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1
Zhang, Xi, Jinxuan Zhang, Bidita Salahuddin, Shuai Gao, Shazed Aziz i Zhonghua Zhu. "Reversible Torsional Actuation of Hydrogel Filled Multifilament Fibre Actuator". Actuators 10, nr 9 (21.09.2021): 244. http://dx.doi.org/10.3390/act10090244.
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Twisted polymer fibre actuators provide high torsional rotation from stimulated volume expansion, induced either by chemical fuelling, thermal stimulation, or electrochemical charging. One key limitation of these actuators is the irreversibility of torsional stroke that limits their feasibility when considering real-life smart applications. Moreover, scaling the torsional stroke of these actuators becomes difficult when these are integrated into practically usable systems such as smart textiles, due to the external and variable opposing torque that is applied by the adjacent non-actuating fibres. Herein, a simple composite type torsional actuator made of hydrogel coated commercial textile cotton multifilament fibre is demonstrated. This novel actuator is of high moisture responsiveness, given that hydrogels are capable of providing huge volume expansion and twisting the overall system can transform the volumetric expansion to fibre untwisting based torsional actuation. Theoretical treatment of torsional actuation is also demonstrated based on the change in torsional stiffness of dry and wet fibres as well as a few externally applied torques. The agreement between experimental measurements and theoretical estimation is found reasonable, and the investigation allows the near-appropriate estimation of torsional stroke before integrating an actuator into a smart system.
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He, Yuan Yuan, i Li Liu. "Modeling and Testing of a Seamless Wing Trailing Edge Control Actuation System". Applied Mechanics and Materials 195-196 (sierpień 2012): 1089–94. http://dx.doi.org/10.4028/www.scientific.net/amm.195-196.1089.
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This paper presents an investigation into the modeling and analysis of an innovative actuation system for a wing with a seamless flexible trailing edge control surface. Research was started with the study of aerodynamic behavior and advantage of the wing in smooth variable chamber shape under control. Based on the concept and design, an experimental wing section integrated with the actuation mechanism was built and tested. The main effort was then made to the modeling of the internal actuation system for the purpose of obtaining the physical properties and accurate modeling of the whole wing structural system. To validate and update the numerical model of the system, vibration test of the actuation system including the mechanism and actuator was carried out. Some key parameters such as the stiffness of the actuation system were identified from vibration test data. The investigation demonstrated a practical approach to quantify some key parameters and update the numerical model of an actuation system.
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Ijaz, Salman, Mirza Tariq Hamayun, Lin Yan, Hamdoon Ijaz i Cun Shi. "Adaptive fault tolerant control of dissimilar redundant actuation system of civil aircraft based on integral sliding mode control strategy". Transactions of the Institute of Measurement and Control 41, nr 13 (6.05.2019): 3756–68. http://dx.doi.org/10.1177/0142331219835589.
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In modern aircraft, the dissimilar redundant actuation system is used to resolve the actuator failure issues due to the common cause, thus increasing the system reliability. This paper proposes an adaptive integral sliding mode fault tolerant control strategy to deal with actuator fault/failure in the dissimilar redundant actuation system of civil aircraft. To cope with the unknown actuator faults, the adaptive integral sliding mode controller is designed where the modulation gain is made adaptive to the fault. To deal with the complete failure of certain actuator, the integral sliding mode control is integrated with control allocation scheme and distribute the control input signals to the redundant actuators. The performance of the proposed scheme is tested on the nonlinear model of dissimilar redundant actuation system, where the effect of external airload is accounted during simulations. The effectiveness of the proposed scheme is validated by comparing the simulations with the existing literature.
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Dimino, Ignazio, Federico Gallorini, Massimiliano Palmieri i Giulio Pispola. "Electromechanical Actuation for Morphing Winglets". Actuators 8, nr 2 (15.05.2019): 42. http://dx.doi.org/10.3390/act8020042.
