application. The capacity to connect the support layer to a surface expands the arenas in which the prestressed electroactive device may be used. Application for which the invention may be used include actuators, sensors, or as a component in a pumps, switches, relays, pressure transducers and acoustic devices.

Application of a Bank of Kalman Filters for Aircraft Engine Fault Diagnostics

NASA Technical Reports Server (NTRS)

Kobayashi, Takahisa; Simon, Donald L.

2003-01-01

In this paper, a bank of Kalman filters is applied to aircraft gas turbine engine sensor and actuator fault detection and isolation (FDI) in conjunction with the detection of component faults. This approach uses multiple Kalman filters, each of which is designed for detecting a specific sensor or actuator fault. In the event that a fault does occur, all filters except the one using the correct hypothesis will produce large estimation errors, thereby isolating the specific fault. In the meantime, a set of parameters that indicate engine component performance is estimated for the detection of abrupt degradation. The proposed FDI approach is applied to a nonlinear engine simulation at nominal and aged conditions, and the evaluation results for various engine faults at cruise operating conditions are given. The ability of the proposed approach to reliably detect and isolate sensor and actuator faults is demonstrated.

Sensor and Actuator Needs for More Intelligent Gas Turbine Engines

NASA Technical Reports Server (NTRS)

Garg, Sanjay; Schadow, Klaus; Horn, Wolfgang; Pfoertner, Hugo; Stiharu, Ion

2010-01-01

This paper provides an overview of the controls and diagnostics technologies, that are seen as critical for more intelligent gas turbine engines (GTE), with an emphasis on the sensor and actuator technologies that need to be developed for the controls and diagnostics implementation. The objective of the paper is to help the "Customers" of advanced technologies, defense acquisition and aerospace research agencies, understand the state-of-the-art of intelligent GTE technologies, and help the "Researchers" and "Technology Developers" for GTE sensors and actuators identify what technologies need to be developed to enable the "Intelligent GTE" concepts and focus their research efforts on closing the technology gap. To keep the effort manageable, the focus of the paper is on "On-Board Intelligence" to enable safe and efficient operation of the engine over its life time, with an emphasis on gas path performance

A smart microelectromechanical sensor and switch triggered by gas

NASA Astrophysics Data System (ADS)

Bouchaala, Adam; Jaber, Nizar; Shekhah, Osama; Chernikova, Valeriya; Eddaoudi, Mohamed; Younis, Mohammad I.

2016-07-01

There is an increasing interest to realize smarter sensors and actuators that can deliver a multitude of sophisticated functionalities while being compact in size and of low cost. We report here combining both sensing and actuation on the same device based on a single microstructure. Specifically, we demonstrate a smart resonant gas (mass) sensor, which in addition to being capable of quantifying the amount of absorbed gas, can be autonomously triggered as an electrical switch upon exceeding a preset threshold of absorbed gas. Toward this, an electrostatically actuated polymer microbeam is fabricated and is then functionalized with a metal-organic framework, namely, HKUST-1. The microbeam is demonstrated to absorb vapors up to a certain threshold, after which is shown to collapse through the dynamic pull-in instability. Upon pull-in, the microstructure can be made to act as an electrical switch to achieve desirable actions, such as alarming.

Decentralized model reference adaptive control of large flexible structures

NASA Technical Reports Server (NTRS)

Lee, Fu-Ming; Fong, I-Kong; Lin, Yu-Hwan

1988-01-01

A decentralized model reference adaptive control (DMRAC) method is developed for large flexible structures (LFS). The development follows that of a centralized model reference adaptive control for LFS that have been shown to be feasible. The proposed method is illustrated using a simply supported beam with collocated actuators and sensors. Results show that the DMRAC can achieve either output regulation or output tracking with adequate convergence, provided the reference model inputs and their time derivatives are integrable, bounded, and approach zero as t approaches infinity.

Active Structural Control for Aircraft Efficiency with the X-56A Aircraft

NASA Technical Reports Server (NTRS)

Ouellette, Jeffrey

2015-01-01

The X-56A Multi-Utility Technology Testbed is an experimental aircraft designed to study active control of flexible structures. The vehicle is easily reconfigured to allow for testing of different configurations. The vehicle is being used to study new sensor, actuator, modeling and controls technologies. These new technologies will allow for lighter vehicles and new configurations that exceed the efficiency currently achievable. A description of the vehicle and the current research efforts that it enables are presented.

Modeling and Analysis of Composite Wing Sections for Improved Aeroelastic and Vibration Characteristics Using Smart Materials

NASA Technical Reports Server (NTRS)

Chattopadhyay, Aditi

1996-01-01

The objective of this research is to develop analysis procedures to investigate the coupling of composite and smart materials to improve aeroelastic and vibratory response of aerospace structures. The structural modeling must account for arbitrarily thick geometries, embedded and surface bonded sensors and actuators and imperfections, such as delamination. Changes in the dynamic response due to the presence of smart materials and delaminations is investigated. Experiments are to be performed to validate the proposed mathematical model.

Active control of turbulent boundary layer-induced sound transmission through the cavity-backed double panels

NASA Astrophysics Data System (ADS)

Caiazzo, A.; Alujević, N.; Pluymers, B.; Desmet, W.

2018-05-01

This paper presents a theoretical study of active control of turbulent boundary layer (TBL) induced sound transmission through the cavity-backed double panels. The aerodynamic model used is based on the Corcos wall pressure distribution. The structural-acoustic model encompasses a source panel (skin panel), coupled through an acoustic cavity to the radiating panel (trim panel). The radiating panel is backed by a larger acoustic enclosure (the back cavity). A feedback control unit is located inside the acoustic cavity between the two panels. It consists of a control force actuator and a sensor mounted at the actuator footprint on the radiating panel. The control actuator can react off the source panel. It is driven by an amplified velocity signal measured by the sensor. A fully coupled analytical structural-acoustic model is developed to study the effects of the active control on the sound transmission into the back cavity. The stability and performance of the active control system are firstly studied on a reduced order model. In the reduced order model only two fundamental modes of the fully coupled system are assumed. Secondly, a full order model is considered with a number of modes large enough to yield accurate simulation results up to 1000 Hz. It is shown that convincing reductions of the TBL-induced vibrations of the radiating panel and the sound pressure inside the back cavity can be expected. The reductions are more pronounced for a certain class of systems, which is characterised by the fundamental natural frequency of the skin panel larger than the fundamental natural frequency of the trim panel.

Robustness properties of LQG optimized compensators for collocated rate sensors

NASA Technical Reports Server (NTRS)

Balakrishnan, A. V.

1994-01-01

In this paper we study the robustness with respect to stability of the closed-loop system with collocated rate sensor using LQG (mean square rate) optimized compensators. Our main result is that the transmission zeros of the compensator are precisely the structure modes when the actuator/sensor locations are 'pinned' and/or 'clamped': i.e., motion in the direction sensed is not allowed. We have stability even under parameter mismatch, except in the unlikely situation where such a mode frequency of the assumed system coincides with an undamped mode frequency of the real system and the corresponding mode shape is an eigenvector of the compensator transfer function matrix at that frequency. For a truncated modal model - such as that of the NASA LaRC Phase Zero Evolutionary model - the transmission zeros of the corresponding compensator transfer function can be interpreted as the structure modes when motion in the directions sensed is prohibited.

Fiber optics for aircraft engine/inlet control

NASA Technical Reports Server (NTRS)

Baumbick, R. J.

1981-01-01

NASA programs that focus on the use of fiber optics for aircraft engine/inlet control are reviewed. Fiber optics for aircraft control is attractive because of its inherent immunity to EMI and RFI noise. Optical signals can be safely transmitted through areas that contain flammable or explosive materials. The use of optics also makes remote sensing feasible by eliminating the need for electrical wires to be connected between sensors and computers. Using low-level optical signals to control actuators is also feasible when power is generated at the actuator. Each application of fiber optics for aircraft control has different requirements for both the optical cables and the optical connectors. Sensors that measure position and speed by using slotted plates can use lossy cables and bundle connectors if data transfer is in the parallel mode. If position and speed signals are multiplexed, cable and connector requirements change. Other sensors that depend on changes in transmission through materials require dependable characteristics of both the optical cables and the optical connectors. A variety of sensor types are reviewed, including rotary position encoders, tachometers, temperature sensors, and blade tip clearance sensors for compressors and turbines. Research on a gallium arsenide photoswitch for optically switched actuators that operate at 250 C is also described.

Dynamics, Control, and Fabrication of Micro Embedded Heaters and Sensors for Micro SMA Active Endoscopes

NASA Astrophysics Data System (ADS)

Aphanuphong, Sutha

This research investigates design and control of an active catheter for minimally invasive medical procedures. Microfabrication techniques are developed and several prototypes were constructed. The understanding and analysis results from each design iteration are utilized to improve the overall design and the performance of each revision. An innovative co-fabrication method is explored to simplify the fabrication process and also improve the quality, repeatability, and reliability of the active catheter. This co-fabrication method enables a unique compact integrated heater and sensor film to be directly constructed on a shape memory alloy (SMA) sheet and to be utilized as an outline mask to pattern a micro SMA actuator. There are two functions integrated in the sensor film: heat sources to actuate the micro SMA actuator and sensors to provide temperature and strain of the active catheter to closed-loop control algorithms. Three main aspects are explored in this dissertation: thermal dynamics in the MicroFlex (muF) film and its effect on the sensor capabilities; non-minimum phase behavior and its effect on control performance, and film micro fabrication design and its effect on thermal dynamics. The sensor film developed from this understanding is able to deliver excellent heating and sensing performance with a simple design.

A smart end-effector for assembly of space truss structures

NASA Technical Reports Server (NTRS)

Doggett, William R.; Rhodes, Marvin D.; Wise, Marion A.; Armistead, Maurice F.

1992-01-01

A unique facility, the Automated Structures Research Laboratory, is being used to investigate robotic assembly of truss structures. A special-purpose end-effector is used to assemble structural elements into an eight meter diameter structure. To expand the capabilities of the facility to include construction of structures with curved surfaces from straight structural elements of different lengths, a new end-effector has been designed and fabricated. This end-effector contains an integrated microprocessor to monitor actuator operations through sensor feedback. This paper provides an overview of the automated assembly tasks required by this end-effector and a description of the new end-effector's hardware and control software.

Intraply Hybrid Composites Would Contain Control Strips

NASA Technical Reports Server (NTRS)

Chamis, Christos C.; Shiao, Chi-Yu

1996-01-01

"Smart" structural components with sensors and/or actuators distributed throughout their volumes made of intraply hybrid composite materials, according to proposal. Strips of hybrid control material interspersed with strips of ordinary (passive) composite material in some layers, providing distributed control capability. For example, near and far edges of plate bent upward by commanding bottom control strips to expand and simultaneously commanding upper control strips to contract.

Relative-Motion Sensors and Actuators for Two Optical Tables

NASA Technical Reports Server (NTRS)

Gursel, Yekta; McKenney, Elizabeth

2004-01-01

Optoelectronic sensors and magnetic actuators have been developed as parts of a system for controlling the relative position and attitude of two massive optical tables that float on separate standard air suspensions that attenuate ground vibrations. In the specific application for which these sensors and actuators were developed, one of the optical tables holds an optical system that mimics distant stars, while the other optical table holds a test article that simulates a spaceborne stellar interferometer that would be used to observe the stars. The control system is designed to suppress relative motion of the tables or, on demand, to impose controlled relative motion between the tables. The control system includes a sensor system that detects relative motion of the tables in six independent degrees of freedom and a drive system that can apply force to the star-simulator table in the six degrees of freedom. The sensor system includes (1) a set of laser heterodyne gauges and (2) a set of four diode lasers on the star-simulator table, each aimed at one of four quadrant photodiodes at nominal corresponding positions on the test-article table. The heterodyne gauges are used to measure relative displacements along the x axis.

2D tilting MEMS micro mirror integrating a piezoresistive sensor position feedback

NASA Astrophysics Data System (ADS)

Lani, S.; Bayat, D.; Despont, M.

2015-02-01

An integrated position sensor for a dual-axis electromagnetic tilting mirror is presented. This tilting mirror is composed of a silicon based mirror directly assembled on a silicon membrane supported by flexible beams. The position sensors are constituted by 4 Wheatstone bridges of piezoresistors which are fabricated by doping locally the flexible beams. A permanent magnet is attached to the membrane and the scanner is mounted above planar coils deposited on a ceramic substrate to achieve electromagnetic actuation. The performances of the piezoresistive sensors are evaluated by measuring the output signal of the piezoresistors as a function of the tilt of the mirror and the temperature. White light interferometry was performed for all measurement to measure the exact tilt angle. The minimum detectable angle with such sensors was 30µrad (around 13bits) in the range of the minimum resolution of the interferometer. The tilt reproducibility was 0.0186%, obtained by measuring the tilt after repeated actuations with a coil current of 50mA during 30 min and the stability over time was 0.05% in 1h without actuation. The maximum measured tilt angle was 6° (mechanical) limited by nonlinearity of the MEMS system.

Integrated monitoring of wind plant systems

NASA Astrophysics Data System (ADS)

Whelan, Matthew J.; Janoyan, Kerop D.; Qiu, Tong

2008-03-01

Wind power is a renewable source of energy that is quickly gaining acceptance by many. Advanced sensor technologies have currently focused solely on improving wind turbine rotor aerodynamics and increasing of the efficiency of the blade design and concentration. Alternatively, potential improvements in wind plant efficiency may be realized through reduction of reactionary losses of kinetic energy to the structural and substructural systems supporting the turbine mechanics. Investigation of the complete dynamic structural response of the wind plant is proposed using a large-scale, high-rate wireless sensor network. The wireless network enables sensors to be placed across the sizable structure, including the rotating blades, without consideration of cabling issues and the economic burden associated with large spools of measurement cables. A large array of multi-axis accelerometers is utilized to evaluate the modal properties of the system as well as individual members and would enable long-term structural condition monitoring of the wind turbine as well. Additionally, environmental parameters, including wind speed, temperature, and humidity, are wirelessly collected for correlation. Such a wireless system could be integrated with electrical monitoring sensors and actuators and incorporated into a remote multi-turbine centralized plant monitoring and control system.

