Journal articles: 'Binary Actuation'

1

Zhao, Yuejun, Fangjie Liu, and Chuan-Hua Chen. "Thermocapillary actuation of binary drops on solid surfaces." Applied Physics Letters 99, no. 10 (September 5, 2011): 104101. http://dx.doi.org/10.1063/1.3632041.

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Ottaviano, E., G. Carbone, and M. Ceccarelli. "Workspace analysis and performance of a binary actuated parallel manipulator with flexural joints." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 217, no. 3 (March 1, 2003): 313–30. http://dx.doi.org/10.1243/095440603762869984.

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In this paper the design of a miniaturized parallel architecture is investigated in terms of basic performances concerning mobility and workspace characteristics. The miniature requirements have been achieved with a milli-scaled parallel manipulator requiring flexural joints and binary actuation with shape memory alloy wires or small pneumatic pistons. The mechanical design is analysed by considering the mobility of the flexural joints in order to size them and model the kinematics of the joints. The reachability is analysed through a suitable formulation of the direct kinematics by also taking into account binary actuation. Workspace performance has been determined in terms of position and orientation capabilities.

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Owusu-Danquah, Josiah S., and Atef F. Saleeb. "Detwinning of preloaded martensite in shape memory alloys and its effect on the cyclic behavior of NiTi cylindrical actuators." Journal of Intelligent Material Systems and Structures 28, no. 19 (May 3, 2017): 2835–52. http://dx.doi.org/10.1177/1045389x17704062.

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A multi-mechanism material model is used to investigate the effect of the degree of martensitic detwinning/reorientation occurring at the end of mechanical preloading, on the performance of shape memory tubular and solid cylindrical actuators. A high-temperature ternary Ni50.3Ti29.7Hf20 alloy, showing almost complete transformation behavior, and an ordinary binary Ni49.9Ti50.1 material, depicting incomplete martensitic transformation, are used. The results indicated a clear correlation between the shape memory cyclic actuation behavior and the martensitic deformation character of the selected alloy. More specifically, while the actuation strokes produced by the Ni50.3Ti29.7Hf20 systems consistently followed a direct pattern for the different geometries and torque magnitudes, the results for the Ni49.9Ti50.1 cases indicated a behavior that is counterintuitive to what may be expected under pure mechanical loading conditions. In particular, when subjected to the same, high preload torques, Ni49.9Ti50.1 solid actuator under lesser stresses generated higher twist strokes than a tubular counterpart experiencing higher stresses.

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Chirikjian, G. S. "Kinematic Synthesis of Mechanisms and Robotic Manipulators With Binary Actuators." Journal of Mechanical Design 117, no. 4 (December 1, 1995): 573–80. http://dx.doi.org/10.1115/1.2826721.

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Binary actuators have only two discrete states (denoted “0” and “1”), both of which are stable without feedback. As a result, binary mechanisms and manipulators have a finite number of states. Major benefits of binary actuation are that extensive feedback control is not required, task repeatability can be very high, and two-state actuators are generally very inexpensive (e.g., solenoids, pneumatic cylinders, etc.), thus resulting in low cost robotic mechanisms. This paper develops algorithms for the optimal synthesis of binary manipulators and mechanisms for discrete tasks such as pick-and-place operations.

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Bonfante, G., T. Roux-Marchand, M. C. Audry-Deschamps, L. Renaud, P. Kleimann, A. Brioude, and M. Maillard. "Polarization mechanisms of dielectric materials at a binary liquid interface: impacts on electrowetting actuation." Physical Chemistry Chemical Physics 19, no. 44 (2017): 30139–46. http://dx.doi.org/10.1039/c7cp06052a.

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Kunti, Golak, Anandaroop Bhattacharya, and Suman Chakraborty. "Alternating current electrothermal modulated moving contact line dynamics of immiscible binary fluids over patterned surfaces." Soft Matter 13, no. 37 (2017): 6377–89. http://dx.doi.org/10.1039/c7sm00684e.

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In this paper, we report the results of our numerical study on incompressible flow of a binary system of two immiscible fluids in a parallel plate capillary using alternating current electrothermal kinetics as the actuation mechanism for flow.

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Giacobassi, Cassie A., Daniela A. Oliveira, Cicero C. Pola, Dong Xiang, Yifan Tang, Shoumen Palit Austin Datta, Eric S. McLamore, and Carmen L. Gomes. "Sense–Analyze–Respond–Actuate (SARA) Paradigm: Proof of Concept System Spanning Nanoscale and Macroscale Actuation for Detection of Escherichia coli in Aqueous Media." Actuators 10, no. 1 (December 23, 2020): 2. http://dx.doi.org/10.3390/act10010002.

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Foodborne pathogens are a major concern for public health. We demonstrate for the first time a partially automated sensing system for rapid (~17 min), label-free impedimetric detection of Escherichia coli spp. in food samples (vegetable broth) and hydroponic media (aeroponic lettuce system) based on temperature-responsive poly(N-isopropylacrylamide) (PNIPAAm) nanobrushes. This proof of concept (PoC) for the Sense-Analyze-Respond-Actuate (SARA) paradigm uses a biomimetic nanostructure that is analyzed and actuated with a smartphone. The bio-inspired soft material and sensing mechanism is inspired by binary symbiotic systems found in nature, where low concentrations of bacteria are captured from complex matrices by brush actuation driven by concentration gradients at the tissue surface. To mimic this natural actuation system, carbon-metal nanohybrid sensors were fabricated as the transducer layer, and coated with PNIPAAm nanobrushes. The most effective coating and actuation protocol for E. coli detection at various temperatures above/below the critical solution temperature of PNIPAAm was determined using a series of electrochemical experiments. After analyzing nanobrush actuation in stagnant media, we developed a flow through system using a series of pumps that are triggered by electrochemical events at the surface of the biosensor. SARA PoC may be viewed as a cyber-physical system that actuates nanomaterials using smartphone-based electroanalytical testing of samples. This study demonstrates thermal actuation of polymer nanobrushes to detect (sense) bacteria using a cyber-physical systems (CPS) approach. This PoC may catalyze the development of smart sensors capable of actuation at the nanoscale (stimulus-response polymer) and macroscale (non-microfluidic pumping).

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Scheidl, Rudolf, and Simon Mittlböck. "A mathematical analysis of a hydraulic binary counter for hydraulic exoskeleton actuation." International Journal of Hydromechatronics 1, no. 2 (2018): 153. http://dx.doi.org/10.1504/ijhm.2018.092724.

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Mittlböck, Simon, and Rudolf Scheidl. "A mathematical analysis of a hydraulic binary counter for hydraulic exoskeleton actuation." International Journal of Hydromechatronics 1, no. 2 (2018): 153. http://dx.doi.org/10.1504/ijhm.2018.10014038.

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Ottaviano, E., M. Ceccarelli, J. Di Giorgio, and M. Varone. "Design and Evaluation of a Discretely Actuated Multi-Module Parallel Manipulator." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 220, no. 4 (April 1, 2006): 513–26. http://dx.doi.org/10.1243/09544062c08305.