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As a key enabler for future aviation technology, the use of servo electromechanical actuation offers new opportunities to transition innovative structural concepts, such as biomimicry morphing structures, from basic research to new commercial aircraft applications. In this paper, the authors address actuator integration aspects of a wing shape-changing flight surface capable of adaptively enhancing aircraft aerodynamic performance and reducing critical wing structural loads. The research was collocated within the Clean Sky 2 Regional Aircraft Demonstration Platform (IADP) and aimed at developing an adaptive winglet concept for green regional aircraft. Finite Element-based tools were employed for the structural design of the adaptive device characterized by two independent movable tabs completely integrated with a linear direct-drive actuation. The structural design process was addressed in compliance with the airworthiness needs posed by the implementation of regional airplanes. Such a load control system requires very demanding actuation performance and sufficient operational reliability to operate on the applicable flight load envelope. These requirements were met by a very compact direct-drive actuator design in which the ball recirculation device was integrated within the screw shaft. Focus was also given to the power-off electric brake necessary to block the structure in a certain position and dynamically brake the moveable surface to follow a certain command position during operation. Both the winglet layout static and dynamic robustness were verified by means of linear stress computations at the most critical conditions and normal mode analyses, respectively, with and without including the integrated actuator system.
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Pires, Felipe Marques, Leonardo de Souza Mendes i Lorena León Quiñonez. "Integrated system architecture for decision-making and urban planning in smart cities". International Journal of Distributed Sensor Networks 15, nr 8 (sierpień 2019): 155014771986782. http://dx.doi.org/10.1177/1550147719867829.
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Research and development of applications for smart cities are extremely relevant considering the various problems that population growth will bring to large urban centers in the next few years. Although research on cyber-physical systems, cloud computing, embedded devices, sensor and actuator networks, and participatory sensing, among other paradigms, is driving the growth of solutions, there are a lot of challenges that need to be addressed. Based on these observations, in this work, we present an integrated system architecture for decision-making support and urban planning by introducing its building blocks (termed components): sensing/actuation, local processing, communication, cloud platform, and application components. In the sensing/actuation component, we present the major relevant resources for data collection, identification devices, and actuators that can be used in smart city solutions. Sensing/actuation component is followed by the local processing component, which is responsible for processing, decision-making support, and control in local scale. The communication component, as the connection element among all these components, is presented with an emphasis on the open-access metropolitan area network and cellular networks. The cloud platform is the essential component for urban planning and integration with electronic governance legacy systems, and finally, the application component, in which the government administrator and users have access to public management tools, citizen services, and other urban planning resources.
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Botez, R. M., M. J. Tchatchueng Kammegne i L. T. Grigorie. "Design, numerical simulation and experimental testing of a controlled electrical actuation system in a real aircraft morphing wing model". Aeronautical Journal 119, nr 1219 (wrzesień 2015): 1047–72. http://dx.doi.org/10.1017/s0001924000011131.
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AbstractThe paper focuses on the modelling, simulation and control of an electrical miniature actuator integrated in the actuation mechanism of a new morphing wing application. The morphed wing is a portion of an existing regional aircraft wing, its interior consisting of spars, stringers, and ribs, and having a structural rigidity similar to the rigidity of a real aircraft. The upper surface of the wing is a flexible skin, made of composite materials, and optimised in order to fulfill the morphing wing project requirements. In addition, a controllable rigid aileron is attached on the wing. The established architecture of the actuation mechanism uses four similar miniature actuators fixed inside the wing and actuating directly the flexible upper surface of the wing. The actuator was designed in-house, as there is no actuator on the market that could fit directly inside our morphing wing model. It consists of a brushless direct current (BLDC) motor with a gearbox and a screw for pushing and pulling the flexible upper surface of the wing. The electrical motor and the screw are coupled through a gearing system. Before proceeding with the modelling, the actuator is tested experimentally (stand alone configuration) to ensure that the entire range of the requirements (rated or nominal torque, nominal current, nominal speed, static force, size) would be fulfilled. In order to validate the theoretical, simulation and standalone configuration experimental studies, a bench testing and a wind-tunnel testing of four similar actuators integrated on the real morphing wing model are performed.
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Crowder, R., i C. Maxwell. "Simulation of a prototype electrically powered integrated actuator for civil aircraft". Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering 211, nr 6 (1.06.1997): 381–94. http://dx.doi.org/10.1243/0954410971532749.