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.

Intelligent electrical outlet for collective load control

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

Lentine, Anthony L.; Ford, Justin R.; Spires, Shannon V.

Various technologies described herein pertain to an electrical outlet that autonomously manages loads in a microgrid. The electrical outlet can provide autonomous load control in response to variations in electrical power generation supply in the microgrid. The electrical outlet includes a receptacle, a sensor operably coupled to the receptacle, and an actuator configured to selectively actuate the receptacle. The sensor measures electrical parameters at the receptacle. Further, a processor autonomously controls the actuator based at least in part on the electrical parameters measured at the receptacle, electrical parameters from one or more disparate electrical outlets in the microgrid, and amore » supply of generated electric power in the microgrid at a given time.« less

Digital flight control systems

NASA Technical Reports Server (NTRS)

Caglayan, A. K.; Vanlandingham, H. F.

1977-01-01

The design of stable feedback control laws for sampled-data systems with variable rate sampling was investigated. These types of sampled-data systems arise naturally in digital flight control systems which use digital actuators where it is desirable to decrease the number of control computer output commands in order to save wear and tear of the associated equipment. The design of aircraft control systems which are optimally tolerant of sensor and actuator failures was also studied. Detection of the failed sensor or actuator must be resolved and if the estimate of the state is used in the control law, then it is also desirable to have an estimator which will give the optimal state estimate even under the failed conditions.

Overview of NASA Langley's Piezoelectric Ceramic Packaging Technology and Applications

NASA Technical Reports Server (NTRS)

Bryant, Robert G.

2007-01-01

Over the past decade, NASA Langley Research Center (LaRC) has developed several actuator packaging concepts designed to enhance the performance of commercial electroactive ceramics. NASA LaRC focused on properly designed actuator and sensor packaging for the following reasons, increased durability, protect the working material from the environment, allow for proper mechanical and electrical contact, afford "ready to use" mechanisms that are scalable, and develop fabrication methodology applicable to any active material of the same physical class. It is more cost effective to enhance or tailor the performance of existing systems, through innovative packaging, than to develop, test and manufacture new materials. This approach led to the development of several solid state actuators that include THUNDER, the Macrofiber Composite or (MFC) and the Radial Field Diaphragm or (RFD). All these actuators are fabricated using standard materials and processes derived from earlier concepts. NASA s fabrication and packaging technology as yielded, piezoelectric actuators and sensors that are easy to implement, reliable, consistent in properties, and of lower cost to manufacture in quantity, than their predecessors (as evidenced by their continued commercial availability.) These piezoelectric actuators have helped foster new research and development in areas involving computational modeling, actuator specific refinements, and engineering system redesign which led to new applications for piezo-based devices that replace traditional systems currently in use.

Wavefront correction and high-resolution in vivo OCT imaging with an objective integrated multi-actuator adaptive lens.

PubMed

Bonora, Stefano; Jian, Yifan; Zhang, Pengfei; Zam, Azhar; Pugh, Edward N; Zawadzki, Robert J; Sarunic, Marinko V

2015-08-24

Adaptive optics is rapidly transforming microscopy and high-resolution ophthalmic imaging. The adaptive elements commonly used to control optical wavefronts are liquid crystal spatial light modulators and deformable mirrors. We introduce a novel Multi-actuator Adaptive Lens that can correct aberrations to high order, and which has the potential to increase the spread of adaptive optics to many new applications by simplifying its integration with existing systems. Our method combines an adaptive lens with an imaged-based optimization control that allows the correction of images to the diffraction limit, and provides a reduction of hardware complexity with respect to existing state-of-the-art adaptive optics systems. The Multi-actuator Adaptive Lens design that we present can correct wavefront aberrations up to the 4th order of the Zernike polynomial characterization. The performance of the Multi-actuator Adaptive Lens is demonstrated in a wide field microscope, using a Shack-Hartmann wavefront sensor for closed loop control. The Multi-actuator Adaptive Lens and image-based wavefront-sensorless control were also integrated into the objective of a Fourier Domain Optical Coherence Tomography system for in vivo imaging of mouse retinal structures. The experimental results demonstrate that the insertion of the Multi-actuator Objective Lens can generate arbitrary wavefronts to correct aberrations down to the diffraction limit, and can be easily integrated into optical systems to improve the quality of aberrated images.

EAP artificial muscle actuators for bio-inspired intelligent social robotics (Conference Presentation)

NASA Astrophysics Data System (ADS)

Hanson, David F.

2017-04-01

Bio-inspired intelligent robots are coming of age in both research and industry, propelling market growth for robots and A.I. However, conventional motors limit bio-inspired robotics. EAP actuators and sensors could improve the simplicity, compliance, physical scaling, and offer bio-inspired advantages in robotic locomotion, grasping and manipulation, and social expressions. For EAP actuators to realize their transformative potential, further innovations are needed: the actuators must be robust, fast, powerful, manufacturable, and affordable. This presentation surveys progress, opportunities, and challenges in the author's latest work in social robots and EAP actuators, and proposes a roadmap for EAP actuators in bio-inspired intelligent robotics.

A Sensor Data Fusion System Based on k-Nearest Neighbor Pattern Classification for Structural Health Monitoring Applications

PubMed Central

Vitola, Jaime; Pozo, Francesc; Tibaduiza, Diego A.; Anaya, Maribel

2017-01-01

Civil and military structures are susceptible and vulnerable to damage due to the environmental and operational conditions. Therefore, the implementation of technology to provide robust solutions in damage identification (by using signals acquired directly from the structure) is a requirement to reduce operational and maintenance costs. In this sense, the use of sensors permanently attached to the structures has demonstrated a great versatility and benefit since the inspection system can be automated. This automation is carried out with signal processing tasks with the aim of a pattern recognition analysis. This work presents the detailed description of a structural health monitoring (SHM) system based on the use of a piezoelectric (PZT) active system. The SHM system includes: (i) the use of a piezoelectric sensor network to excite the structure and collect the measured dynamic response, in several actuation phases; (ii) data organization; (iii) advanced signal processing techniques to define the feature vectors; and finally; (iv) the nearest neighbor algorithm as a machine learning approach to classify different kinds of damage. A description of the experimental setup, the experimental validation and a discussion of the results from two different structures are included and analyzed. PMID:28230796

A Sensor Data Fusion System Based on k-Nearest Neighbor Pattern Classification for Structural Health Monitoring Applications.

PubMed

Vitola, Jaime; Pozo, Francesc; Tibaduiza, Diego A; Anaya, Maribel

2017-02-21

Civil and military structures are susceptible and vulnerable to damage due to the environmental and operational conditions. Therefore, the implementation of technology to provide robust solutions in damage identification (by using signals acquired directly from the structure) is a requirement to reduce operational and maintenance costs. In this sense, the use of sensors permanently attached to the structures has demonstrated a great versatility and benefit since the inspection system can be automated. This automation is carried out with signal processing tasks with the aim of a pattern recognition analysis. This work presents the detailed description of a structural health monitoring (SHM) system based on the use of a piezoelectric (PZT) active system. The SHM system includes: (i) the use of a piezoelectric sensor network to excite the structure and collect the measured dynamic response, in several actuation phases; (ii) data organization; (iii) advanced signal processing techniques to define the feature vectors; and finally; (iv) the nearest neighbor algorithm as a machine learning approach to classify different kinds of damage. A description of the experimental setup, the experimental validation and a discussion of the results from two different structures are included and analyzed.

Research on FBG-Based CFRP Structural Damage Identification Using BP Neural Network

NASA Astrophysics Data System (ADS)

Geng, Xiangyi; Lu, Shizeng; Jiang, Mingshun; Sui, Qingmei; Lv, Shanshan; Xiao, Hang; Jia, Yuxi; Jia, Lei

2018-06-01

A damage identification system of carbon fiber reinforced plastics (CFRP) structures is investigated using fiber Bragg grating (FBG) sensors and back propagation (BP) neural network. FBG sensors are applied to construct the sensing network to detect the structural dynamic response signals generated by active actuation. The damage identification model is built based on the BP neural network. The dynamic signal characteristics extracted by the Fourier transform are the inputs, and the damage states are the outputs of the model. Besides, damages are simulated by placing lumped masses with different weights instead of inducing real damages, which is confirmed to be feasible by finite element analysis (FEA). At last, the damage identification system is verified on a CFRP plate with 300 mm × 300 mm experimental area, with the accurate identification of varied damage states. The system provides a practical way for CFRP structural damage identification.

Devising Mobile Sensing and Actuation Infrastructure with Drones.

PubMed

Bae, Mungyu; Yoo, Seungho; Jung, Jongtack; Park, Seongjoon; Kim, Kangho; Kim, Joon Yeop Lee; Kim, Hwangnam

2018-02-19

Vast applications and services have been enabled as the number of mobile or sensing devices with communication capabilities has grown. However, managing the devices, integrating networks or combining services across different networks has become a new problem since each network is not directly connected via back-end core networks or servers. The issue is and has been discussed especially in wireless sensor and actuator networks (WSAN). In such systems, sensors and actuators are tightly coupled, so when an independent WSAN needs to collaborate with other networks, it is difficult to adequately combine them into an integrated infrastructure. In this paper, we propose drone-as-a-gateway (DaaG), which uses drones as mobile gateways to interconnect isolated networks or combine independent services. Our system contains features that focus on the service being provided in the order of importance, different from an adaptive simple mobile sink system or delay-tolerant system. Our simulation results have shown that the proposed system is able to activate actuators in the order of importance of the service, which uses separate sensors' data, and it consumes almost the same time in comparison with other path-planning algorithms. Moreover, we have implemented DaaG and presented results in a field test to show that it can enable large-scale on-demand deployment of sensing and actuation infrastructure or the Internet of Things (IoT).

Equivalent circuit models for interpreting impedance perturbation spectroscopy data

NASA Astrophysics Data System (ADS)

Smith, R. Lowell

2004-07-01

As in-situ structural integrity monitoring disciplines mature, there is a growing need to process sensor/actuator data efficiently in real time. Although smaller, faster embedded processors will contribute to this, it is also important to develop straightforward, robust methods to reduce the overall computational burden for practical applications of interest. This paper addresses the use of equivalent circuit modeling techniques for inferring structure attributes monitored using impedance perturbation spectroscopy. In pioneering work about ten years ago significant progress was associated with the development of simple impedance models derived from the piezoelectric equations. Using mathematical modeling tools currently available from research in ultrasonics and impedance spectroscopy is expected to provide additional synergistic benefits. For purposes of structural health monitoring the objective is to use impedance spectroscopy data to infer the physical condition of structures to which small piezoelectric actuators are bonded. Features of interest include stiffness changes, mass loading, and damping or mechanical losses. Equivalent circuit models are typically simple enough to facilitate the development of practical analytical models of the actuator-structure interaction. This type of parametric structure model allows raw impedance/admittance data to be interpreted optimally using standard multiple, nonlinear regression analysis. One potential long-term outcome is the possibility of cataloging measured viscoelastic properties of the mechanical subsystems of interest as simple lists of attributes and their statistical uncertainties, whose evolution can be followed in time. Equivalent circuit models are well suited for addressing calibration and self-consistency issues such as temperature corrections, Poisson mode coupling, and distributed relaxation processes.

An orientation measurement method based on Hall-effect sensors for permanent magnet spherical actuators with 3D magnet array.

PubMed

Yan, Liang; Zhu, Bo; Jiao, Zongxia; Chen, Chin-Yin; Chen, I-Ming

2014-10-24

An orientation measurement method based on Hall-effect sensors is proposed for permanent magnet (PM) spherical actuators with three-dimensional (3D) magnet array. As there is no contact between the measurement system and the rotor, this method could effectively avoid friction torque and additional inertial moment existing in conventional approaches. Curved surface fitting method based on exponential approximation is proposed to formulate the magnetic field distribution in 3D space. The comparison with conventional modeling method shows that it helps to improve the model accuracy. The Hall-effect sensors are distributed around the rotor with PM poles to detect the flux density at different points, and thus the rotor orientation can be computed from the measured results and analytical models. Experiments have been conducted on the developed research prototype of the spherical actuator to validate the accuracy of the analytical equations relating the rotor orientation and the value of magnetic flux density. The experimental results show that the proposed method can measure the rotor orientation precisely, and the measurement accuracy could be improved by the novel 3D magnet array. The study result could be used for real-time motion control of PM spherical actuators.

Material and fabrication strategies for artificial muscles (Conference Presentation)

NASA Astrophysics Data System (ADS)

Spinks, Geoffrey M.

2017-04-01

Soft robotic and wearable robotic devices seek to exploit polymer based artificial muscles and sensor materials to generate biomimetic movements and forces. A challenge is to integrate the active materials into a complex, three-dimensional device with integrated electronics, power supplies and support structures. Both 3D printing and textiles technologies offer attractive fabrication strategies, but require suitable functional materials. 3D printing of actuating hydrogels has been developed to produce simple devices, such as a prototype valve. Tough hydrogels based on interpenetrating networks of ionicially crosslinked alginate and covalently crosslinked polyacrylamide and poly(N-isopropylacrylamide) have been developed in a form suitable for extrusion printing with UV curing. Combined with UV-curable and extrudable rigid acrylated urethanes, the tough hydrogels can be 3D printed into composite materials or complex shapes with multiple different materials. An actuating valve was printed that operated thermally to open or close the flow path using 6 parallel hydrogel actuators. Textile processing methods such as knitting and weaving can be used to generate assemblies of actuating fibres. Low cost and high performance coiled fibres made from oriented polymers have been used for developing actuating textiles. Similarly, braiding methods have been developed to fabricate new forms of McKibben muscles that operate without any external apparatus, such as pumps, compressors or piping.

Application of Multiplexed FBG and PZT Impedance Sensors for Health Monitoring of Rocks.