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In this paper, a new discretely actuated spatial parallel manipulator is presented as designed with binary pneumatic actuation. It has been used as a basic module for the construction of a multi-module parallel manipulator. Major benefits of discretely actuated manipulators are high repeatability, relatively low cost, and no need for feedback control. In addition, hyper-redundancy allows executing tasks even when some actuators fail. Binary actuators can have only two stable states denoted by (0) and (1). In this paper, kinematic and static analyses have been reported to obtain design constraints that have been used to build a first prototype. A performance evaluation is carried out and the prototype has been built for experimental tests.

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Groß, Roman, Kai Berkenfeld, Christoph Schulte, Anselm Ebert, Sunita Sule, Ameet Sule, and Alf Lamprecht. "State of the Art in Capsule-Based Dry Powder Inhalers: Deagglomeration Techniques and the Consequences for Formulation Aerosolization." Pharmaceutics 14, no. 6 (May 31, 2022): 1185. http://dx.doi.org/10.3390/pharmaceutics14061185.

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Commercially available dry powder inhalers (DPIs) are usually devices in a fixed combination with the intended formulation, and a change in medication by the physician often forces the patient to use a different device, requiring the patient to relearn how to use it, resulting in lower adherence and inadequate therapy. To investigate whether DPIs can achieve successful outcomes regardless of the formulation and flow rate used, a novel DPI and two commercially available devices were compared in vitro for their deagglomeration behavior for different binary blends and a spray-dried particle formulation. The results demonstrate that the novel device achieved the highest fine particle fraction (FPF) regardless of the formulations tested. In the binary mixtures tested, the highest emitted fraction was obtained by shaking out the powder due to the oscillating motion of the capsule in the novel device during actuation. For DPIs with high intrinsic resistance to airflow, similar FPFs were obtained with the respective DPI and formulation, regardless of the applied flow rate. Additionally, the development and use of binary blends of spray-dried APIs and carrier particles may result in high FPF and overcome disadvantages of spray-dried particles, such as high powder retention in the capsule.

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Shanmugam, Priyadarshini, Luis Iglesias, Marc Portail, Isabelle Dufour, Dominique Certon, Daniel Alquier, and Jean François Michaud. "A New Approach in the Field of Hydrogen Gas Sensing Using MEMS Based 3C-SiC Microcantilevers." Materials Science Forum 1062 (May 31, 2022): 593–97. http://dx.doi.org/10.4028/p-m048qs.

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This paper demonstrates the ability of 3CSiC microcantilevers (μCs) to monitor binary gas mixture without sensitive coating. Here, 3CSiC is chosen in particular, as the newly designed sensor will be placed in a radioactive environment. The change in gas concentration is identified using relative shifts in the cantilever’s mechanical resonance frequency (∆fr). The presented microcantilevers work on electromagnetic actuation and inductive detection. In this paper, the fabrication process, optical characterization results using laser Doppler vibrometry and test results under a gas mixture environment are demonstrated. The presented limit of detection shows the ability of 3CSiCμCs to detect less than 1% of hydrogen in nitrogen, which makes them suitable for the targeted application.

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Figliolini, Giorgio, and Marco Ceccarelli. "EP-WAR3 biped robot for climbing and descending stairs." Robotica 22, no. 4 (August 2004): 405–17. http://dx.doi.org/10.1017/s0263574704000232.

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A biped walking robot, named EP-WAR3 (Electro-Pneumatic-Walking-Robot), has been designed, built and tested at LARM (Laboratory of Robotics and Mechatronics) in Cassino. EP-WAR3 is provided with a suitable binary pneumatic actuation in order to be controlled through a common PLC (Programmable-Logic-Controller) as an event-based system in an on/off environment. The walking stability of the biped robot is obtained by using suction-cups, which are installed on the underside of each foot. EP-WAR3 is able to walk along a straight line with two different step sizes, turn right and left, and to climb and to descend stairs. A suitable motion analysis and programming technique of the PLC controller is proposed in order to obtain suitable walking capabilities and flexibility of the robot.

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Kee, Robert J., Tyler A. P. Evans, Robert M. Hoffman, Huayang Zhu, Felix Gerbig, and Tyrone Vincent. "Extraction of Electrochemical Impedance Spectra from Physical Models." ECS Meeting Abstracts MA2022-01, no. 2 (July 7, 2022): 184. http://dx.doi.org/10.1149/ma2022-012184mtgabs.

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Electrochemical impedance spectroscopy (EIS) is used widely to assist the understanding and interpretation of electrochemical cells, including batteries, fuel cells, electrolyzers, etc. The measured spectra, often illustrated in terms of Nyquist plots, are typically interpreted in terms of equivalent-circuit models. The present approach is to interpret EIS using physical models. In principle, virtually any physical model that represents physics and chemistry in terms of conservation equations can be written abstractly as Eqs. 1-2, where x is the state vector, u is the actuation vector, yis the observable vector, and p is the physical param eter vector. The model can be represented in locally linear state-space form as Eqs. 3-4, where the Jacobian matrices A, B, C, and Dcan be established from local linearization as Eq. 5. The present paper compares two approaches to determine the state-space matrices. Assuming one has access to the physical model’s source code, the matrices can be evaluated by direct computational differentiation. Alternatively, the matrices can be evaluated using Pseudo Random Binary Sequence (PRBS) perturbations. With these matrices in hand, using the Laplace transform between actuation to observable, the complex impedance (i.e., real and imaginary parts of the impedance at frequency ω) can be evaluated as Eq. 6, where I is the identity matrix. By extracting the EIS from a physical model, the relationships between measurable parameters, such as cell dimensions, ion mobilities, etc., and the complex impedance can be established. These relationships are much more physically meaningful than those that can be inferred from equivalent-circuit models. The presentation includes examples of EIS derived from pseudo-two-dimensional (P2D) Li-ion battery models. Figure 1

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Ni, Wei-Tou, Gang Wang, and An-Ming Wu. "Astrodynamical middle-frequency interferometric gravitational wave observatory AMIGO: Mission concept and orbit design." International Journal of Modern Physics D 29, no. 04 (March 2020): 1940007. http://dx.doi.org/10.1142/s0218271819400078.