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Developments in the design and proposed operation of large civil aircraft have resulted in aircraft manufacturers and equipment suppliers developing new system concepts, one of which is the all or more electric aircraft. In the all or more electric aircraft the distribution of power for flight actuation will be through the electrical system, as opposed to the currently used bulk hydraulic system. In order to implement power-by-wire, high-performance electrically powered actuators will be required. The paper discusses the design details, and the simulation of an electrohydrostatic actuator suitable for use in primary flight control systems of a civil aircraft. The paper presents experimental and simulation results, and identifies the parameters that will critically affect the performance of an actuator.
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Liu, Jian Xin, Yu Liu i Ping Tan. "Simulation of Position Control and Flow Rate Match of Integrated Hydraulic Actuator Unit". Advanced Materials Research 118-120 (czerwiec 2010): 640–44. http://dx.doi.org/10.4028/www.scientific.net/amr.118-120.640.
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This paper presents a kind of all-digital integrated hydraulic actuator (IHA) unit to drive heavy load object without centralized oil tank. In order to improve the control quality of the actuation system while eliminating or reducing the disturbance, and also to solve the problem of flow rate mismatch existed in IHA with single-rod cylinder actuator, a fuzzy PID PWM controller is suggested. Simulations on the integrated hydraulic actuator unit are carried out to evaluate the effectiveness of the proposed control method when applied to hydraulic systems with various external disturbances encountered in real working conditions. Simulation results are discussed and some conclusions are given.
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Khan, S., T. L. Grigorie, R. M. Botez, M. Mamou i Y. Mébarki. "Novel morphing wing actuator control-based Particle Swarm Optimisation". Aeronautical Journal 124, nr 1271 (26.09.2019): 55–75. http://dx.doi.org/10.1017/aer.2019.114.
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AbstractThe paper presents the design and experimental testing of the control system used in a new morphing wing application with a full-scaled portion of a real wing. The morphing actuation system uses four similar miniature brushless DC (BLDC) motors placed inside the wing, which execute a direct actuation of the flexible upper surface of the wing made from composite materials. The control system of each actuator uses three control loops (current, speed and position) characterised by five control gains. To tune the control gains, the Particle Swarm Optimisation (PSO) method is used. The application of the PSO method supposed the development of a MATLAB/Simulink® software model for the controlled actuator, which worked together with a software sub-routine implementing the PSO algorithm to find the best values for the five control gains that minimise the cost function. Once the best values of the control gains are established, the software model of the controlled actuator is numerically simulated in order to evaluate the quality of the obtained control system. Finally, the designed control system is experimentally validated in bench tests and wind-tunnel tests for all four miniature actuators integrated in the morphing wing experimental model. The wind-tunnel testing treats the system as a whole and includes, besides the evaluation of the controlled actuation system, the testing of the integrated morphing wing experimental model and the evaluation of the aerodynamic benefits brought by the morphing technology on this project. From this last perspective, the airflow on the morphing upper surface of the experimental model is monitored by using various techniques based on pressure data collection with Kulite pressure sensors or on infrared thermography camera visualisations.
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Mingallon, Maria, i Sakthivel Ramaswamy. "Thigmo-Morphogenetic Fiber Composites Embedded with Shape Memory Alloys". Advances in Science and Technology 80 (wrzesień 2012): 102–11. http://dx.doi.org/10.4028/www.scientific.net/ast.80.102.
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The premise of this research is to integrate sensing and actuation functions into a fibre composite material system. Fibre composites, which are anisotropic and heterogeneous, offer the possibility for local variations in their material properties. Embedded fibre optics are herein used to sense, while shape memory alloys provide actuation capabilities to the resulting composite. The definition of the geometry, inspired by the organization strategies found in biological composites, complements the functioning of the adaptive material system at both local and global levels, allowing it to display integrated functionality.
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Hosseini, Mohssen, Roberto Meattini, Gianluca Palli i Claudio Melchiorri. "A Wearable Robotic Device Based on Twisted String Actuation for Rehabilitation and Assistive Applications". Journal of Robotics 2017 (2017): 1–11. http://dx.doi.org/10.1155/2017/3036468.