PubMed

Yang, Yaowen; Annamdas, Venu Gopal Madhav; Wang, Chao; Zhou, Yingxin

2008-01-21

Reliable structural health monitoring (SHM) including nondestructiveevaluation (NDE) is essential for safe operation of infrastructure systems. Effectivemonitoring of the rock components of civil infrastructures such as tunnels and cavernsremains challenging. The feasibility of employing smart optical fibre sensor (OFS) andpiezoelectric impedance sensor made up of lead zirconate titanate (PZT) forcomprehensive health monitoring of rocks, covering load history monitoring/retrieval aswell as damage assessment is presented in this paper. The rock specimens are subjected tocyclic loading and their conditions are continuously monitored using OFS and PZTsensors. OFS based multiplexed fibre Bragg grating (FBG) sensors are surface bonded onthe rock specimens. Their strain sensing performance is compared with the conventionalelectric strain gauges (ESGs). In addition, PZT patches are also bonded on the specimensto study the damage pattern during different loading cycles. Unlike the FBGs or ESGs,PZT patches are used as bi-functional sensors and actuators, enabling them to be efficientdetectors of incipient damages using the principle of electromechanical impedance. Theexperimental study demonstrated superior performance of these smart FBG and PZTimpedance sensors. This work is expected to be useful for SHM based NDE application ofrock structures such as caverns and tunnels.

16 CFR 1211.13 - Inherent force activated secondary door sensors.

Code of Federal Regulations, 2011 CFR

2011-01-01

... sensors. 1211.13 Section 1211.13 Commercial Practices CONSUMER PRODUCT SAFETY COMMISSION CONSUMER PRODUCT... § 1211.13 Inherent force activated secondary door sensors. (a) Normal operation test. (1) A force activated door sensor of a door system installed according to the installation instructions shall actuate...

16 CFR 1211.13 - Inherent force activated secondary door sensors.

Code of Federal Regulations, 2014 CFR

2014-01-01

... sensors. 1211.13 Section 1211.13 Commercial Practices CONSUMER PRODUCT SAFETY COMMISSION CONSUMER PRODUCT... § 1211.13 Inherent force activated secondary door sensors. (a) Normal operation test. (1) A force activated door sensor of a door system installed according to the installation instructions shall actuate...

16 CFR 1211.13 - Inherent force activated secondary door sensors.

Code of Federal Regulations, 2012 CFR

2012-01-01

... sensors. 1211.13 Section 1211.13 Commercial Practices CONSUMER PRODUCT SAFETY COMMISSION CONSUMER PRODUCT... § 1211.13 Inherent force activated secondary door sensors. (a) Normal operation test. (1) A force activated door sensor of a door system installed according to the installation instructions shall actuate...

A procedure concept for local reflex control of grasping

NASA Technical Reports Server (NTRS)

Fiorini, Paolo; Chang, Jeffrey

1989-01-01

An architecture is proposed for the control of robotic devices, and in particular of anthropomorphic hands, characterized by a hierarchical structure in which every level of the architecture contains data and control function with varying degree of abstraction. Bottom levels of the hierarchy interface directly with sensors and actuators, and process raw data and motor commands. Higher levels perform more symbolic types of tasks, such as application of boolean rules and general planning operations. Layers implementation has to be consistent with the type of operation and its requirements for real time control. It is proposed to implement the rule level with a Boolean Artificial Neural Network characterized by a response time sufficient for producing reflex corrective action at the actuator level.

GMTIFS: the adaptive optics beam steering mirror for the GMT integral-field spectrograph

NASA Astrophysics Data System (ADS)

Davies, J.; Bloxham, G.; Boz, R.; Bundy, D.; Espeland, B.; Fordham, B.; Hart, J.; Herrald, N.; Nielsen, J.; Sharp, R.; Vaccarella, A.; Vest, C.; Young, P. J.

2016-07-01

To achieve the high adaptive optics sky coverage necessary to allow the GMT Integral-Field Spectrograph (GMTIFS) to access key scientific targets, the on-instrument adaptive-optics wavefront-sensing (OIWFS) system must patrol the full 180 arcsecond diameter guide field passed to the instrument. The OIWFS uses a diffraction limited guide star as the fundamental pointing reference for the instrument. During an observation the offset between the science target and the guide star will change due to sources such as flexure, differential refraction and non-sidereal tracking rates. GMTIFS uses a beam steering mirror to set the initial offset between science target and guide star and also to correct for changes in offset. In order to reduce image motion from beam steering errors to those comparable to the AO system in the most stringent case, the beam steering mirror is set a requirement of less than 1 milliarcsecond RMS. This corresponds to a dynamic range for both actuators and sensors of better than 1/180,000. The GMTIFS beam steering mirror uses piezo-walk actuators and a combination of eddy current sensors and interferometric sensors to achieve this dynamic range and control. While the sensors are rated for cryogenic operation, the actuators are not. We report on the results of prototype testing of single actuators, with the sensors, on the bench and in a cryogenic environment. Specific failures of the system are explained and suspected reasons for them. A modified test jig is used to investigate the option of heating the actuator and we report the improved results. In addition to individual component testing, we built and tested a complete beam steering mirror assembly. Testing was conducted with a point source microscope, however controlling environmental conditions to less than 1 micron was challenging. The assembly testing investigated acquisition accuracy and if there was any un-sensed hysteresis in the system. Finally we present the revised beam steering mirror design based on the outcomes and lessons learnt from this prototyping.

Design of a telerobotic controller with joint torque sensors

NASA Technical Reports Server (NTRS)

Jansen, J. F.; Herndon, J. N.

1990-01-01

The purpose was to analytically show how to design a joint controller for a telerobotic system when joint torque sensors are available. Other sensors such as actuator position, actuator velocity, joint position, and joint velocity are assumed to be accessible; however, the results will also be useful when only partial measurements are available. The controller presented can be applied to either mode of operation of a manipulator (i.e., teleoperation or robotic). Mechanical manipulators with high levels of friction are assumed. The results are applied to a telerobotic system built for NASA. Very high levels of friction have been reduced using high-gain feedback while avoiding limit cycles.

Characterization and modeling of ionic polymeric smart materials as artificial muscles and robotic swimming structures

NASA Astrophysics Data System (ADS)

Mojarrad, Mehran

2001-07-01

In this dissertation document, a thorough review and investigation of works in connection with the ionic polymeric gels as artificial muscles and electrically controllable polymeric network structures were performed. Where possible, comparisons were made with biological muscles and applications in marine propulsion using such polymeric materials were investigated. Furthermore, methods of fabrication of several chemically active ionic polymeric gel muscles such as PolyAcryloNitrile (PAN), Poly(2-Acrylamido-2-Methyl-1-PropaneSulfonic) acid (PAMPS), and PolyAcrylic-acid-bis-AcrylaMide (PAAM) as well as a new class of electrically active composite muscle such as Ion-Exchange-Metal-Composites (IEMC) or Ionic Polymer Metal Composites (IPMC) materials are introduced and investigated that resulted in two US patents regarding their fabrication and application capabilities as actuators and sensors. In this research, various forms of the IPMC fabrication were explored and reported. In addition, characterization of PAN muscles, bundling and encapsulation were investigated. Conversion of chemical to electrical artificial muscles were also investigated using chemical plating techniques as well as physical vapor deposition methods of the pH-activated muscles like PAN fibers. Experimental methods were devised to characterize contraction, expansion, and bending of various actuators using isometric, isoionic, and isotonic characterization methods. Several apparatuses for modeling and testing of the various artificial muscles were built to show the viability of the application of both chemoactive and electroactive muscles. Furthermore PAN fiber muscles in different configurations such as spring-loaded fiber bundles, biceps, triceps, ribbon type muscles, and segmented fiber bundles were fabricated to make a variety of actuators. Additionally, swimming robotic structures and associated hardware were built to incorporate IPMC as biomimetic propulsion fin actuators. In addition, various configuration of IPMC such as linear actuators and multiplayer actuators were fabricated and evaluated for load and sensing capability. Theories associated with ionic polymer gels electrodynamics and chemodynamics were proposed, analyzed and modeled for the manufactured material. Futhermore, theoretical models of swimming structures were developed and compared with biological fish propulsion models and dynamically evaluated for robotic applications.

Smart Sensors Assess Structural Health

NASA Technical Reports Server (NTRS)

2010-01-01

NASA frequently inspects launch vehicles, fuel tanks, and other components for structural damage. To perform quick evaluation and monitoring, the Agency pursues the development of structural health monitoring systems. In 2001, Acellent Technologies Inc., of Sunnyvale, California, received Small Business Innovation Research (SBIR) funding from Marshall Space Flight Center to develop a hybrid Stanford Multi-Actuator Receiver Transduction (SMART) Layer for aerospace vehicles and structures. As a result, Acellent expanded the technology's capability and now sells it to aerospace and automotive companies; construction, energy, and utility companies; and the defense, space, transportation, and energy industries for structural condition monitoring, damage detection, crack growth monitoring, and other applications.

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.

Air Force Office of Scientific Research, 1993 Research Highlights.

DTIC Science & Technology

1993-01-01

used to describe the behavior of critical point phenomena by Nobel laureate Dr. Kenneth Wilson. Their research has produced useful engineering...40 years of its existence, AFOSR has supported the work of about two dozen scientists who, later, have been awarded the Nobel prize as well as a...locations and types of sensor or actuator elements that are suitable for structurally- integrated nondestructive evaluation ( NDE ) systems. The basic

Attitude control concepts for precision-pointing nonrigid spacecraft

NASA Technical Reports Server (NTRS)

Likins, P. W.

1974-01-01

Literal criteria are developed for the controllability and observability of general models of flexible spacecraft. Results are interpreted in special cases and in physical terms, permitting in some cases the identification of uncontrollable and unobservable states simply by examination of scalars composed of modal parameters and location matrices for sensors and actuators. A procedure is established for isolation of uncontrollable states, whereby sensor and actuator configurations assure that uncontrollable flexible mode states are also unobservable; in many applications such states can then be removed by coordinate truncation.

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

DTIC Science & Technology

1983-08-01

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

Prototyping the E-ELT M1 local control system communication infrastructure

NASA Astrophysics Data System (ADS)

Argomedo, J.; Kornweibel, N.; Grudzien, T.; Dimmler, M.; Andolfato, L.; Barriga, P.

2016-08-01

The primary mirror of the E-ELT is composed of 798 hexagonal segments of about 1.45 meters across. Each segment can be moved in piston and tip-tilt using three position actuators. Inductive edge sensors are used to provide feedback for global reconstruction of the mirror shape. The E-ELT M1 Local Control System will provide a deterministic infrastructure for collecting edge sensor and actuators readings and distribute the new position actuators references while at the same time providing failure detection, isolation and notification, synchronization, monitoring and configuration management. The present paper describes the prototyping activities carried out to verify the feasibility of the E-ELT M1 local control system communication architecture design and assess its performance and potential limitations.

Preliminary system design study for a digital fly-by-wire flight control system for an F-8C aircraft

NASA Technical Reports Server (NTRS)

Seacord, C. L.; Vaughn, D. K.

1976-01-01

The design of a fly-by-wire control system having a mission failure probability of less than one millionth failures per flight hour is examined. Emphasis was placed on developing actuator configurations that would improve the system performance, and consideration of the practical aspects of sensor/computer and computer/actuator interface implementation. Five basic configurations were defined as appropriate candidates for the F-8C research aircraft. Options on the basic configurations were included to cover variations in flight sensors, redundancy levels, data transmission techniques, processor input/output methods, and servo actuator arrangements. The study results can be applied to fly by wire systems for transport aircraft in general and the space shuttle.

Surface Control of Cold Hibernated Elastic Memory Self-Deployable Structure

NASA Technical Reports Server (NTRS)

Sokolowski, Witold M.; Ghaffarian, Reza

2006-01-01

A new class of simple, reliable, lightweight, low packaging volume and cost, self-deployable structures has been developed for use in space and commercial applications. This technology called 'cold hibernated elastic memory' (CHEM) utilizes shape memory polymers (SMP)in open cellular (foam) structure or sandwich structures made of shape memory polymer foam cores and polymeric composite skins. Some of many potential CHEM space applications require a high precision deployment and surface accuracy during operation. However, a CHEM structure could be slightly distorted by the thermo-mechanical processing as well as by thermal space environment Therefore, the sensor system is desirable to monitor and correct the potential surface imperfection. During these studies, the surface control of CHEM smart structures was demonstrated using a Macro-Fiber Composite (MFC) actuator developed by the NASA LaRC and US Army ARL. The test results indicate that the MFC actuator performed well before and after processing cycles. It reduced some residue compressive strain that in turn corrected very small shape distortion after each processing cycle. The integrated precision strain gages were detecting only a small flat shape imperfection indicating a good recoverability of original shape of the CHEM test structure.

Software Defined Networking for Improved Wireless Sensor Network Management: A Survey

PubMed Central

Ndiaye, Musa; Hancke, Gerhard P.; Abu-Mahfouz, Adnan M.

2017-01-01

Wireless sensor networks (WSNs) are becoming increasingly popular with the advent of the Internet of things (IoT). Various real-world applications of WSNs such as in smart grids, smart farming and smart health would require a potential deployment of thousands or maybe hundreds of thousands of sensor nodes/actuators. To ensure proper working order and network efficiency of such a network of sensor nodes, an effective WSN management system has to be integrated. However, the inherent challenges of WSNs such as sensor/actuator heterogeneity, application dependency and resource constraints have led to challenges in implementing effective traditional WSN management. This difficulty in management increases as the WSN becomes larger. Software Defined Networking (SDN) provides a promising solution in flexible management WSNs by allowing the separation of the control logic from the sensor nodes/actuators. The advantage with this SDN-based management in WSNs is that it enables centralized control of the entire WSN making it simpler to deploy network-wide management protocols and applications on demand. This paper highlights some of the recent work on traditional WSN management in brief and reviews SDN-based management techniques for WSNs in greater detail while drawing attention to the advantages that SDN brings to traditional WSN management. This paper also investigates open research challenges in coming up with mechanisms for flexible and easier SDN-based WSN configuration and management. PMID:28471390

Software Defined Networking for Improved Wireless Sensor Network Management: A Survey.