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AMIGO is a first-generation Astrodynamical Middle-frequency Interferometric Gravitational Wave (GW) Observatory. The scientific goals of AMIGO are to bridge the spectra gap between first-generation high-frequency and low-frequency GW sensitivities: to detect intermediate mass BH coalescence; to detect inspiral phase and predict time of binary black hole coalescences together with binary neutron star & black hole-neutron star coalescences for ground interferometers; to detect compact binary inspirals for studying stellar evolution and galactic population. The mission concept is to use time delay interferometry (TDI) for a nearly triangular formation of three drag-free spacecraft with nominal arm length 10,000 km, emitting laser power 2–10 W and telescope diameter 300–500 mm. The design GW sensitivity in the middle frequency band is [Formula: see text] Hz[Formula: see text]. Both geocentric and heliocentric orbit formations are considered. All options have LISA-like formations, that is, the triangular formation is [Formula: see text] inclined to the orbit plane. For all solar orbit options of AMIGO, the first-generation TDI satisfies the laser frequency-noise suppression requirement. We also investigate for each option of orbits under study, whether constant equal-arm implementation is feasible. For the solar-orbit options, the acceleration to maintain the formation can be designed to be less than 15 nm/s2 with the thruster requirement in the 15 [Formula: see text]N range. AMIGO would be a good place to test the feasibility of the constant equal-arm option. Fuel requirement, thruster noise requirement and test mass acceleration actuation requirement are briefly considered. From the orbit study, the solar orbit option is the mission orbit preference. We study the deployment for this orbit option. After a last-stage launch from 300 km Low Earth Orbit (LEO), each S/C’s maneuver to an appropriate 2-degree-behind-the-Earth AMIGO formation in 95 days requires only a [Formula: see text]v of about 80 m/s.

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Spinella, I., and E. Dragoni. "Design equations for binary shape memory actuators under dissipative forces." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 223, no. 3 (December 1, 2008): 531–43. http://dx.doi.org/10.1243/09544062jmes1232.

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An analytical procedure to design binary shape memory actuators is described. A generic actuator is considered where a cursor is moved against dissipative forces using an elastic system containing a primary shape memory spring and a bias (backup) element. Three typical cases are analysed and differentiated in the way the bias force is applied to the primary shape memory spring, using a constant force, a conventional spring, or a second shape memory spring. Dimensionless, closed-form relationships are developed, which form the basis of a step-by-step procedure for an optimal design of the whole actuator (primary active spring and bias element). Specific formulas regarding the detailed design of the shape memory elements of the actuator in the form of straight wires and wire helical springs are also presented.

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Spaggiari, Andrea, Igor Spinella, and Eugenio Dragoni. "Design equations for binary shape memory actuators under arbitrary external forces." Journal of Intelligent Material Systems and Structures 24, no. 6 (May 6, 2012): 682–94. http://dx.doi.org/10.1177/1045389x12444491.

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This article presents the design equations for an on–off shape memory alloy actuator working against an external system of arbitrary constant forces. A binary shape memory alloy actuator is considered where a cursor is moved against both conservative and dissipative forces, which may be different during the push or pull phase. Three cases are analysed and differentiated in the way the bias force is applied to the primary shape memory alloy spring: using a constant force, a conventional spring or a second shape memory alloy spring. Closed-form dimensionless design equations are developed, which form the basis of a step-by-step procedure for an optimal design of the whole actuator.

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Zhou, Yu. "On the planar stability of rigid-link binary walking robots." Robotica 21, no. 6 (October 24, 2003): 667–75. http://dx.doi.org/10.1017/s0263574703005162.

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A binary walking robot moves as a result of bi-state actuator transitions. Because of the bi-state nature of binary joints, many research results about continuous walking robots cannot be applied to binary walking robots directly. In this paper, a new and simple model of rigid-link binary walking robot is proposed, around which related concepts are introduced, and formulas are derived. Based on this model, general characteristics and limitations of periodic gaits are discussed, and the stability qualities of several straight-line walking periodic gaits are studied in both pitch-greater-than-stroke and stroke-greater-than-pitch cases. Valuable results are obtained from the analysis, which should be followed in the design of rigid-link binary walking robots.

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Qi, Xiaomei, Chengjin Zhang, and Jason Gu. "Robust Fault-Tolerant Control for Uncertain Networked Control Systems with State-Delay and Random Data Packet Dropout." Journal of Control Science and Engineering 2012 (2012): 1–7. http://dx.doi.org/10.1155/2012/734758.

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A robust fault-tolerant controller design problem for networked control system (NCS) with random packet dropout in both sensor-to-controller link and controller-to-actuator link is investigated. A novel stochastic NCS model with state-delay, model uncertainty, disturbance, probabilistic sensor failure, and actuator failure is proposed. The random packet dropout, sensor failures, and actuator failures are characterized by a binary random variable. The sufficient condition for asymptotical mean-square stability of NCS is derived and the closed-loop NCS satisfiesH∞performance constraints caused by the random packet dropout and disturbance. The fault-tolerant controller is designed by solving a linear matrix inequality. A numerical example is presented to illustrate the effectiveness of the proposed method.

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Badano, F., M. Betemps, T. Redarce, and A. Jutard. "Robotic Assembly by Slight Random Movements." Robotica 9, no. 1 (January 1991): 23–29. http://dx.doi.org/10.1017/s0263574700015538.

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SUMMARYIn this paper we develop a compilant system that permits robotic assembly of chamferless pieces. The idea is to absorb the positioning error between parts to be inserted by giving one of them a planar random movement. An actuator consisting of two axes (X and y) operated by an electromagnetic System is fitted to the work table; when its inputs are pseudo-random binary signais (P.R.B.S.) random motion is obtained. The trajectories of the actuator are analysed depending upon the P.R.B.S. parameters and a peg-in-a-hole assembly task is carried out. Experimental results show that large positioning errors can be compensated for chamferless insertions.

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Laksono, Dessy Ariffiyanto. "Implementation of IoT to reduce the use of electrical energy." Borobudur Informatics Review 1, no. 1 (April 30, 2021): 37–46. http://dx.doi.org/10.31603/binr.5021.

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Electricity consumption in Indonesia continues to increase by an average of 6.8% per year. IoT in 4.0 industry can be used to help community in reducing energy consumtion, including electricity, by implementing smart home sensor and actuator in IoT can be used to control the electricity consumtion automatically. This research has an objective to design and apply smart home that can reduce the electricity consumtion. The Smart Home device is an Arduino ESP8266 NodeMCU microcontroller equipped with a PIR sensor, DHT11 sensor and relay. This system is connected to the website as a controlling system. The smart home can also reduce power usage on street light by 7,524.91 watts (59.72%), living room light by 1,500 watts (50%), kitchen light by 2699,94 watts (75 )%), the main room lamp is 1259.98 watts (50%). Smart home system with a timer for one month can reduce power usage by 12,984.83 watts (12.01%) and can reduce the cost of using electrical devices by Rp. 16,881 (12.01%).

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CHEN, Zhuoying, Huaimin CHEN, and Yongkang WANG. "Study on tolerance control of flying-wing layout vectored thrust UAV." Xibei Gongye Daxue Xuebao/Journal of Northwestern Polytechnical University 40, no. 5 (October 2022): 990–96. http://dx.doi.org/10.1051/jnwpu/20224050990.

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The flying-wing layout vectored thrust UAV often uses multiple sets of aerodynamic rudder surfaces and vector nozzles to jointly generate the required control force and torque, which belongs to a typical overdrive system. Multiple sets of rudder surfaces give UAV a higher redundancy configuration, but also result in multiplying the rudder surface failure rate. Especially for the statically unstable flying-wing UAV in lateral direction, the moment imbalance caused by the failure of the executive rudder will seriously affect the flight safety. Therefore, this paper takes the failure of elevator and rudder damage as an example, and proposes a kind of control distribution method of aerodynamic-based control and vectored thrust as auxiliary. The binary vector deflection mechanism is used to generate vector thrust, compensate damaged actuator mechanism rudder effect, release the control margin of the rudder actuator, and restore the maneuverability of the aircraft. Under the failure of the aerodynamic rudder actuator damage, the stable control UAV is realized.

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Park, Suntak, Bongje Park, Saekwang Nam, Sungryul Yun, Seung Koo Park, Seongcheol Mun, Jeong Mook Lim, Yeonghwa Ryu, Seok Ho Song, and Ki-Uk Kyung. "Electrically tunable binary phase Fresnel lens based on a dielectric elastomer actuator." Optics Express 25, no. 20 (September 19, 2017): 23801. http://dx.doi.org/10.1364/oe.25.023801.

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Song, Yanjue, Ernest Van Hoecke, and Nilesh Madhu. "Portable and Non-Intrusive Fill-State Detection for Liquid-Freight Containers Based on Vibration Signals." Sensors 22, no. 20 (October 17, 2022): 7901. http://dx.doi.org/10.3390/s22207901.

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Remote, automated querying of fill-states of liquid-freight containers can significantly boost the operational efficiency of rail- and storage-yards. Most existing methods for fill-state detection are intrusive, or require sophisticated instrumentation and specific testing conditions, making them unsuitable here, due to the noisy and changeable surroundings and restricted access to the interior. We present a non-intrusive system that exploits the influence of the fill-state on the container’s response to an external excitation. Using a solenoid and accelerometer mounted on the exterior wall of the container, to generate pulsed excitation and to measure the container response, the fill-state can be detected. The decision can be either a binary (empty/non-empty) label or a (quantised) prediction of the liquid level. We also investigate the choice of the signal features for the detection/classification, and the placement of the sensor and actuator. Experiments conducted in real settings validate the algorithms and the prototypes. Results show that the placement of the sensor and actuator along the base of the container is the best in terms of detection accuracy. In terms of signal features, linear predictive cepstral coefficients possess sufficient discriminative information. The prediction accuracy is 100% for binary classification and exceeds 80% for quantised level prediction.

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Cha, Kyoung Rae, Gwang Ho Kim, Ju Hwan Kim, and Sang Hwa Jeong. "A Study on Anthropomorphic Robot Hand Simulation Driven by SMA Wire Using Segment Control." Key Engineering Materials 345-346 (August 2007): 1249–52. http://dx.doi.org/10.4028/www.scientific.net/kem.345-346.1249.

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In recent years, as the robot technology is developed, the researches on the artificial muscle actuator that enables robot to move dexterously like biological organ become active. Actuators are one of the key technologies underpinning robotics. Particularly breakthroughs of power-to-weight ratio or energy-density in actuator technology have significant impacts upon the design and the control of robotic systems. The widely used materials for artificial muscle are the shape memory alloy and electro-active polymer. These actuators have the higher energy density than the electromechanical actuators such as the electric motor. However, there are some drawbacks because these actuators have the hysteretic dynamic characteristics. In this paper, the segment control for reducing the hysteresis of SMA is proposed and the simulation of an anthropomorphic robotic hand is performed using ADAMS. A new approach to design and control of SMA actuators is presented. SMA wire is divided into many segments and their thermal states are controlled individually in a binary manner(ON/OFF). The basic experiment for evaluating the dynamic characteristics of SMA wire actuator is performed.

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Liu, Chunping, Rong Xiong, Jianxin Xu, and Jun Wu. "On Iterative Learning Control for Remote Control Systems with Packet Losses." Journal of Applied Mathematics 2013 (2013): 1–9. http://dx.doi.org/10.1155/2013/245372.

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The problem of iterative learning control (ILC) is considered for a class of time-varying systems with random packet dropouts. It is assumed that an ILC scheme is implemented via a remote control system and that packet dropout occurs during the packet transmission between the ILC controller and the actuator of remote plant. The packet dropout is viewed as a binary switching sequence which is subject to the Bernoulli distribution. In order to eliminate the effect of packet dropouts on the convergence property of output error, the hold-input scheme is adopted to compensate the packet dropout at the actuator. It is shown that the hold-input scheme with average ILC can achieve asymptotical convergence along the iteration axis for discrete time-varying linear system. Numerical examples are provided to show the effectiveness of the proposed method.

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Miller, Jonathan I., and David Cebon. "Modelling and performance of a pneumatic brake actuator." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 226, no. 8 (December 8, 2011): 2077–92. http://dx.doi.org/10.1177/0954406211430882.

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Heavy vehicles have sluggish pneumatic brake actuators that limit the control bandwidth of their anti-lock braking systems. In order to implement more effective braking controllers, it is proposed that high-bandwidth, binary-actuated valves are directly placed on the brake chambers. This article details investigations made into modelling and controlling heavy-vehicle pneumatic brake actuators with a view towards implementing the novel brake actuator design. One-dimensional flow theory is combined with simple thermodynamic arguments for polytropic systems to describe the charging and discharging of a brake chamber. Particular attention is paid to the simulation of perceptible vibrations caused by the piston’s motion at relatively low charging pressures, using a hysteresis model. The resulting equations are linearized and used to design a closed-loop pressure controller for the actuator. Finally, the non-linear performance limits of the valves, caused by dead-zones and time delays, are investigated using a describing function analysis.

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Peidró, Adrián, Julio Gallego, Luis Payá, José María Marín, and Óscar Reinoso. "Trajectory Analysis for the MASAR: A New Modular and Single-Actuator Robot." Robotics 8, no. 3 (September 5, 2019): 78. http://dx.doi.org/10.3390/robotics8030078.

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Single-actuator mobile robots offer the benefits of low energy consumption, low weight and size, and low cost, but their motion is typically only one-dimensional. By using auxiliary binary mechanisms that redirect and channel the driving force of their only actuator in different ways, it is possible for these robots to perform higher-dimensional motions, such as walking straight, steering, or jumping, with only one motor. This paper presents the MASAR, a new Modular And Single-Actuator Robot that carries a single motor and several adhesion pads. By alternately releasing or attaching these adhesion pads to the environment, the proposed robot is able to pivot about different axes using only one motor, with the possibility of performing concave plane transitions or combining with other identical modules to build more complex reconfigurable robots. In this paper, we solve the planar trajectory tracking problem of this robot for polygonal paths made up of sequences of segments, which may include narrow corridors that are difficult to traverse. We propose a locomotion based on performing rotations of 180 ∘ , which we demonstrate to be the minimum-time solution for long trajectories, and a near-optimal solution for shorter ones.