PubMed

Ndiaye, Musa; Hancke, Gerhard P; Abu-Mahfouz, Adnan M

2017-05-04

Wireless sensor networks (WSNs) are becoming increasingly popular with the advent of the Internet of things (IoT). Various real-world applications of WSNs such as in smart grids, smart farming and smart health would require a potential deployment of thousands or maybe hundreds of thousands of sensor nodes/actuators. To ensure proper working order and network efficiency of such a network of sensor nodes, an effective WSN management system has to be integrated. However, the inherent challenges of WSNs such as sensor/actuator heterogeneity, application dependency and resource constraints have led to challenges in implementing effective traditional WSN management. This difficulty in management increases as the WSN becomes larger. Software Defined Networking (SDN) provides a promising solution in flexible management WSNs by allowing the separation of the control logic from the sensor nodes/actuators. The advantage with this SDN-based management in WSNs is that it enables centralized control of the entire WSN making it simpler to deploy network-wide management protocols and applications on demand. This paper highlights some of the recent work on traditional WSN management in brief and reviews SDN-based management techniques for WSNs in greater detail while drawing attention to the advantages that SDN brings to traditional WSN management. This paper also investigates open research challenges in coming up with mechanisms for flexible and easier SDN-based WSN configuration and management.

Modal control of a plate using a fuzzy logic controller

NASA Astrophysics Data System (ADS)

Sharma, Manu; Singh, S. P.; Sachdeva, B. L.

2007-08-01

This paper presents fuzzy logic based independent modal space control (IMSC) and fuzzy logic based modified independent modal space control (MIMSC) of vibration. The rule base of the controller consists of nine rules, which have been derived based upon simple human reasoning. Input to the controller consists of the first two modal displacements and velocities of the structure and the output of the controller is the modal force to be applied by the actuator. Fuzzy logic is used in such a way that the actuator is never called to apply effort which is beyond safe limits and also the operator is saved from calculating control gains. The proposed fuzzy controller is experimentally tested for active vibration control of a cantilevered plate. A piezoelectric patch is used as a sensor to sense vibrations of the plate and another piezoelectric patch is used as an actuator to control vibrations of the plate. For analytical formulation, a finite element method based upon Hamilton's principle is used to model the plate. For experimentation, the first two modes of the plate are observed using a Kalman observer. Real-time experiments are performed to control the first mode, the second mode and both modes simultaneously. Experiments are also performed to control the first mode by IMSC, the second mode by IMSC and both modes simultaneously by MIMSC. It is found that for the same decibel reduction in the first mode, the voltage applied by the fuzzy logic based controller is less than that applied by IMSC. While controlling the second mode by IMSC, a considerable amount of spillover is observed in the first mode and region just after the second mode, whereas while controlling the second mode by fuzzy logic, spillover effects are much smaller. While controlling two modes simultaneously, with a single sensor/actuator pair, appreciable resonance control is observed both with fuzzy logic based MIMSC as well as with direct MIMSC, but there is a considerable amount of spillover in the off-resonance region. This may be due to the sub-optimal location and/or an insufficient number of actuators. So, another smart plate with two piezoelectric actuators and one piezoelectric sensor is considered. Piezoelectric patches are fixed in an area where modal strains are high. With this configuration of the smart plate, experiments are conducted to control the first three modes of the plate and it is found that spillover effects are greatly reduced.

Integrated Structural/Control Design via Multiobjective Optimization

DTIC Science & Technology

1990-05-10

motivation is to yield a tractable 0 problem whose solution is readily synthesized and easily implemented. Likewise, the combinatorial approaches to...stations PsI, Ps2, Ps3, Ps4 on arms 3 and 4 and stations Ps5, Ps6, Ps7, Ps8 on arms I and 2. The sensor influence matrix H is 1 oT 0T 0 UoT (psi) T H= 0...t, Ps4 ), v (t,psS) ..... v (t,Ps8) ] T (4-30a) -V = Yp (4-30b) The locations Pul and Pu2 of the torque actuators and Psi, Ps2 .... Ps8 of the sensors

On-demand drawing of high aspect-ratio, microsphere-tipped elastomeric micropillars

NASA Astrophysics Data System (ADS)

Li, Qiang; Kim, Jaeyoun

2017-08-01

High aspect-ratio elastomeric micropillars are widely used in a plethora of applications, such as functional surfaces, actuators, and sensors. Their fabrication at arbitrary positions on non-planar substrates, however, has rarely been reported. Here we demonstrate a new technique for facile fabrication of high aspect-ratio, microsphere-tipped elastomeric micropillars on structures with uncommon geometries. As a proof-of-concept exemplary application, a fiber optic contact sensor is realized by integrating a micropillar onto the end facet of an optical fiber. Overall, both the fabrication technique and the resulting outcomes of this work will add new tools to the toolbox of soft-MEMS and softrobotics.

New Textile Sensors for In Situ Structural Health Monitoring of Textile Reinforced Thermoplastic Composites Based on the Conductive Poly(3,4-ethylenedioxythiophene)-poly(styrenesulfonate) Polymer Complex

PubMed Central

Jerkovic, Ivona; Koncar, Vladan; Grancaric, Ana Marija

2017-01-01

Many metallic structural and non-structural parts used in the transportation industry can be replaced by textile-reinforced composites. Composites made from a polymeric matrix and fibrous reinforcement have been increasingly studied during the last decade. On the other hand, the fast development of smart textile structures seems to be a very promising solution for in situ structural health monitoring of composite parts. In order to optimize composites’ quality and their lifetime all the production steps have to be monitored in real time. Textile sensors embedded in the composite reinforcement and having the same mechanical properties as the yarns used to make the reinforcement exhibit actuating and sensing capabilities. This paper presents a new generation of textile fibrous sensors based on the conductive polymer complex poly(3,4-ethylenedioxythiophene)-poly(styrenesulfonate) developed by an original roll to roll coating method. Conductive coating for yarn treatment was defined according to the preliminary study of percolation threshold of this polymer complex. The percolation threshold determination was based on conductive dry films’ electrical properties analysis, in order to develop highly sensitive sensors. A novel laboratory equipment was designed and produced for yarn coating to ensure effective and equally distributed coating of electroconductive polymer without distortion of textile properties. The electromechanical properties of the textile fibrous sensors confirmed their suitability for in situ structural damages detection of textile reinforced thermoplastic composites in real time. PMID:28994733

New Textile Sensors for In Situ Structural Health Monitoring of Textile Reinforced Thermoplastic Composites Based on the Conductive Poly(3,4-ethylenedioxythiophene)-poly(styrenesulfonate) Polymer Complex.

PubMed

Jerkovic, Ivona; Koncar, Vladan; Grancaric, Ana Marija

2017-10-10

Many metallic structural and non-structural parts used in the transportation industry can be replaced by textile-reinforced composites. Composites made from a polymeric matrix and fibrous reinforcement have been increasingly studied during the last decade. On the other hand, the fast development of smart textile structures seems to be a very promising solution for in situ structural health monitoring of composite parts. In order to optimize composites' quality and their lifetime all the production steps have to be monitored in real time. Textile sensors embedded in the composite reinforcement and having the same mechanical properties as the yarns used to make the reinforcement exhibit actuating and sensing capabilities. This paper presents a new generation of textile fibrous sensors based on the conductive polymer complex poly(3,4-ethylenedioxythiophene)-poly(styrenesulfonate) developed by an original roll to roll coating method. Conductive coating for yarn treatment was defined according to the preliminary study of percolation threshold of this polymer complex. The percolation threshold determination was based on conductive dry films' electrical properties analysis, in order to develop highly sensitive sensors. A novel laboratory equipment was designed and produced for yarn coating to ensure effective and equally distributed coating of electroconductive polymer without distortion of textile properties. The electromechanical properties of the textile fibrous sensors confirmed their suitability for in situ structural damages detection of textile reinforced thermoplastic composites in real time.

Overview of Active Flow Control at NASA Langley Research Center

NASA Technical Reports Server (NTRS)

Pack, L. G.; Joslin, R. D.

1998-01-01

The paper summarizes Active Flow Control projects currently underway at the NASA Langley Research Center. Technology development is being pursued within a multidisciplinary, cooperative approach, involving the classical disciplines of fluid mechanics, structural mechanics, material science, acoustics, and stability and control theory. Complementing the companion papers in this session, the present paper will focus on projects that have the goal of extending the state-of-the-art in the measurement, prediction, and control of unsteady, nonlinear aerodynamics. Toward this goal, innovative actuators, micro and macro sensors, and control strategies are considered for high payoff flow control applications. The target payoffs are outlined within each section below. Validation of the approaches range from bench-top experiments to wind-tunnel experiments to flight tests. Obtaining correlations for future actuator and sensor designs are implicit in the discussion. The products of the demonstration projects and design tool development from the fundamental NASA R&D level technology will then be transferred to the Applied Research components within NASA, DOD, and US Industry. Keywords: active flow control, separation control, MEMS, review

Multifunctional Nanotube Polymer Nanocomposites for Aerospace Applications: Adhesion between SWCNT and Polymer Matrix

NASA Technical Reports Server (NTRS)

Park, Cheol; Wise, Kristopher E.; Kang, Jin Ho; Kim, Jae-Woo; Sauti, Godfrey; Lowther, Sharon E.; Lillehei, Peter T.; Smith, Michael W.; Siochi, Emilie J.; Harrison, Joycelyn S.;

Experimental application of OMA solutions on the model of industrial structure

NASA Astrophysics Data System (ADS)

Mironov, A.; Mironovs, D.

2017-10-01

It is very important and sometimes even vital to maintain reliability of industrial structures. High quality control during production and structural health monitoring (SHM) in exploitation provides reliable functioning of large, massive and remote structures, like wind generators, pipelines, power line posts, etc. This paper introduces a complex of technological and methodical solutions for SHM and diagnostics of industrial structures, including those that are actuated by periodic forces. Solutions were verified on a wind generator scaled model with integrated system of piezo-film deformation sensors. Simultaneous and multi-patch Operational Modal Analysis (OMA) approaches were implemented as methodical means for structural diagnostics and monitoring. Specially designed data processing algorithms provide objective evaluation of structural state modification.

Application of Multiplexed FBG and PZT Impedance Sensors for Health Monitoring of Rocks

PubMed Central

Yang, Yaowen; Annamdas, Venu Gopal Madhav; Wang, Chao; Zhou, Yingxin

2008-01-01

Reliable structural health monitoring (SHM) including nondestructive evaluation (NDE) is essential for safe operation of infrastructure systems. Effective monitoring of the rock components of civil infrastructures such as tunnels and caverns remains challenging. The feasibility of employing smart optical fibre sensor (OFS) and piezoelectric impedance sensor made up of lead zirconate titanate (PZT) for comprehensive health monitoring of rocks, covering load history monitoring/retrieval as well as damage assessment is presented in this paper. The rock specimens are subjected to cyclic loading and their conditions are continuously monitored using OFS and PZT sensors. OFS based multiplexed fibre Bragg grating (FBG) sensors are surface bonded on the rock specimens. Their strain sensing performance is compared with the conventional electric strain gauges (ESGs). In addition, PZT patches are also bonded on the specimens to study the damage pattern during different loading cycles. Unlike the FBGs or ESGs, PZT patches are used as bi-functional sensors and actuators, enabling them to be efficient detectors of incipient damages using the principle of electromechanical impedance. The experimental study demonstrated superior performance of these smart FBG and PZT impedance sensors. This work is expected to be useful for SHM based NDE application of rock structures such as caverns and tunnels. PMID:27879708

Design and Theoretical Analysis of a Resonant Sensor for Liquid Density Measurement

PubMed Central

Zheng, Dezhi; Shi, Jiying; Fan, Shangchun

2012-01-01

In order to increase the accuracy of on-line liquid density measurements, a sensor equipped with a tuning fork as the resonant sensitive component is designed in this paper. It is a quasi-digital sensor with simple structure and high precision. The sensor is based on resonance theory and composed of a sensitive unit and a closed-loop control unit, where the sensitive unit consists of the actuator, the resonant tuning fork and the detector and the closed-loop control unit comprises precondition circuit, digital signal processing and control unit, analog-to-digital converter and digital-to-analog converter. An approximate parameters model of the tuning fork is established and the impact of liquid density, position of the tuning fork, temperature and structural parameters on the natural frequency of the tuning fork are also analyzed. On this basis, a tuning fork liquid density measurement sensor is developed. In addition, experimental testing on the sensor has been carried out on standard calibration facilities under constant 20 °C, and the sensor coefficients are calibrated. The experimental results show that the repeatability error is about 0.03% and the accuracy is about 0.4 kg/m3. The results also confirm that the method to increase the accuracy of liquid density measurement is feasible. PMID:22969378

Design and theoretical analysis of a resonant sensor for liquid density measurement.

PubMed

Zheng, Dezhi; Shi, Jiying; Fan, Shangchun

2012-01-01

In order to increase the accuracy of on-line liquid density measurements, a sensor equipped with a tuning fork as the resonant sensitive component is designed in this paper. It is a quasi-digital sensor with simple structure and high precision. The sensor is based on resonance theory and composed of a sensitive unit and a closed-loop control unit, where the sensitive unit consists of the actuator, the resonant tuning fork and the detector and the closed-loop control unit comprises precondition circuit, digital signal processing and control unit, analog-to-digital converter and digital-to-analog converter. An approximate parameters model of the tuning fork is established and the impact of liquid density, position of the tuning fork, temperature and structural parameters on the natural frequency of the tuning fork are also analyzed. On this basis, a tuning fork liquid density measurement sensor is developed. In addition, experimental testing on the sensor has been carried out on standard calibration facilities under constant 20 °C, and the sensor coefficients are calibrated. The experimental results show that the repeatability error is about 0.03% and the accuracy is about 0.4 kg/m(3). The results also confirm that the method to increase the accuracy of liquid density measurement is feasible.

Design and modeling of magnetically driven electric-field sensor for non-contact DC voltage measurement in electric power systems.