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Chen, Qing Hua, Ying Jun Chen, Yan Mei Li, and Wen Gang Wu. "Development of 1×4 MEMS Multifunction Integrated Optical Device." Applied Mechanics and Materials 249-250 (December 2012): 551–56. http://dx.doi.org/10.4028/www.scientific.net/amm.249-250.551.

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A 14 compound-driven MEMS-based optical device with optical switch and variable optical power attenuating functions has been proposed to optimally serve multifunctional optical fiber-based networking applications. The device manipulates the light with binary-slope mirrors driven by compound electrostatic actuator. The optical model for switching is investigated. Performances of the fabricated devices assembled with ball-lensed fibers are measured and discussed. Measurements reveal that the insertion loss of the device is less than 2.6 dB and the controllable attenuation range is more than 40 dB for the switching and attenuation function, respectively.

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Chen, Pengpeng, and Shouwan Gao. "Observer-Based Feedback Stabilization of Networked Control Systems with Random Packet Dropouts." Mathematical Problems in Engineering 2013 (2013): 1–7. http://dx.doi.org/10.1155/2013/218682.

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This paper is concerned with observer-based feedback stabilization of networked control systems (NCSs) with random packet dropouts. Both sensor-to-controller (S/C) and controller-to-actuator (C/A) packet dropouts are considered, and their behavior is assumed to obey the Bernoulli random binary distribution. The hold-input strategy is adopted, in which the previous packet is used if the packet is lost. An observer-based feedback controller is designed, and sufficient conditions for stochastic stability are derived in the form of linear matrix inequalities (LMIs). A numerical example illustrates the effectiveness of the results.

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Chen, Ying Jun, Yan Mei Li, Qing Hua Chen, and Wen Gang Wu. "1×6 Compound-Driven Optical MEMS Device for Multifunctional Fiber Optic Communication." Advanced Materials Research 712-715 (June 2013): 2210–15. http://dx.doi.org/10.4028/www.scientific.net/amr.712-715.2210.

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A 1×6 compound-driven MEMS-based optical device with optical switch and variable optical power attenuating functions has been proposed to optimally serve multifunctional optical fiber-based networking applications. The device manipulates the light with binary-slope mirrors driven by compound electrostatic actuator. The optical models for attenuating are investigated. Performances of the fabricated devices assembled with ball-lensed fibers are measured and discussed. Measurements reveal that the insertion loss of the device is less than 2.7 dB and the controllable attenuation range is more than 40 dB for the switching and attenuation function, respectively.

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Cao, Wen-Tao, Wei Feng, Ying-Ying Jiang, Chang Ma, Zi-Fei Zhou, Ming-Guo Ma, Yu Chen, and Feng Chen. "Two-dimensional MXene-reinforced robust surface superhydrophobicity with self-cleaning and photothermal-actuating binary effects." Materials Horizons 6, no. 5 (2019): 1057–65. http://dx.doi.org/10.1039/c8mh01566j.

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Bayram, A., and M. Kemal Özgören. "The conceptual design of a spatial binary hyper redundant manipulator and its forward kinematics." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 226, no. 1 (September 19, 2011): 217–27. http://dx.doi.org/10.1177/0954406211412156.

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The hyper redundant manipulators (HRMs) have excessively many degrees of freedom. As a special but practicable subset of them, the binary hyper-redundant manipulators (BHRMs) use binary (on–off) actuators with only two stable states such as pneumatic cylinders and/or solenoids. This article describes the conceptual design of a spatial BHRM together with its forward kinematics. This BHRM consists of many modules with the same constructive characteristics. The modules increase in size from the tip to the base so that the actuator powers also increase in the same order. Each module consists of three submodules. The first and second submodules have the shapes of variable geometry trusses and they work in mutually orthogonal planes. The third submodule is a discrete twister. The manipulator is assumed to be driven by pneumatic on–off actuators. Because of the discrete nature of the on–off actuators, a small but continuously actuated six-joint manipulator is installed as the last module of the BHRM in order to compensate the discretization errors.

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Huang, Li-xun, and Yong Fang. "Convergence Analysis of Wireless Remote Iterative Learning Control Systems with Dropout Compensation." Mathematical Problems in Engineering 2013 (2013): 1–9. http://dx.doi.org/10.1155/2013/609284.

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The wireless remote iterative learning control (ILC) system with random data dropouts is considered. The data dropout is viewed as a binary switching sequence which obeys the Bernoulli distribution. In order to eliminate the effect of data dropouts on the convergence property of output error, the signal at the same time with the lost one but in the last iteration is used to compensate the data dropout at the actuator. With the dropout compensation, the convergence property of output error is analyzed by studying the element values of system transition matrix. Finally, some simulation results are given to illustrate the validity of the proposed method.

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PÉREZ ARCILA, MAURICIO, and MARTIN ALONSO TAMAYO VELEZ. "IMPLEMENTATION OF LEBESGUE SAMPLING METHOD AND DIGITAL SENSORS FOR CONTROLLING THE LEVEL VARIABLE IN A CONTINUOUS SYSTEM." DYNA NEW TECHNOLOGIES 8, no. 1 (November 11, 2021): [14 P.]. http://dx.doi.org/10.6036/nt10248.

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This study aims to show that the continuous control from a level system can be efficiently measured and controlled using capacitive digital binary sensors, which in this case, replace the measurement signal from an analog differential pressure transmitter in a level control system. The binary sensors low cost and the digital output they process allow the reproduction of a correct signal and the estimation of a variable for controlling the water level inside the process tank through a proportional pneumatic level control valve, which receives the control signal from the Lebesgue sampling estimation algorithm applied herein for processing digital measurements. In this particular case, the Lebesgue algorithm is applied to reproduce the estimation of values obtained from the continuous signal in the real level process for the measurement and control. Also, are compared both, simulated and real outputs obtained using the Lebesgue algorithm and digital sensors, which were applied to a state observer controller that relates digital signals for controlling the real level system output. The application of the Lebesgue algorithm in the real level process concludes that the analog level signal can be efficiently reproduced using this method. In addition, the controller enables the system to smoothly conduct digital output processing using digital sensors to control the system output correctly, validating that not only analog sensors should be applied for controlling the output of proportional actuators, because it is shown that digital binary signals can be used for controlling and emulating continuous signals, which were processed and applied to the pneumatic valve. Keywords: Lebesgue sampling, estimation, binary sensor, observer controller, finite state machine, continuous system, control, LTI systems, identification, state variable, estimated output, proportional actuator

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Niendorf, T., P. Krooß, E. Batyrsina, A. Paulsen, J. Frenzel, G. Eggeler, and H. J. Maier. "On the functional degradation of binary titanium–tantalum high-temperature shape memory alloys — A new concept for fatigue life extension." Functional Materials Letters 07, no. 04 (August 2014): 1450042. http://dx.doi.org/10.1142/s1793604714500428.

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High-temperature shape memory alloys are promising candidates for actuator applications at elevated temperatures. Ternary nickel–titanium-based alloys either contain noble metals which are very expensive, or suffer from poor workability. Titanium–tantalum shape memory alloys represent a promising alternative if one can avoid the cyclic degradation due to the formation of the omega phase. The current study investigates the functional fatigue behavior of Ti – Ta and introduces a new concept providing for pronounced fatigue life extension.

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Alonso-Quesada, S., M. De la Sen, and A. Ibeas. "A Data Dropout Compensation Algorithm Based on the Iterative Learning Control Methodology for Discrete-Time Systems." Mathematical Problems in Engineering 2015 (2015): 1–16. http://dx.doi.org/10.1155/2015/429892.

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This paper deals with the convergence of a remote iterative learning control system subject to data dropouts. The system is composed by a set of discrete-time multiple input-multiple output linear models, each one with its corresponding actuator device and its sensor. Each actuator applies the input signals vector to its corresponding model at the sampling instants and the sensor measures the output signals vector. The iterative learning law is processed in a controller located far away of the models so the control signals vector has to be transmitted from the controller to the actuators through transmission channels. Such a law uses the measurements of each model to generate the input vector to be applied to its subsequent model so the measurements of the models have to be transmitted from the sensors to the controller. All transmissions are subject to failures which are described as a binary sequence taking value 1 or 0. A compensation dropout technique is used to replace the lost data in the transmission processes. The convergence to zero of the errors between the output signals vector and a reference one is achieved as the number of models tends to infinity.

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Kyu-Jin Cho and H. H. Asada. "Architecture design of a multiaxis cellular actuator array using segmented binary control of shape memory alloy." IEEE Transactions on Robotics 22, no. 4 (August 2006): 831–43. http://dx.doi.org/10.1109/tro.2006.878981.

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Lucas, Lenny, Matthew DiCicco, and Yoky Matsuoka. "An EMG-Controlled Hand Exoskeleton for Natural Pinching." Journal of Robotics and Mechatronics 16, no. 5 (October 20, 2004): 482–88. http://dx.doi.org/10.20965/jrm.2004.p0482.

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Spinal cord and other local injuries often lead to partial paralysis while the brain stays fully functional. When this partial paralysis occurs in the hand, these individuals are not able to execute daily activities on their own even if their arms are functional. To remedy this problem, a lightweight, low-profile orthotic exoskeleton has been designed to restore dexterity to paralyzed hands. The exoskeleton’s movements are controlled by the user’s available electromyography (EMG) signals. The device has two actuators controlling the index finger flexion that can be used to perform a pinching motion against a fixed thumb. Using this orthotic device, a new control technique was developed to allow for a natural reaching and pinching sequence by utilizing the natural residual muscle activation patterns. To design this controller, two actuator control algorithms were explored with a quadriplegic (C5/C6) subject and it was determined that a simple binary control algorithm allowed for faster interaction with objects over a variable control algorithm. The binary algorithm was then used as an enabling algorithm to activate the exoskeleton movements when the natural sequence of muscle activities found a pattern related to a pinch. This natural pinching technique has shown significant promise toward realistic neural control of wearable robotic devices to assist paralyzed individuals.

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Lei, Chi-Un, Woon Kian Chong, and Ka Lok Man. "Utility-Oriented Placement of Actuator Nodes with a Collaborative Serving Scheme for Facilitated Business and Working Environments." Scientific World Journal 2014 (2014): 1–11. http://dx.doi.org/10.1155/2014/835260.

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Places to be served by cyber-physical systems (CPS) are usually distributed unevenly over the area. Thus, different areas usually have different importance and values of serving. In other words, serving power can be excessive or insufficient in practice. Therefore, actuator nodes (ANs) in CPS should be focused on serving around points of interest (POIs) with considerations of “service utility.” In this paper, a utility-oriented AN placement framework with a collaborative serving scheme is proposed. Through spreading serving duties among correctly located ANs, deployment cost can be reduced, utility of ANs can be fully utilized, and the system longevity can be improved. The problem has been converted into a binary integer linear programming optimization problem. Service fading, 3D placements, multiscenario placements, and fault-tolerant placements have been modeled in the framework. An imitated example of a CPS deployment in a smart laboratory has been used for evaluations.

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Zhou, Chao, Chen Feng, Yan Naing Aye, and Wei Tech Ang. "A Digitized Representation of the Modified Prandtl–Ishlinskii Hysteresis Model for Modeling and Compensating Piezoelectric Actuator Hysteresis." Micromachines 12, no. 8 (August 10, 2021): 942. http://dx.doi.org/10.3390/mi12080942.

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Piezoelectric actuators are widely used in micromanipulation and miniature robots due to their rapid response and high repeatability. The piezoelectric actuators often have undesired hysteresis. The Prandtl–Ishlinskii (PI) hysteresis model is one of the most popular models for modeling and compensating the hysteresis behaviour. This paper presents an alternative digitized representation of the modified Prandtl–Ishlinskii with the dead-zone operators (MPI) hysteresis model to describe the asymmetric hysteresis behavior of piezoelectric actuators. Using a binary number with n digits to represent the classical Prandtl–Ishlinskii hysteresis model with n elementary operators, the inverse model can be easily constructed. A similar representation of the dead-zone operators is also described. With the proposed digitized representation, the model is more intuitive and the inversion calculation is avoided. An experiment with a piezoelectric stacked linear actuator is conducted to validate the proposed digitized MPI hysteresis model and it is shown that it has almost the same performance as compared to the classical representation.

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Prochazka, Arthur. "The man-machine analogy in robotics and neurophysiology." Journal of Automatic Control 12, no. 1 (2002): 4–8. http://dx.doi.org/10.2298/jac0201004p.

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Since the time of Descartes the machine-like control of movement in animals and the animal-like control of movement in automata has fascinated and inspired scientists, engineers and philosophers alike. In 1966, Drs. Rajko Tomovic and Robert McGhee proposed the concept of a "cybernetic actuator," a new type of control system which "possesses the property of producing continuous controlled motion from an input which may assume only four distinct states". The specific application at the time was an artificial limb prosthesis. Signals from sensors monitoring joint angle and ground contact were to be continuously compared to a set of threshold values corresponding to specific moments in the step cycle. The binary signals (above or below threshold) were listed in a look-up chart which associated sensory combinations with actuator states. It was proposed that this system would provide all of the known state transitions required of an above knee prosthesis. In this and later papers Tomovic was careful to point out the differences between such "artificial reflex control" systems and neural control systems in animals. Nonetheless in the last few years it has become commonplace to see the control of locomotion and other rhythmical behaviors described in terms of "sensory rules," that is in terms of finite state systems. With the advent of neural nets and fuzzy logic control robotic devices are taking on more and more of the features of biological control systems. In turn, neurophysiologists borrow more and more from the concepts and mechanisms of modern control theory. The influence of Tomovic's simple but powerful idea continues to spread.