PubMed

Wang, Decai; Li, Ping; Wen, Yumei

2016-10-01

In this paper, the design and modeling of a magnetically driven electric-field sensor for non-contact DC voltage measurement are presented. The magnetic drive structure of the sensor is composed of a small solenoid and a cantilever beam with a cylindrical magnet mounted on it. The interaction of the magnet and the solenoid provides the magnetic driving force for the sensor. Employing magnetic drive structure brings the benefits of low driving voltage and large vibrating displacement, which consequently results in less interference from the drive signal. In the theoretical analyses, the capacitance calculation model between the wire and the sensing electrode is built. The expression of the magnetic driving force is derived by the method of linear fitting. The dynamical model of the magnetic-driven cantilever beam actuator is built by using Euler-Bernoulli theory and distributed parameter method. Taking advantage of the theoretical model, the output voltage of proposed sensor can be predicted. The experimental results are in good agreement with the theoretical results. The proposed sensor shows a favorable linear response characteristic. The proposed sensor has a measuring sensitivity of 9.87 μV/(V/m) at an excitation current of 37.5 mA. The electric field intensity resolution can reach 10.13 V/m.

High-efficiency integrated piezoelectric energy harvesting systems

NASA Astrophysics Data System (ADS)

Hande, Abhiman; Shah, Pradeep

2010-04-01

This paper describes hierarchically architectured development of an energy harvesting (EH) system that consists of micro and/or macro-scale harvesters matched to multiple components of remote wireless sensor and communication nodes. The micro-scale harvesters consist of thin-film MEMS piezoelectric cantilever arrays and power generation modules in IC-like form to allow efficient EH from vibrations. The design uses new high conversion efficiency thin-film processes combined with novel cantilever structures tuned to multiple resonant frequencies as broadband arrays. The macro-scale harvesters are used to power the collector nodes that have higher power specifications. These bulk harvesters can be integrated with efficient adaptive power management circuits that match transducer impedance and maximize power harvested from multiple scavenging sources with very low intrinsic power consumption. Texas MicroPower, Inc. is developing process based on a composition that has the highest reported energy density as compared to other commercially available bulk PZT-based sensor/actuator ceramic materials and extending it to thin-film materials and miniature conversion transducer structures. The multiform factor harvesters can be deployed for several military and commercial applications such as underground unattended sensors, sensors in oil rigs, structural health monitoring, supply chain management, and battlefield applications such as sensors on soldier apparel, equipment, and wearable electronics.

Concept of a Pitot tube able to detect blockage by ice, volcanic ash, sand and insects, and to clear the tube

NASA Astrophysics Data System (ADS)

Jackson, David A.

2015-12-01

A conceptual coaxial Pitot tube (PT) has been developed using fiber optic sensors combined with actuators to monitor and maintain its correct operation under different environmental conditions. Experiments were performed showing that the dynamic and static tubes can be cleared of ice. It was also demonstrated that the dynamic tube could be cleared of dust and sand which was not the case for the static tube in the coaxial configuration. An approach was proposed to overcome this problem involving a conventional configuration where the static tube was operated independently orthogonal to the dynamic tube, and a second set of sensors and actuators was used. Sensors and associated actuators were developed for temperature and intensity for a linear PT. The aim of this work is to propose a solution for a problem that has caused the loss of the lives of many passengers and crew of aircraft. Resources were not available to test a full implementation of a PT incorporating the proposed modifications.

Unsteady flow sensing and optimal sensor placement using machine learning

NASA Astrophysics Data System (ADS)

Semaan, Richard

2016-11-01

Machine learning is used to estimate the flow state and to determine the optimal sensor placement over a two-dimensional (2D) airfoil equipped with a Coanda actuator. The analysis is based on flow field data obtained from 2D unsteady Reynolds averaged Navier-Stokes (uRANS) simulations with different jet blowing intensities and actuation frequencies, characterizing different flow separation states. This study shows how the "random forests" algorithm is utilized beyond its typical usage in fluid mechanics estimating the flow state to determine the optimal sensor placement. The results are compared against the current de-facto standard of maximum modal amplitude location and against a brute force approach that scans all possible sensor combinations. The results show that it is possible to simultaneously infer the state of flow and to determine the optimal sensor location without the need to perform proper orthogonal decomposition. Collaborative Research Center (CRC) 880, DFG.

40 CFR 86.094-25 - Maintenance.

Code of Federal Regulations, 2010 CFR

2010-07-01

... sensors (including oxygen sensor if installed) and actuators. (D) Exhaust gas recirculation system..., and for 1985 and Later Model Year New Gasoline Fueled, Natural Gas-Fueled, Liquefied Petroleum Gas... trucks and heavy-duty engines, the adjustment, cleaning, repair, or replacement of the oxygen sensor...

40 CFR 86.094-25 - Maintenance.

Code of Federal Regulations, 2011 CFR

2011-07-01

... sensors (including oxygen sensor if installed) and actuators. (D) Exhaust gas recirculation system..., and for 1985 and Later Model Year New Gasoline Fueled, Natural Gas-Fueled, Liquefied Petroleum Gas... trucks and heavy-duty engines, the adjustment, cleaning, repair, or replacement of the oxygen sensor...

SPS structures and control: A perspective

NASA Technical Reports Server (NTRS)

Ried, R. C.

1980-01-01

The characteristics and design requirements for the structure and control systems for a solar power satellite were evaluated. A simplistic, indicative analysis on a representative configuration was developed. Representative configuration masses and dimensions are given in convenient approximate magnitudes. The significance of structure control interaction and the significance of stiffness to the minimization of dynamic energy was demonstrated. It was found that the thermal environment for the SPS was dominated by solar radiation and waste heat rejection by the antenna. A more in-depth assessment of the control system design and associated system performance is still needed, specifically the inter-relatonships between control sensors, actuators, and structural response.

Non-uniform Solar Temperature Field on Large Aperture, Fully-Steerable Telescope Structure

NASA Astrophysics Data System (ADS)

Liu, Yan

2016-09-01

In this study, a 110-m fully steerable radio telescope was used as an analysis platform and the integral parametric finite element model of the antenna structure was built in the ANSYS thermal analysis module. The boundary conditions of periodic air temperature, solar radiation, long-wave radiation shadows of the surrounding environment, etc. were computed at 30 min intervals under a cloudless sky on a summer day, i.e., worstcase climate conditions. The transient structural temperatures were then analyzed under a period of several days of sunshine with a rational initial structural temperature distribution until the whole set of structural temperatures converged to the results obtained the day before. The non-uniform temperature field distribution of the entire structure and the main reflector surface RMS were acquired according to changes in pitch and azimuth angle over the observation period. Variations in the solar cooker effect over time and spatial distributions in the secondary reflector were observed to elucidate the mechanism of the effect. The results presented here not only provide valuable realtime data for the design, construction, sensor arrangement and thermal deformation control of actuators but also provide a troubleshooting reference for existing actuators.

Wavefront correction and high-resolution in vivo OCT imaging with an objective integrated multi-actuator adaptive lens

PubMed Central

Bonora, Stefano; Jian, Yifan; Zhang, Pengfei; Zam, Azhar; Pugh, Edward N.; Zawadzki, Robert J.; Sarunic, Marinko V.

2015-01-01

Adaptive optics is rapidly transforming microscopy and high-resolution ophthalmic imaging. The adaptive elements commonly used to control optical wavefronts are liquid crystal spatial light modulators and deformable mirrors. We introduce a novel Multi-actuator Adaptive Lens that can correct aberrations to high order, and which has the potential to increase the spread of adaptive optics to many new applications by simplifying its integration with existing systems. Our method combines an adaptive lens with an imaged-based optimization control that allows the correction of images to the diffraction limit, and provides a reduction of hardware complexity with respect to existing state-of-the-art adaptive optics systems. The Multi-actuator Adaptive Lens design that we present can correct wavefront aberrations up to the 4th order of the Zernike polynomial characterization. The performance of the Multi-actuator Adaptive Lens is demonstrated in a wide field microscope, using a Shack-Hartmann wavefront sensor for closed loop control. The Multi-actuator Adaptive Lens and image-based wavefront-sensorless control were also integrated into the objective of a Fourier Domain Optical Coherence Tomography system for in vivo imaging of mouse retinal structures. The experimental results demonstrate that the insertion of the Multi-actuator Objective Lens can generate arbitrary wavefronts to correct aberrations down to the diffraction limit, and can be easily integrated into optical systems to improve the quality of aberrated images. PMID:26368169

Fatigue disbonding analysis of wide composite panels by means of Lamb waves

NASA Astrophysics Data System (ADS)

Michalcová, Lenka; Rechcígel, Lukáš; Bělský, Petr; Kucharský, Pavel

2018-03-01

Guided wave-based monitoring of composite structures plays an important role in the area of structural health monitoring (SHM) of aerospace structures. Adhesively bonded joints have not yet fulfilled current airworthiness requirements; hence, assemblies of carbon fibre-reinforced parts still require mechanical fasteners, and a verified SHM method with reliable disbonding/delamination detection and propagation assessment is needed. This study investigated the disbonding/delamination propagation in adhesively bonded panels using Lamb waves during fatigue tests. Analyses focused on the proper frequency and mode selection, sensor placement and selection of parameter sensitive to the growth of disbonding areas. Piezoelectric transducers placed across the bonded area were used as actuators and sensors. Lamb wave propagation was investigated considering the actual shape of the crack front and the mode of the crack propagation. The actual cracked area was determined by ultrasonic A-scans. A correlation between the crack propagation rate and the A0 mode velocity was found.

16 CFR 1211.12 - Requirements for edge sensors.

Code of Federal Regulations, 2011 CFR

2011-01-01

... 16 Commercial Practices 2 2011-01-01 2011-01-01 false Requirements for edge sensors. 1211.12... Requirements for edge sensors. (a) Normal operation test. (1) When installed on a representative door edge, an edge sensor shall actuate upon the application of a 15 pounds (66.7 N) or less force in the direction...

16 CFR § 1211.13 - Inherent force activated secondary door sensors.

Code of Federal Regulations, 2013 CFR

2013-01-01

... sensors. § 1211.13 Section § 1211.13 Commercial Practices CONSUMER PRODUCT SAFETY COMMISSION CONSUMER... Standard § 1211.13 Inherent force activated secondary door sensors. (a) Normal operation test. (1) A force activated door sensor of a door system installed according to the installation instructions shall actuate...

16 CFR 1211.12 - Requirements for edge sensors.

Code of Federal Regulations, 2014 CFR

2014-01-01

... 16 Commercial Practices 2 2014-01-01 2014-01-01 false Requirements for edge sensors. 1211.12... Requirements for edge sensors. (a) Normal operation test. (1) When installed on a representative door edge, an edge sensor shall actuate upon the application of a 15 pounds (66.7 N) or less force in the direction...

Multiple incipient sensor faults diagnosis with application to high-speed railway traction devices.

PubMed

Wu, Yunkai; Jiang, Bin; Lu, Ningyun; Yang, Hao; Zhou, Yang

2017-03-01

This paper deals with the problem of incipient fault diagnosis for a class of Lipschitz nonlinear systems with sensor biases and explores further results of total measurable fault information residual (ToMFIR). Firstly, state and output transformations are introduced to transform the original system into two subsystems. The first subsystem is subject to system disturbances and free from sensor faults, while the second subsystem contains sensor faults but without any system disturbances. Sensor faults in the second subsystem are then formed as actuator faults by using a pseudo-actuator based approach. Since the effects of system disturbances on the residual are completely decoupled, multiple incipient sensor faults can be detected by constructing ToMFIR, and the fault detectability condition is then derived for discriminating the detectable incipient sensor faults. Further, a sliding-mode observers (SMOs) based fault isolation scheme is designed to guarantee accurate isolation of multiple sensor faults. Finally, simulation results conducted on a CRH2 high-speed railway traction device are given to demonstrate the effectiveness of the proposed approach. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Material for magnetostrictive sensors and other applications based on ferrite materials

DOEpatents

McCallum, R. William; Snyder, John E.; Dennis, Kevin W.; Schwichtenberg, Carl R.; Jiles, David C.

2000-07-25

The present invention provides magnetostrictive compositions that include an oxide ferrite which provides mechanical properties that make the magnetostrictive compositions effective for use as sensors and actuators.

Annual Report 2013-2014: Theoretical Studies of Nerve Agents Adsorbed on Surfaces

DTIC Science & Technology

2014-07-08

of the solvation of sarin by water are underway. The results should clarify how water affects desorption properties and the extent of solvation of...platinum activated nanocrystalline ZnO thick films. Sensors and Actuators B-Chemical 2012, 161, 372- 380. 5. Bermudez, V. M., Computational Study of...Rauk, A.; Shishkov, I. F.; Vilkov, L. V.; Koehler, K. F.; Kostyanovsky, R. G., DETERMINATION OF THE STRUCTURE AND CHIROPTICAL PROPERTIES OF THE

Aligned Carbon Nanotube to Enhance Through Thickness Thermal Conductivity in Adhesive Joints (Preprint)

DTIC Science & Technology

2006-12-01

aligned CNT films were prepared by pyrolyzing iron (II) phthalocyanine under Ar/H2 at 900°C as described in details elsewhere16. The average diameter...zone. Keywords: thermal conductivity, carbon nanotubes The unique properties of carbon nanotubes ( CNTs ) have generated interest amongst many...structure and high aspect ratio. These 2 unique properties make CNTs the material of choice for numerous applications like sensors5, actuators6, energy

An Orientation Measurement Method Based on Hall-effect Sensors for Permanent Magnet Spherical Actuators with 3D Magnet Array

PubMed Central

Yan, Liang; Zhu, Bo; Jiao, Zongxia; Chen, Chin-Yin; Chen, I-Ming

2014-01-01

An orientation measurement method based on Hall-effect sensors is proposed for permanent magnet (PM) spherical actuators with three-dimensional (3D) magnet array. As there is no contact between the measurement system and the rotor, this method could effectively avoid friction torque and additional inertial moment existing in conventional approaches. Curved surface fitting method based on exponential approximation is proposed to formulate the magnetic field distribution in 3D space. The comparison with conventional modeling method shows that it helps to improve the model accuracy. The Hall-effect sensors are distributed around the rotor with PM poles to detect the flux density at different points, and thus the rotor orientation can be computed from the measured results and analytical models. Experiments have been conducted on the developed research prototype of the spherical actuator to validate the accuracy of the analytical equations relating the rotor orientation and the value of magnetic flux density. The experimental results show that the proposed method can measure the rotor orientation precisely, and the measurement accuracy could be improved by the novel 3D magnet array. The study result could be used for real-time motion control of PM spherical actuators. PMID:25342000

Optimal locations and orientations of piezoelectric transducers on cylindrical shell based on gramians of contributed and undesired Rayleigh-Ritz modes using genetic algorithm

NASA Astrophysics Data System (ADS)

Biglar, Mojtaba; Mirdamadi, Hamid Reza; Danesh, Mohammad

2014-02-01

In this study, the active vibration control and configurational optimization of a cylindrical shell are analyzed by using piezoelectric transducers. The piezoelectric patches are attached to the surface of the cylindrical shell. The Rayleigh-Ritz method is used for deriving dynamic modeling of cylindrical shell and piezoelectric sensors and actuators based on the Donnel-Mushtari shell theory. The major goal of this study is to find the optimal locations and orientations of piezoelectric sensors and actuators on the cylindrical shell. The optimization procedure is designed based on desired controllability and observability of each contributed and undesired mode. Further, in order to limit spillover effects, the residual modes are taken into consideration. The optimization variables are the positions and orientations of piezoelectric patches. Genetic algorithm is utilized to evaluate the optimal configurations. In this article, for improving the maximum power and capacity of actuators for amplitude depreciation of negative velocity feedback strategy, we have proposed a new control strategy, called "Saturated Negative Velocity Feedback Rule (SNVF)". The numerical results show that the optimization procedure is effective for vibration reduction, and specifically, by locating actuators and sensors in their optimal locations and orientations, the vibrations of cylindrical shell are suppressed more quickly.