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Hutomo, Ivan Surya, and Handy Wicaksono. "A smart door prototype with a face recognition capability." IAES International Journal of Robotics and Automation (IJRA) 11, no. 1 (March 1, 2022): 1. http://dx.doi.org/10.11591/ijra.v11i1.pp1-9.

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This research aimed to integrate a face recognition capability in a smart door prototype. By using a camera - based face recognition, the house owner does not need to make physical contact to open the door. Avoid physical contact is important due to the coro navirus disease 2019 (COVID19) pandemic. Raspberry Pi 3B was used as the main controller, while a servo motor was utilized as a locking door actuator. The program was developed using Node - RED , Blynk , and message queue telemetry transport ( MQTT ) platforms which are very powerful for developing internet of things (IoT) devices. All of the programs were coded using Python. Haar cascade and local binary pattern histogram methods were implemented on the face recognition stage. Google Assistant int egration was done by using D ialogflow and Firebase as Google Cloud services. Integration of face recognition and the smart door was successful. The smart door was unlocked if faces were recognized (average threshold=60%). If a face was not recognized, an e mail notification containing a face image is sent to the house owner. The Google Assistant could handle user requests successfully with a success rate of 92.8% from 147 trials .

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Bubovich, Alexander, Ilya Galkin, and Maxim Vorobyov. "Further Improvement of Customized Vibration Generator for Machine–Human Feedbacks with the Help of Resonant Networks." Electronics 10, no. 8 (April 17, 2021): 962. http://dx.doi.org/10.3390/electronics10080962.

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Modern industrial, household and other equipment include sophisticated power mechanisms and complicated control solutions and require tighter human–machine–human interaction, forming the structures known as cyber–physical–human systems. Their significant parts are human–machine command links and machine–human feedbacks. Such systems are found in medicine, for example, in orthopedics, where they are important for operation and functional abilities of orthopedic devices—smart wheelchairs, verticalizers, prosthesis, rehabilitation units, etc. The mentioned feedbacks may be implemented based on the haptic perceptions that require vibration actuators. In orthopedics, such actuators can also be used for diagnostic purposes. This research brings forward the idea of the use of resonant operation of the driver of vibration actuator. The corresponding driver has been built and experimentally tested. It has been found that (1) the point of maximal current is actually defined by the resonant frequency, (2) change of the capacitance allows shifting of the point of maximal current output and (3) damping factors make the above-described effect less obvious. Further development of the proposed idea requires a comprehensive comparison of four-quadrant and two-quadrant schemes in this application and development of a real-time programmable capacitor pack consisting of several binary weighted capacitors and a commutating circuit, which is installable to these schemes.

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Islam, Md Shahriar, B. Berscheid, and T. Wiens. "Vibrational Data Communication Tools and Methods for Mining and Oil and Gas Extraction." SPE Journal 27, no. 02 (January 12, 2022): 1081–93. http://dx.doi.org/10.2118/209202-pa.

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Summary For the purpose of exploration and extraction, the drilling process in the mining and oil and gas industries is very complicated because of the obvious invisibility of the operation of the drill bit. Acoustic/vibrational telemetry has been of keen interest because it is so far the only method that allows a high data transfer rate as well as less data loss, over other methods. The method certainly depends on the use of the right communication tools and efficient communication schemes to achieve the highest data transfer rate. Although the acoustic method provides a very high data transmission rate, it also has its limitations. However, limitations can be overcome through certain approaches and the use of technologies. The proper use of a communication device with the steel pipe is the most important factor to consider so that the transducer works as the right actuator for the pipeline. The type of sensor that is used to pick up the data also plays a major role because signals are most likely to attenuate, and a sensitive sensor is necessary to collect these attenuated signals. This research demonstrates the use of a transducer as a communication device and oil and gas pipe as the medium of data transmission. The transducer can be used both as an actuator driver and as a receiver sensor. A new piezoelectric transducer was manufactured for this research, which was used with a test setup of a total 184 ft length of six oil and gas pipes. The test setup performed well and data were sent through this setup successfully. A communication scheme is developed using novel theories to achieve the highest data transfer rate. The scheme is tested with the transfer function data obtained from the experimental system. The communication scheme developed outputs a signal, which is a type of binary phase-shift keying signal data along with an equalizer filter. Then the signals developed from the scheme are used in the actual experimental setup to test the speed of the transmission and bit error rate (BER). For the six oil and gas pipes setup, the scheme provides a data transmission of 153 bits/sec (bps) with zero error percentage, which is high enough to use in any oil and gas industry.

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Granjal, Jorge, João Silva, and Nuno Lourenço. "Intrusion Detection and Prevention in CoAP Wireless Sensor Networks Using Anomaly Detection." Sensors 18, no. 8 (July 27, 2018): 2445. http://dx.doi.org/10.3390/s18082445.

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It is well recognized that security will play a major role in enabling most of the applications envisioned for the Internet of Things (IoT). We must also note that most of such applications will employ sensing and actuating devices integrated with the Internet communications infrastructure and, from the minute such devices start to support end-to-end communications with external (Internet) hosts, they will be exposed to all kinds of threats and attacks. With this in mind, we propose an IDS framework for the detection and prevention of attacks in the context of Internet-integrated CoAP communication environments and, in the context of this framework, we implement and experimentally evaluate the effectiveness of anomaly-based intrusion detection, with the goal of detecting Denial of Service (DoS) attacks and attacks against the 6LoWPAN and CoAP communication protocols. From the results obtained in our experimental evaluation we observe that the proposed approach may viably protect devices against the considered attacks. We are able to achieve an accuracy of 93% considering the multi-class problem, thus when the pattern of specific intrusions is known. Considering the binary class problem, which allows us to recognize compromised devices, and though a lower accuracy of 92% is observed, a recall and an F_Measure of 98% were achieved. As far as our knowledge goes, ours is the first proposal targeting the usage of anomaly detection and prevention approaches to deal with application-layer and DoS attacks in 6LoWPAN and CoAP communication environments.

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Preston, Daniel J., Philipp Rothemund, Haihui Joy Jiang, Markus P. Nemitz, Jeff Rawson, Zhigang Suo, and George M. Whitesides. "Digital logic for soft devices." Proceedings of the National Academy of Sciences 116, no. 16 (March 28, 2019): 7750–59. http://dx.doi.org/10.1073/pnas.1820672116.

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Although soft devices (grippers, actuators, and elementary robots) are rapidly becoming an integral part of the broad field of robotics, autonomy for completely soft devices has only begun to be developed. Adaptation of conventional systems of control to soft devices requires hard valves and electronic controls. This paper describes completely soft pneumatic digital logic gates having a physical scale appropriate for use with current (macroscopic) soft actuators. Each digital logic gate utilizes a single bistable valve—the pneumatic equivalent of a Schmitt trigger—which relies on the snap-through instability of a hemispherical membrane to kink internal tubes and operates with binary high/low input and output pressures. Soft, pneumatic NOT, AND, and OR digital logic gates—which generate known pneumatic outputs as a function of one, or multiple, pneumatic inputs—allow fabrication of digital logic circuits for a set–reset latch, two-bit shift register, leading-edge detector, digital-to-analog converter (DAC), and toggle switch. The DAC and toggle switch, in turn, can control and power a soft actuator (demonstrated using a pneu-net gripper). These macroscale soft digital logic gates are scalable to high volumes of airflow, do not consume power at steady state, and can be reconfigured to achieve multiple functionalities from a single design (including configurations that receive inputs from the environment and from human users). This work represents a step toward a strategy to develop autonomous control—one not involving an electronic interface or hard components—for soft devices.

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Miller, Jonathan I., Leon M. Henderson, and David Cebon. "Designing and testing an advanced pneumatic braking system for heavy vehicles." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 227, no. 8 (November 19, 2012): 1715–29. http://dx.doi.org/10.1177/0954406212467578.

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Heavy goods vehicles exhibit poor braking performance in emergency situations when compared to other vehicles. Part of the problem is caused by sluggish pneumatic brake actuators, which limit the control bandwidth of their antilock braking systems. In addition, heuristic control algorithms are used that do not achieve the maximum braking force throughout the stop. In this article, a novel braking system is introduced for pneumatically braked heavy goods vehicles. The conventional brake actuators are improved by placing high-bandwidth, binary-actuated valves directly on the brake chambers. A made-for-purpose valve is described. It achieves a switching delay of 3–4 ms in tests, which is an order of magnitude faster than solenoids in conventional anti-lock braking systems. The heuristic braking control algorithms are replaced with a wheel slip regulator based on sliding mode control. The combined actuator and slip controller are shown to reduce stopping distances on smooth and rough, high friction ( μ = 0.9) surfaces by 10% and 27% respectively in hardware-in-the-loop tests compared with conventional ABS. On smooth and rough, low friction ( μ = 0.2) surfaces, stopping distances are reduced by 23% and 25%, respectively. Moreover, the overall air reservoir size required on a heavy goods vehicle is governed by its air usage during an anti-lock braking stop on a low friction, smooth surface. The 37% reduction in air usage observed in hardware-in-the-loop tests on this surface therefore represents the potential reduction in reservoir size that could be achieved by the new system.

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Ali, Mukti, and Saipullah Hasan. "Da'wah bi al-Hal in Empowering Campus-Assisted Community through Waste Bank Management." Ilmu Dakwah: Academic Journal for Homiletic Studies 13, no. 2 (December 30, 2019): 201–19. http://dx.doi.org/10.15575/idajhs.v13i2.6441.

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As an institution of education and agent of social change, the Faculty of Da'wah, IAIN Salatiga, has Islamic religious characteristics. These characteristics confirm its missionary effort as a part of social responsibility. The Da'wah Faculty pursues empowerment by rolling out a program of waste bank management. This program is a manifestation of the application of da’wah bi al-hal (preaching by actuating) to build assisted-communities who are empowered and independent in processing garbage. Furthermore, the program of waste bank management not only provides clean and healthy communities but also increases the community’s ability to gain environmental benefits and improving its economy. This study aims to analyze the implementation of da’wah movement through waste bank management, from assessment, recycling management, construction, to evaluation. The method of research in this study uses a qualitative method, Participatory Action Research (PAR) to make changes and benefits for the community, and empowerment theory as the mainframe of thought in carrying out da’wah bi al-hal. The results of participatory action research showed that preaching by actuating of Da’wah Faculty IAIN Salatiga in the assisted-communities has increased participation, trust, and cooperative relationships among them in managing the waste bank. Fakultas Dakwah IAIN Salatiga sebagai lembaga pemikiran dan agen perubahan sosial, memiliki karakteristik keagamaan Islam. Karakteristik ini meneguhkan upaya berdakwah sebagai tanggung jawab sosialnya. Dalam melakukan dakwah di masyarakat, Fakultas Dakwah menempuh cara pemberdayaan dengan menggulirkan program pengelolaan bank sampah. Hal ini sebagai wujud aplikasi dakwah bi al-hal untuk membangun masyarakat binaan yang berdaya dan mandiri dalam mengolah sampah. Program pengelolaan bank sampah tidak hanya memberikan manfaat lingkungan bersih dan sehat, tetapi juga meningkatkan kemampuan masyarakat untuk mengolah sampah dalam meningkatkan perekonomian. Penelitian ini bertujuan untuk menganalisis tentang implementasi dakwah bi al-hal dengan program pengelolaan bank sampah itu berjalan mulai assesment, manajemen daur ulang, pembangunan sarpras dan evaluasi. Metode dalam penelitian ini menggunakan metode kualitatif Participatory Action Research (PAR) untuk melakukan perubahan dan manfaat bagi masyarakat dengan teori pemberdayaan sebagai kerangka berfikir utama dalam melakukan dakwah bi al-hal. Hasil penelitian aksi partisipatif memperlihatkan bahwa sentuhan pendampingan yang telah dilakukan Fakultas Dakwah IAIN Salatiga terhadap masyarakat binaannya dapat meningkatkan partisipasi, kepercayaan dan hubungan kerja sama diantara mereka dalam pengelolaan bank sampah.

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Sierla, Seppo, Heikki Ihasalo, and Valeriy Vyatkin. "A Review of Reinforcement Learning Applications to Control of Heating, Ventilation and Air Conditioning Systems." Energies 15, no. 10 (May 11, 2022): 3526. http://dx.doi.org/10.3390/en15103526.

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Reinforcement learning has emerged as a potentially disruptive technology for control and optimization of HVAC systems. A reinforcement learning agent takes actions, which can be direct HVAC actuator commands or setpoints for control loops in building automation systems. The actions are taken to optimize one or more targets, such as indoor air quality, energy consumption and energy cost. The agent receives feedback from the HVAC systems to quantify how well these targets have been achieved. The feedback is captured by a reward function designed by the developer of the reinforcement learning agent. A few reviews have focused on the reward aspect of reinforcement learning applications for HVAC. However, there is a lack of reviews that assess how the actions of the reinforcement learning agent have been formulated, and how this impacts the possibilities to achieve various optimization targets in single zone or multi-zone buildings. The aim of this review is to identify the action formulations in the literature and to assess how the choice of formulation impacts the level of abstraction at which the HVAC systems are considered. Our methodology involves a search string in the Web of Science database and a list of selection criteria applied to each article in the search results. For each selected article, a three-tier categorization of the selected articles has been performed. Firstly, the applicability of the approach to buildings with one or more zones is considered. Secondly, the articles are categorized by the type of action taken by the agent, such as a binary, discrete or continuous action. Thirdly, the articles are categorized by the aspects of the indoor environment being controlled, namely temperature, humidity or air quality. The main result of the review is this three-tier categorization that reveals the community’s emphasis on specific HVAC applications, as well as the readiness to interface the reinforcement learning solutions to HVAC systems. The article concludes with a discussion of trends in the field as well as challenges that require further research.

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Journal articles on the topic 'Binary Actuation'

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