Contraction Sensing with Smart Braid McKibben Muscles

PubMed Central

Felt, Wyatt; Chin, Khai Yi; Remy, C. David

2016-01-01

The inherent compliance of soft fluidic actuators makes them attractive for use in wearable devices and soft robotics. Their flexible nature permits them to be used without traditional rotational or prismatic joints. Without these joints, however, measuring the motion of the actuators is challenging. Actuator-level sensors could improve the performance of continuum robots and robots with compliant or multi-degree-of-freedom joints. We make the reinforcing braid of a pneumatic artificial muscle (PAM or McKibben muscle) “smart” by weaving it from conductive, insulated wires. These wires form a solenoid-like circuit with an inductance that more than doubles over the PAM contraction. The reinforcing and sensing fibers can be used to measure the contraction of a PAM actuator with a simple, linear function of the measured inductance. Whereas other proposed self-sensing techniques rely on the addition of special elastomers or transducers, the technique presented in this work can be implemented without modifications of this kind. We present and experimentally validate two models for Smart Braid sensors based on the long solenoid approximation and the Neumann formula, respectively. We test a McKibben muscle made from a Smart Braid in quasistatic conditions with various end-loads and in dynamic conditions. We also test the performance of the Smart Braid sensor alongside steel. PMID:28503062

Faster than the Speed of Hearing: Nanomechanical Force Probes Enable the Electromechanical Observation of Cochlear Hair Cells

PubMed Central

Doll, Joseph C.; Peng, Anthony W.; Ricci, Anthony J.; Pruitt, Beth L.

2012-01-01

Understanding the mechanisms responsible for our sense of hearing requires new tools for unprecedented stimulation and monitoring of sensory cell mechanotransduction at frequencies yet to be explored. We describe nanomechanical force probes designed to evoke mechanotransduction currents at up to 100kHz in living cells. High-speed force and displacement metrology is enabled by integrating piezoresistive sensors and piezoelectric actuators onto nanoscale cantilevers. The design, fabrication process, actuator performance and actuator-sensor crosstalk compensation results are presented. We demonstrate the measurement of mammalian cochlear hair cell mechanotransduction with simultaneous patch clamp recordings at unprecedented speeds. The probes can deliver mechanical stimuli with sub-10 μs rise times in water and are compatible with standard upright and inverted microscopes. PMID:23181721

Sensing of molecules using quantum dynamics

PubMed Central

Migliore, Agostino; Naaman, Ron; Beratan, David N.

2015-01-01

We design sensors where information is transferred between the sensing event and the actuator via quantum relaxation processes, through distances of a few nanometers. We thus explore the possibility of sensing using intrinsically quantum mechanical phenomena that are also at play in photobiology, bioenergetics, and information processing. Specifically, we analyze schemes for sensing based on charge transfer and polarization (electronic relaxation) processes. These devices can have surprising properties. Their sensitivity can increase with increasing separation between the sites of sensing (the receptor) and the actuator (often a solid-state substrate). This counterintuitive response and other quantum features give these devices favorable characteristics, such as enhanced sensitivity and selectivity. Using coherent phenomena at the core of molecular sensing presents technical challenges but also suggests appealing schemes for molecular sensing and information transfer in supramolecular structures. PMID:25911636

Fiberoptics technology and its application to propulsion control systems

NASA Technical Reports Server (NTRS)

Baumbick, R. J.

1983-01-01

Current work on optical sensors and optically controlled actuators for use in air-breathing engine control systems is reviewed with particular reference to the design and operation of several new fiber-optic devices. These include a tachometer, a rotary position encoder, a Fabry-Perot interferometer and a rare-earth sensor for measuring engine gas temperatures, a high-temperature photoswitch designed for the range -55 to 260 C, and optical cables and connectors. The advantages of optics over conventional wire systems used for sensing and actuator control are briefly discussed.

Cobalt ferrite based magnetostrictive materials for magnetic stress sensor and actuator applications

NASA Technical Reports Server (NTRS)

Jiles, David C. (Inventor); Paulsen, Jason A. (Inventor); Snyder, John E. (Inventor); Lo, Chester C. H. (Inventor); Ring, Andrew P. (Inventor); Bormann, Keith A. (Inventor)

2008-01-01

Magnetostrictive material based on cobalt ferrite is described. The cobalt ferrite is substituted with transition metals (such manganese (Mn), chromium (Cr), zinc (Zn) and copper (Cu) or mixtures thereof) by substituting the transition metals for iron or cobalt to form substituted cobalt ferrite that provides mechanical properties that make the substituted cobalt ferrite material effective for use as sensors and actuators. The substitution of transition metals lowers the Curie temperature of the material (as compared to cobalt ferrite) while maintaining a suitable magnetostriction for stress sensing applications.

Single molecule actuation and detection on a lab-on-a-chip magnetoresistive platform

NASA Astrophysics Data System (ADS)

Chaves, R. C.; Bensimon, D.; Freitas, P. P.

2011-03-01

On-chip magnetic tweezers based on current loops were integrated with magnetoresistive sensors. Magnetic forces up to 1.0±0.3pN are produced to actuate on DNA anchored to the surface of a flow cell and labeled with micrometer-sized magnetic beads. The levitation of the beads stretches the immobilized DNA. The relative position of the magnetic beads is monitored using spin-valve sensors. A bead vertical displacement resolution of 60nm is derived for DNA molecular motor activity in a tweezer steady current regime.

Detection and monitoring of flexural cracks in reinforced concrete beams using mounted smart aggregate transducers

NASA Astrophysics Data System (ADS)

Taghavipour, S.; Kharkovsky, S.; Kang, W.-H.; Samali, B.; Mirza, O.

2017-10-01

Previous studies have successfully demonstrated the capability and reliability of the use of Smart Aggregate (SA) transducers to monitor reinforced concrete (RC) structures. However, they mainly focused on the applications of embedded SAs to new structural members, while no major attention was paid to the monitoring of existing RC members using externally mounted SAs. In this paper, a mounted SA-based approach is proposed for a real-time health monitoring of existing RC beams. The proposed approach is verified through monitoring of RC beams under flexural loading, on each of which SA transducers are mounted as an actuator and sensors. The experimental results show that the proposed SA-based approach effectively evaluates the cracking status of RC beams in terms of the peak of power spectral density and damage indexes obtained at multiple sensor locations. It is also shown that the proposed sensor system can also capture a precautionary signal for major cracking.

Smart tunnel: Docking mechanism

NASA Technical Reports Server (NTRS)

Schliesing, John A. (Inventor); Edenborough, Kevin L. (Inventor)

1989-01-01

A docking mechanism is presented for the docking of a space vehicle to a space station comprising a flexible tunnel frame structure which is deployable from the space station. The tunnel structure comprises a plurality of series connected frame sections, one end section of which is attached to the space station and the other end attached to a docking module of a configuration adapted for docking in the payload bay of the space vehicle. The docking module is provided with trunnions, adapted for latching engagement with latches installed in the vehicle payload bay and with hatch means connectable to a hatch of the crew cabin of the space vehicle. Each frame section comprises a pair of spaced ring members, interconnected by actuator-attenuator devices which are individually controllable by an automatic control means to impart relative movement of one ring member to the other in six degrees of freedom of motion. The control means includes computer logic responsive to sensor signals of range and attitude information, capture latch condition, structural loads, and actuator stroke for generating commands to the onboard flight control system and the individual actuator-attenuators to deploy the tunnel to effect a coupling with the space vehicle and space station after coupling. A tubular fluid-impervious liner, preferably fabric, is disposed through the frame sections of a size sufficient to accommodate the passage of personnel and cargo.

Effect of Substrate Roughness on Adhesion and Structural Properties of Ti-Ni Shape Memory Alloy Thin Film.

PubMed

Kim, Donghwan; Lee, Hyunsuk; Bae, Joohyeon; Jeong, Hyomin; Choi, Byeongkeun; Nam, Taehyun; Noh, Jungpil

2018-09-01

Ti-Ni shape memory alloy (SMA) thin films are very attractive material for industrial and medical applications such as micro-actuator, micro-sensors, and stents for blood vessels. An important property besides shape memory effect in the application of SMA thin films is the adhesion between the film and the substrate. When using thin films as micro-actuators or micro-sensors in MEMS, the film must be strongly adhered to the substrate. On the other hand, when using SMA thin films in medical devices such as stents, the deposited alloy thin film must be easily separable from the substrate for efficient processing. In this study, we investigated the effect of substrate roughness on the adhesion of Ti-Ni SMA thin films, as well as the structural properties and phase-transformation behavior of the fabricated films. Ti-Ni SMA thin films were deposited onto etched glass substrates with magnetron sputtering. Radio frequency plasma was used for etching the substrate. The adhesion properties were investigated through progressive scratch test. Structural properties of the films were determined via Feld emission scanning electron microscopy, X-ray diffraction measurements (XRD) and Energy-dispersive X-ray spectroscopy analysis. Phase transformation behaviors were observed with differential scanning calorimetry and low temperature-XRD. Ti-Ni SMA thin film deposited onto rough substrate provides higher adhesive strength than smooth substrate. However the roughness of the substrate has no influence on the growth and crystallization of the Ti-Ni SMA thin films.

Digital flight control actuation system study

NASA Technical Reports Server (NTRS)

Rossing, R.; Hupp, R.

1974-01-01

Flight control actuators and feedback sensors suitable for use in a redundant digital flight control system were examined. The most appropriate design approach for an advanced digital flight control actuation system for development and use in a fly-by-wire system was selected. The concept which was selected consisted of a PM torque motor direct drive. The selected system is compatible with concurrent and independent development efforts on the computer system and the control law mechanizations.

Soft Ultrathin Electronics Innervated Adaptive Fully Soft Robots.

PubMed

Wang, Chengjun; Sim, Kyoseung; Chen, Jin; Kim, Hojin; Rao, Zhoulyu; Li, Yuhang; Chen, Weiqiu; Song, Jizhou; Verduzco, Rafael; Yu, Cunjiang

2018-03-01

Soft robots outperform the conventional hard robots on significantly enhanced safety, adaptability, and complex motions. The development of fully soft robots, especially fully from smart soft materials to mimic soft animals, is still nascent. In addition, to date, existing soft robots cannot adapt themselves to the surrounding environment, i.e., sensing and adaptive motion or response, like animals. Here, compliant ultrathin sensing and actuating electronics innervated fully soft robots that can sense the environment and perform soft bodied crawling adaptively, mimicking an inchworm, are reported. The soft robots are constructed with actuators of open-mesh shaped ultrathin deformable heaters, sensors of single-crystal Si optoelectronic photodetectors, and thermally responsive artificial muscle of carbon-black-doped liquid-crystal elastomer (LCE-CB) nanocomposite. The results demonstrate that adaptive crawling locomotion can be realized through the conjugation of sensing and actuation, where the sensors sense the environment and actuators respond correspondingly to control the locomotion autonomously through regulating the deformation of LCE-CB bimorphs and the locomotion of the robots. The strategy of innervating soft sensing and actuating electronics with artificial muscles paves the way for the development of smart autonomous soft robots. © 2018 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Mechanical interface having multiple grounded actuators

DOEpatents

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

1998-01-01

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

Material for magnetostrictive sensors and other applications based on ferrite materials

DOEpatents

McCallum, R. William; Snyder, John E.; Dennis, Kevin W.; Schwichtenberg, Carl R.; Jiles, David C.

2002-03-05

The present invention provides magnetostrictive composites that include an oxide ferrite and metallic binders which provides mechanical properties that make the magnetostrictive compositions effective for use as sensors and actuators.

Theory of the control of structures by low authority controllers

NASA Technical Reports Server (NTRS)

Aubrun, J. N.

1978-01-01

The novel idea presented is based on the observation that if a structure is controlled by distributed systems of sensors and actuators with limited authority, i.e., if the controller is allowed to modify only moderately the natural modes and frequencies of the structure, then it should be possible to apply root perturbation techniques to predict analytically the behavior of the total system. Attention is given to the root perturbation formula first derived by Jacobi for infinitesimal perturbations which neglect the induced eigenvector perturbation, a more general form of Jacobi's formula, first-order structural equations and modal state vectors, state-space equations for damper-augmented structures, and modal damping prediction formulas.

Metallic Glass/PVDF Magnetoelectric Laminates for Resonant Sensors and Actuators: A Review

PubMed Central

Gutiérrez, Jon; Lasheras, Andoni; Martins, Pedro; Pereira, Nélson; Barandiarán, Jose M.; Lanceros-Mendez, Senentxu

2017-01-01

Among magnetoelectric (ME) heterostructures, ME laminates of the type Metglas-like/PVDF (magnetostrictive+piezoelectric constituents) have shown the highest induced ME voltages, usually detected at the magnetoelastic resonance of the magnetostrictive constituent. This ME coupling happens because of the high cross-correlation coupling between magnetostrictive and piezoelectric material, and is usually associated with a promising application scenario for sensors or actuators. In this work we detail the basis of the operation of such devices, as well as some arising questions (as size effects) concerning their best performance. Also, some examples of their use as very sensitive magnetic fields sensors or innovative energy harvesting devices will be reviewed. At the end, the challenges, future perspectives and technical difficulties that will determine the success of ME composites for sensor applications are discussed. PMID:28561784

16 CFR § 1211.12 - Requirements for edge sensors.

Code of Federal Regulations, 2013 CFR

2013-01-01

... 16 Commercial Practices 2 2013-01-01 2013-01-01 false Requirements for edge sensors. § 1211.12... Requirements for edge sensors. (a) Normal operation test. (1) When installed on a representative door edge, an edge sensor shall actuate upon the application of a 15 pounds (66.7 N) or less force in the direction...

Wavefront Compensation Segmented Mirror Sensing and Control

NASA Technical Reports Server (NTRS)

Redding, David C.; Lou, John Z.; Kissil, Andrew; Bradford, Charles M.; Woody, David; Padin, Stephen

2012-01-01

The primary mirror of very large submillimeter-wave telescopes will necessarily be segmented into many separate mirror panels. These panels must be continuously co-phased to keep the telescope wavefront error less than a small fraction of a wavelength, to ten microns RMS (root mean square) or less. This performance must be maintained continuously across the full aperture of the telescope, in all pointing conditions, and in a variable thermal environment. A wavefront compensation segmented mirror sensing and control system, consisting of optical edge sensors, Wavefront Compensation Estimator/Controller Soft ware, and segment position actuators is proposed. Optical edge sensors are placed two per each segment-to-segment edge to continuously measure changes in segment state. Segment position actuators (three per segment) are used to move the panels. A computer control system uses the edge sensor measurements to estimate the state of all of the segments and to predict the wavefront error; segment actuator commands are computed that minimize the wavefront error. Translational or rotational motions of one segment relative to the other cause lateral displacement of the light beam, which is measured by the imaging sensor. For high accuracy, the collimator uses a shaped mask, such as one or more slits, so that the light beam forms a pattern on the sensor that permits sensing accuracy of better than 0.1 micron in two axes: in the z or local surface normal direction, and in the y direction parallel to the mirror surface and perpendicular to the beam direction. Using a co-aligned pair of sensors, with the location of the detector and collimated light source interchanged, four degrees of freedom can be sensed: transverse x and y displacements, as well as two bending angles (pitch and yaw). In this approach, each optical edge sensor head has a collimator and an imager, placing one sensor head on each side of a segment gap, with two parallel light beams crossing the gap. Two sets of optical edge sensors are used per segment-to-segment edge, separated by a finite distance along the segment edge, for four optical heads, each with an imager and a collimator. By orienting the beam direction of one edge sensor pair to be +45 away from the segment edge direction, and the other sensor pair to be oriented -45 away from the segment edge direction, all six degrees of freedom of relative motion between the segments can be measured with some redundancy. The software resides in a computer that receives each of the optical edge sensor signals, as well as telescope pointing commands. It feeds back the edge sensor signals to keep the primary mirror figure within specification. It uses a feed-forward control to compensate for global effects such as decollimation of the primary and secondary mirrors due to gravity sag as the telescope pointing changes to track science objects. Three segment position actuators will be provided per segment to enable controlled motions in the piston, tip, and tilt degrees of freedom. These actuators are driven by the software, providing the optical changes needed to keep the telescope phased.

Miniature Piezoelectric Macro-Mass Balance

NASA Technical Reports Server (NTRS)

Sherrit, Stewart; Trebi-Ollennu, Ashitey; Bonitz, Robert G.; Bar-Cohen, Yoseph

2010-01-01

Mass balances usually use a strain gauge that requires an impedance measurement and is susceptible to noise and thermal drift. A piezoelectric balance can be used to measure mass directly by monitoring the voltage developed across the piezoelectric balance, which is linear with weight or it can be used in resonance to produce a frequency change proportional to the mass change (see figure). The piezoelectric actuator/balance is swept in frequency through its fundamental resonance. If a small mass is added to the balance, the resonance frequency shifts down in proportion to the mass. By monitoring the frequency shift, the mass can be determined. This design allows for two independent measurements of mass. Additionally, more than one sample can be verified because this invention allows for each sample to be transported away from the measuring device upon completion of the measurement, if required. A piezoelectric actuator, or many piezoelectric actuators, was placed between the collection plate of the sampling system and the support structure. As the sample mass is added to the plate, the piezoelectrics are stressed, causing them to produce a voltage that is proportional to the mass and acceleration. In addition, a change in mass delta m produces a change in the resonance frequency with delta f proportional to delta m. In a microgravity environment, the spacecraft could be accelerated to produce a force on the piezoelectric actuator that would produce a voltage proportional to the mass and acceleration. Alternatively, the acceleration could be used to force the mass on the plate, and the inertial effects of the mass on the plate would produce a shift in the resonance frequency with the change in frequency related to the mass change. Three prototypes of the mass balance mechanism were developed. These macro-mass balances each consist of a solid base and an APA 60 Cedrat flextensional piezoelectric actuator supporting a measuring plate. A similar structure with 3 APA 120 Cedrat flextensional piezoelectric actuators spaced equidistantly at 120 degrees supporting the plate and a softer macro balance with an APA 150 actuator/sensor were developed. These flextensional actuators were chosen because they increase the sensitivity of the actuator to stress, allow the piezoelectric to be pre-stressed, and the piezoelectric element is a stacked multilayer actuator, which has a considerably lower input impedance than a monolithic element that allows for common instruments (e.g., input impedance of 10 megohms) to measure the voltage without rapidly discharging the charge/voltage on the piezoelectric actuator.

Advances on Sensor Web for Internet of Things

NASA Astrophysics Data System (ADS)

Liang, S.; Bermudez, L. E.; Huang, C.; Jazayeri, M.; Khalafbeigi, T.

2013-12-01

'In much the same way that HTML and HTTP enabled WWW, the Open Geospatial Consortium (OGC) Sensor Web Enablement (SWE), envisioned in 2001 [1] will allow sensor webs to become a reality.'. Due to the large number of sensor manufacturers and differing accompanying protocols, integrating diverse sensors into observation systems is not a simple task. A coherent infrastructure is needed to treat sensors in an interoperable, platform-independent and uniform way. SWE standardizes web service interfaces, sensor descriptions and data encodings as building blocks for a Sensor Web. SWE standards are now mature specifications (version 2.0) with approved OGC compliance test suites and tens of independent implementations. Many earth and space science organizations and government agencies are using the SWE standards to publish and share their sensors and observations. While SWE has been demonstrated very effective for scientific sensors, its complexity and the computational overhead may not be suitable for resource-constrained tiny sensors. In June 2012, a new OGC Standards Working Group (SWG) was formed called the Sensor Web Interface for Internet of Things (SWE-IoT) SWG. This SWG focuses on developing one or more OGC standards for resource-constrained sensors and actuators (e.g., Internet of Things devices) while leveraging the existing OGC SWE standards. In the near future, billions to trillions of small sensors and actuators will be embedded in real- world objects and connected to the Internet facilitating a concept called the Internet of Things (IoT). By populating our environment with real-world sensor-based devices, the IoT is opening the door to exciting possibilities for a variety of application domains, such as environmental monitoring, transportation and logistics, urban informatics, smart cities, as well as personal and social applications. The current SWE-IoT development aims on modeling the IoT components and defining a standard web service that makes the observations captured by IoT devices easily accessible and allows users to task the actuators on the IoT devices. The SWE IoT model links things with sensors and reuses the OGC Observation and Model (O&M) to link sensors with features of interest and observed properties Unlike most SWE standards, the SWE-IoT defines a RESTful web interface for users to perform CRUD (i.e., create, read, update, and delete) functions on resources, including Things, Sensors, Actuators, Observations, Tasks, etc. Inspired by the OASIS Open Data Protocol (OData), the SWE-IoT web service provides the multi-faceted query, which means that users can query from different entity collections and link from one entity to other related entities. This presentation will introduce the latest development of the OGC SWE-IoT standards. Potential applications and implications in Earth and Space science will also be discussed. [1] Mike Botts, Sensor Web Enablement White Paper, Open GIS Consortium, Inc. 2002

Analysis and Testing of Plates with Piezoelectric Sensors and Actuators

NASA Technical Reports Server (NTRS)

Bevan, Jeffrey S.

1998-01-01

Piezoelectric material inherently possesses coupling between electrostatics and structural dynamics. Utilizing linear piezoelectric theory results in an intrinsically coupled pair of piezoelectric constitutive equations. One equation describes the direct piezoelectric effect where strains produce an electric field and the other describes the converse effect where an applied electrical field produces strain. The purpose of this study is to compare finite element analysis and experiments of a thin plate with bonded piezoelectric material. Since an isotropic plate in combination with a thin piezoelectric layer constitutes a special case of a laminated composite, the classical laminated plate theory is used in the formulation to accommodated generic laminated composite panels with multiple bonded and embedded piezoelectric layers. Additionally, the von Karman large deflection plate theory is incorporated. The formulation results in laminate constitutive equations that are amiable to the inclusion of the piezoelectric constitutive equations yielding in a fully electro-mechanically coupled composite laminate. Using the finite element formulation, the governing differential equations of motion of a composite laminate with embedded piezoelectric layers are derived. The finite element model not only considers structural degrees of freedom (d.o.f.) but an additional electrical d.o.f. for each piezoelectric layer. Comparison between experiment and numerical prediction is performed by first treating the piezoelectric as a sensor and then again treating it as an actuator. To assess the piezoelectric layer as a sensor, various uniformly distributed pressure loads were simulated in the analysis and the corresponding generated voltages were calculated using both linear and nonlinear finite element analyses. Experiments were carried out by applying the same uniformly distributed loads and measuring the resulting generated voltages and corresponding maximum plate deflections. It is found that a highly nonlinear relationship exists between maximum deflection and voltage versus pressure loading. In order to assess comparisons of predicted and measured piezoelectric actuation, sinusoidal excitation voltages are simulated/applied and maximum deflections are calculated/measured. The maximum deflection as a function of time was determined using the linear finite elements analysis. Good correlation between prediction and measurement was achieved in all cases.

A novel frequency tuned wireless actuator with snake-like motion

NASA Astrophysics Data System (ADS)

Zhang, Kewei; Zhu, Qianke; Chai, Yuesheng

2016-07-01

In this work, we propose a novel wireless actuator which is composed of magnetostrictive material/copper bi-layer film. The actuator can be controlled to move like a snake bi-directionally along a pipe by tuning the frequency of external magnetic field near its first order resonant frequency. The governing equation for the actuator is established and the vibration mode shape function is derived. Theoretical analysis shows that motion of the actuator is achieved by asymmetric vibration mode shape, specific vibration bending deformation, and effective net total impacting force. The simulation and experimental results well confirm the theoretical analysis. This work provides contribution to the development of wireless micro robots and autonomous magnetostrictive sensors.

Measurement of the Length of Installed Rock Bolt Based on Stress Wave Reflection by Using a Giant Magnetostrictive (GMS) Actuator and a PZT Sensor.

PubMed

Luo, Mingzhang; Li, Weijie; Wang, Bo; Fu, Qingqing; Song, Gangbing

2017-02-23

Rock bolts, as a type of reinforcing element, are widely adopted in underground excavations and civil engineering structures. Given the importance of rock bolts, the research outlined in this paper attempts to develop a portable non-destructive evaluation method for assessing the length of installed rock bolts for inspection purposes. Traditionally, piezoelectric elements or hammer impacts were used to perform non-destructive evaluation of rock bolts. However, such methods suffered from many major issues, such as the weak energy generated and the requirement for permanent installation for piezoelectric elements, and the inconsistency of wave generation for hammer impact. In this paper, we proposed a portable device for the non-destructive evaluation of rock bolt conditions based on a giant magnetostrictive (GMS) actuator. The GMS actuator generates enough energy to ensure multiple reflections of the stress waves along the rock bolt and a lead zirconate titantate (PZT) sensor is used to detect the reflected waves. A new integrated procedure that involves correlation analysis, wavelet denoising, and Hilbert transform was proposed to process the multiple reflection signals to determine the length of an installed rock bolt. The experimental results from a lab test and field tests showed that, by analyzing the instant phase of the periodic reflections of the stress wave generated by the GMS transducer, the length of an embedded rock bolt can be accurately determined.

Measurement of the Length of Installed Rock Bolt Based on Stress Wave Reflection by Using a Giant Magnetostrictive (GMS) Actuator and a PZT Sensor

PubMed Central

Luo, Mingzhang; Li, Weijie; Wang, Bo; Fu, Qingqing; Song, Gangbing

2017-01-01

Rock bolts, as a type of reinforcing element, are widely adopted in underground excavations and civil engineering structures. Given the importance of rock bolts, the research outlined in this paper attempts to develop a portable non-destructive evaluation method for assessing the length of installed rock bolts for inspection purposes. Traditionally, piezoelectric elements or hammer impacts were used to perform non-destructive evaluation of rock bolts. However, such methods suffered from many major issues, such as the weak energy generated and the requirement for permanent installation for piezoelectric elements, and the inconsistency of wave generation for hammer impact. In this paper, we proposed a portable device for the non-destructive evaluation of rock bolt conditions based on a giant magnetostrictive (GMS) actuator. The GMS actuator generates enough energy to ensure multiple reflections of the stress waves along the rock bolt and a lead zirconate titantate (PZT) sensor is used to detect the reflected waves. A new integrated procedure that involves correlation analysis, wavelet denoising, and Hilbert transform was proposed to process the multiple reflection signals to determine the length of an installed rock bolt. The experimental results from a lab test and field tests showed that, by analyzing the instant phase of the periodic reflections of the stress wave generated by the GMS transducer, the length of an embedded rock bolt can be accurately determined. PMID:28241503

Topologically Optimized Nano-Positioning Stage Integrating with a Capacitive Comb Sensor.

PubMed

Chen, Tao; Wang, Yaqiong; Liu, Huicong; Yang, Zhan; Wang, Pengbo; Sun, Lining

2017-01-28

Nano-positioning technology has been widely used in many fields, such as microelectronics, optical engineering, and micro manufacturing. This paper presents a one-dimensional (1D) nano-positioning system, adopting a piezoelectric ceramic (PZT) actuator and a multi-objective topological optimal structure. The combination of a nano-positioning stage and a feedback capacitive comb sensor has been achieved. In order to obtain better performance, a wedge-shaped structure is used to apply the precise pre-tension for the piezoelectric ceramics. Through finite element analysis and experimental verification, better static performance and smaller kinetic coupling are achieved. The output displacement of the system achieves a long-stroke of up to 14.7 μm and high-resolution of less than 3 nm. It provides a flexible and efficient way in the design and optimization of the nano-positioning system.

Topologically Optimized Nano-Positioning Stage Integrating with a Capacitive Comb Sensor

PubMed Central

Chen, Tao; Wang, Yaqiong; Liu, Huicong; Yang, Zhan; Wang, Pengbo; Sun, Lining

2017-01-01

Nano-positioning technology has been widely used in many fields, such as microelectronics, optical engineering, and micro manufacturing. This paper presents a one-dimensional (1D) nano-positioning system, adopting a piezoelectric ceramic (PZT) actuator and a multi-objective topological optimal structure. The combination of a nano-positioning stage and a feedback capacitive comb sensor has been achieved. In order to obtain better performance, a wedge-shaped structure is used to apply the precise pre-tension for the piezoelectric ceramics. Through finite element analysis and experimental verification, better static performance and smaller kinetic coupling are achieved. The output displacement of the system achieves a long-stroke of up to 14.7 μm and high-resolution of less than 3 nm. It provides a flexible and efficient way in the design and optimization of the nano-positioning system. PMID:28134854

Thermal expansion as a precision actuator

NASA Astrophysics Data System (ADS)

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

2016-07-01

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

Computational Nanotechnology of Molecular Materials, Electronics, and Actuators with Carbon Nanotubes and Fullerenes

NASA Technical Reports Server (NTRS)

Srivastava, Deepak; Menon, Madhu; Cho, Kyeongjae; Biegel, Bryan (Technical Monitor)

2001-01-01

The role of computational nanotechnology in developing next generation of multifunctional materials, molecular scale electronic and computing devices, sensors, actuators, and machines is described through a brief review of enabling computational techniques and few recent examples derived from computer simulations of carbon nanotube based molecular nanotechnology.

One-shot valve may be remotely actuated

NASA Technical Reports Server (NTRS)

Kami, S.

1965-01-01

One-shot valve, with spring-loaded plunger and sealing diaphragm, incorporates an emergency release actuated by a remote sensor. The plunger is released by the electrical melting of a fuse link and pierces the valve seal. The valve lowers fluid pressure in a container without losing the contained fluid.

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%.

Huyghens Engines--a new concept and its embodiment for nano-micro interlevel information processing.

PubMed

Santoli, Salvatore

2009-02-01

Current criteria in Bionanotechnology based on software and sensor/actuator hardware of Artificial Intelligence for bioinspired nanostructured systems lack the nanophysical background and key mathematics to describe and mimick the biological hierarchies of nano-to-micro-integrated informational/energetic levels. It is argued that bionanoscale hardware/software undividable solidarity can be mimicked by artificial nanostructured systems featuring intra/interlevel information processing through the emerging organization principle of quantum holography, described by the Heisenberg group G and by harmonic analysis on G. From a property of G as a Lie group, quantum holography is shown to merge the quantum/classical dynamic-symbolic ongoings into the structure-function unity of biological sensing-information processing-actuating, while by Ch. Huyghens' principles about wave motion and coupled oscillators synchronization it applies to environmental waves of any kind, so embodying a universal information processing engine, dubbed Huyghens Engine, that mimicks the holistic nanobiological structure-function solidarity and the kinetics/thermodynamics of nano/micro interface information transfer.

Active vibration control activities at the LaRC - Present and future

NASA Technical Reports Server (NTRS)

Newsom, J. R.

1990-01-01

The NASA Controls-Structures-Interaction (CSI) program is presented with a description of the ground testing element objectives and approach. The goal of the CSI program is to develop and validate the technology required to design, verify and operate space systems in which the structure and the controls interact beneficially to meet the needs of future NASA missions. The operational Mini-Mast ground testbed and some sample active vibration control experimental results are discussed along with a description of the CSI Evolutionary Model testbed presently under development. Initial results indicate that embedded sensors and actuators are effective in controlling a large truss/reflector structure.

Optimal active vibration absorber: Design and experimental results

NASA Technical Reports Server (NTRS)

Lee-Glauser, Gina; Juang, Jer-Nan; Sulla, Jeffrey L.

1992-01-01

An optimal active vibration absorber can provide guaranteed closed-loop stability and control for large flexible space structures with collocated sensors/actuators. The active vibration absorber is a second-order dynamic system which is designed to suppress any unwanted structural vibration. This can be designed with minimum knowledge of the controlled system. Two methods for optimizing the active vibration absorber parameters are illustrated: minimum resonant amplitude and frequency matched active controllers. The Controls-Structures Interaction Phase-1 Evolutionary Model at NASA LaRC is used to demonstrate the effectiveness of the active vibration absorber for vibration suppression. Performance is compared numerically and experimentally using acceleration feedback.

Damage-Survivable and Damage-Tolerant Laminated Composites with Optimally Placed Piezoelectric Layers

DTIC Science & Technology

1992-11-13

AD-A269 879 Damage-Survivable j and Damage-Tolerant Laminated Composites .4.. with Optimally placed Piezoelectric Layers Final Report No. 1 S. P...Damage Surviable and Damage-Tolerant Laminated Composites With Optimally Placed Piezoelectric Layers 12. PERSONAL AUTHOR(S) S.P. Joshi, W.S. Chan ൕa...block number) The main objective of the research is to assure that the embedded sensors/actuators in a smart laminated composite structure are damage

Structural Health Monitoring for Heterogeneous Systems

DTIC Science & Technology

2006-06-30

composites, The 2 present work concentrates on the applicability of the MPD teclmnique to extract some feature components of "multiple-harmonic...actuator and sensor transfer finctions, rcspectivcly. The parameter CaI) is thc attenuation coefficieint at excitation frequency (Q and RAS is the...an cquilatcral triangle with a spacing of v0- R, and thc angles (t’,B6,Y) equal ton’/ 3 . 8 ag ID Is 20 25 Fig 2: L.:+ Su,,su, .....g distributio. Fig

Reversible nano-lithography for commercial approaches

NASA Astrophysics Data System (ADS)

Park, Jae Hong; Jang, Hyun Ik; Kim, Woo Choong; Yun, Hae S.; Park, Jun Yong; Jeon, Seok Woo; Kim, Hee Yeoun; Ahn, Chi Won

2016-04-01

The methodology suggested in this research provides the great possibility of creating nanostructures composed of various materials, such as soft polymer, hard polymer, and metal, as well as Si. Such nanostructures are required for a vast range of optical and display devices, photonic components, physical devices, energy devices including electrodes of secondary batteries, fuel cells, solar cells, and energy harvesters, biological devices including biochips, biomimetic or biosimilar structured devices, and mechanical devices including micro- or nano-scale sensors and actuators.

Pyroelectric A1GaN/GaN HEMTs for ion-, gas- and Polar-Liquid Sensors

DTIC Science & Technology

2004-08-17

including the manipulation of pico- and nanofluid volumes on chemical or structural modified surfaces and defining suitable interfaces to the macroworld. A... nanofluidic dispensers based on piezo actuators, the micro periphery and the electronics for measuring biochemical assay systems (in vivo and in vitro...interface without the need of a modulation doped barrier. The carrier concentration and electron mobility within the 2DEG can be very high and build

F-16 Ventral Fin Buffet Alleviation Using Piezoelectric Actuators

DTIC Science & Technology

2009-09-01

collocated design to alleviate the vibrations of the first two modes of the ventral fin. A switching amplifier was de - signed and custom built to drive the...6M per year [22]. 1 Figure 1.1: LANTIRN Pod and Ventral Fin Locations [cour- tesy USAF] Buffet induced vibrations affect more than just vertical tail...appropriate sensors and actuators for the ventral fin. Several de - viations were necessary, including individual actuator size and orientation and the

Concepts for smart nanocomposite materials

NASA Astrophysics Data System (ADS)

Pammi, SriLaxmi; Brown, Courtney; Datta, Saurabh; Kirikera, Goutham R.; Schulz, Mark J.

2003-10-01

This paper explores concepts for new smart materials that have extraordinary properties based on nanotechnology. Carbon and boron nitride nanotubes in theory can be used to manufacture fibers that have piezoelectric, pyroelectric, piezoresistive, and electrochemical field properties. Smart nanocomposites designed using these fibers will sense and respond to elastic, thermal, and chemical fields in a positive human-like way to improve the performance of structures, devices, and possibly humans. Remarkable strength, morphing, cooling, energy harvesting, strain and temperature sensing, chemical sensing and filtering, and high natural frequencies and damping will be the properties of these new materials. Synthesis of these unique atomically precise nanotubes, fibers, and nanocomposites is at present challenging and expensive, however, there is the possibility that we can synthesize the strongest and lightest actuators and most efficient sensors man has ever made. A particular advantage of nanotube transducers is their very high load bearing capability. Carbon nanotube electrochemical actuators have a predicted energy density at low frequencies that is thirty times greater than typical piezoceramic materials while boron nitride nanotubes are insulators and can operate at high temperatures, but they have a predicted piezoelectric induced stress constant that is about twenty times smaller than piezoceramic materials. Carbon nanotube fibers and composites exhibit a change in electrical conductivity due to strain that can be used for sensing. Some concepts for nanocomposite material sensors are presented and initial efforts to fabricate carbon nanocomposite load sensors are discussed.

Control system failure monitoring using generalized parity relations. M.S. Thesis Interim Technical Report

NASA Technical Reports Server (NTRS)

Vanschalkwyk, Christiaan Mauritz

1991-01-01

Many applications require that a control system must be tolerant to the failure of its components. This is especially true for large space-based systems that must work unattended and with long periods between maintenance. Fault tolerance can be obtained by detecting the failure of the control system component, determining which component has failed, and reconfiguring the system so that the failed component is isolated from the controller. Component failure detection experiments that were conducted on an experimental space structure, the NASA Langley Mini-Mast are presented. Two methodologies for failure detection and isolation (FDI) exist that do not require the specification of failure modes and are applicable to both actuators and sensors. These methods are known as the Failure Detection Filter and the method of Generalized Parity Relations. The latter method was applied to three different sensor types on the Mini-Mast. Failures were simulated in input-output data that were recorded during operation of the Mini-Mast. Both single and double sensor parity relations were tested and the effect of several design parameters on the performance of these relations is discussed. The detection of actuator failures is also treated. It is shown that in all the cases it is possible to identify the parity relations directly from input-output data. Frequency domain analysis is used to explain the behavior of the parity relations.

Engine control system having pressure-based timing

DOEpatents

Willi, Martin L [Dunlap, IL; Fiveland, Scott B [Metamora, IL; Montgomery, David T [Edelstein, IL; Gong, Weidong [Dunlap, IL

2011-10-04

A control system for an engine having a first cylinder and a second cylinder is disclosed having a first engine valve movable to regulate a fluid flow of the first cylinder and a first actuator associated with the first engine valve. The control system also has a second engine valve movable to regulate a fluid flow of the second cylinder and a sensor configured to generate a signal indicative of a pressure within the first cylinder. The control system also has a controller that is in communication with the first actuator and the sensor. The controller is configured to compare the pressure within the first cylinder with a desired pressure and selectively regulate the first actuator to adjust a timing of the first engine valve independently of the timing of the second engine valve based on the comparison.

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

PubMed Central

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

2016-01-01

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

Universal Sensor and Actuator Requirements. Chapter 5

NASA Technical Reports Server (NTRS)

Rosenfeld, Taylor; Webster, John; Garg, Sanjay

2009-01-01

The previous chapters have focused on the requirements for sensors and actuators for "More Intelligent Gas Turbine Engines" from the perspective of performance and operating environment. Even if a technology is available, which meets these performance requirements, there are still various hurdles to be overcome for the technology to transition into a real engine. Such requirements relate to TRL (Technology Readiness Level), durability, reliability, volume, weight, cost, etc. This chapter provides an overview of such universal requirements which any sensor or actuator technology will have to meet before it can be implemented on a product. The objective here is to help educate the researchers or technology developers on the extensive process that the technology has to go through beyond just meeting performance requirements. The hope is that such knowledge will help the technology developers as well as decision makers to prevent wasteful investment in developing solutions to performance requirements, which have no potential to meet the "universal" requirements. These "universal" requirements can be divided into 2 broad areas: 1) Technology value proposition; and 2) Technology maturation. These requirements are briefly discussed in the following.

A fatigue test method for Pb(Zr,Ti)O3 thin films by using MEMS-based self-sensitive piezoelectric microcantilevers

NASA Astrophysics Data System (ADS)

Kobayashi, T.; Maeda, R.; Itoh, T.

2008-11-01

In the present study, we propose a new method for the fatigue test of lead zirconate titanate (PZT) thin films for MEMS devices by using self-sensitive piezoelectric microcantilevers developed in our previous study. We have deposited PZT thin films on SOI wafers and fabricated the microcantilevers through the MEMS microfabrication process. In the self-sensitive piezoelectric microcantilevers, the PZT thin films are separated in order to act as an actuator and a sensor. The fatigue characteristic of the PZT thin films can be evaluated by measuring the output voltage of the sensor as a function of time. When a sine wave of 20 Vpp and a dc bias of 10 V were applied to the PZT thin films for an actuator, the output voltage of the sensor fell down after 107 fatigue cycles. We have also investigated the influence of amplitude of the actuation sine wave and dc bias on the fatigue of the PZT thin films by using the proposed fatigue test method.