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The preliminary experimental study toward the implementation of an arm rehabilitation device based on a twisted string actuation module is presented. The actuation module is characterized by an integrated force sensor based on optoelectronic components. The adopted actuation system can be used for a wide set of robotic applications and is particularly suited for very compact, light-weight, and wearable robotic devices, such as wearable rehabilitation systems and exoskeletons. Thorough presentation and description of the proposed actuation module as well as the basic force sensor working principle are illustrated and discussed. A conceptual design of a wearable arm assistive system based on the proposed actuation module is presented. Moreover, the actuation module has been used in a simple assistive application, in which surface-electromyography signals are used to detect muscle activity of the user wearing the system and to regulate the support action provided to the user to reduce his effort, showing in this way the effectiveness of the approach.
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Xie, Rui Zhen, Lan Liu, Xiao Ming Ren, Yan Xue, Lin Sun i Chuan Ping. "Study on Design and Fabrication of Micro-Pyrotechnical Actuator". Advanced Materials Research 1055 (listopad 2014): 213–17. http://dx.doi.org/10.4028/www.scientific.net/amr.1055.213.
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Combustion of energetic materials is an attractive means of obtaining a large quantity of energy from a small volume. And these materials can be integrated into functional micro-systems in a manner compatible with micro-system technologies, then micro-pyrotechnics could help to make considerable progress in the field of micro-actuation . In this paper,a micro-pyrotechnical actuator was designed and fabricated. Detailed design and fabrication process of each part of actuator were presented, and the integration is described. Its operation was validated by experimentation. The firing performance is excellent for low-energy ignition requirement.
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Mora Sierra, Yesid, i Alba Ávila Bernal. "Designing and simulating a nitinol-based micro ejector". Ingeniería e Investigación 32, nr 1 (1.01.2012): 42–47. http://dx.doi.org/10.15446/ing.investig.v32n1.28519.
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This paper describes pico-droplet ejector design and simulation. The actuation system was based on two interconnected nitinol membranes' shape memory effect. Ejected volume was 12pL and it operated at 30°C to 64°C. Ejecting excitation voltage was 12V and the ejecting energy required by actuator operation was 26µJ per drop. These pico-liter ejectors could have applications in making, lubricating and cooling integrated circuits.
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Amendola, G., Ignazio Dimino, Antonio Concilio, Rosario Pecora i Francesco Amoroso. "Actuation System Design for a Morphing Aileron". Applied Mechanics and Materials 798 (październik 2015): 582–88. http://dx.doi.org/10.4028/www.scientific.net/amm.798.582.
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In the field of European and International morphing structures projects, the CRIAQ MD0-505 enables collaboration among Italian and Canadian research centers and industries paying particular attention to the development of innovative design in the area of adaptive technologies. The main project goals involve the design of a wing trailing edge device capable to improve aerodynamic efficiency in all the flight envelope leading to fuel consumption reduction with positive impact on aircraft weight. This paper deals with the design and modeling of a novel actuation system of a full scale morphing aileron for a regional aircraft wing. The proposed aileron architecture is characterized by segmented adaptive ribs. Each rib is composed of two movable blocks connected by means of rotational hinges in which are housed bearings and bushing in a finger-like mechanism. Rib actuation is guaranteed by an actuation system composed of a dedicated kinematic chain derived from a quick-return mechanism. In order to achieve the aileron target shapes, the system is driven by a set of servo-rotary electro mechanical actuators that permit a highly integrated design which lay the groundwork for the technological transition from the torque shaft to the distributed actuation architecture.
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Panza, M. J., D. P. McGuire i P. J. Jones. "Modeling, Actuation, and Control of an Active Fluid Vibration Isolator". Journal of Vibration and Acoustics 119, nr 1 (1.01.1997): 52–59. http://dx.doi.org/10.1115/1.2889687.
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An integrated mathematical model for the dynamics, actuation, and control of an active fluid/elastomeric tuned vibration isolator in a two mass system is presented. The derivation is based on the application of physical principles for mechanics, fluid continuity, and electromagnetic circuits. Improvement of the passive isolator performance is obtained with a feedback scheme consisting of a frequency shaped notch compensator in series with integral control of output acceleration and combined with proportional control of the fluid pressure in the isolator. The control is applied via an electromagnetic actuator for excitation of the fluid in the track connecting the two pressure chambers of the isolator. Closed loop system equations are transformed to a nondimensional state space representation and a key dimensionless parameter for isolator-actuator interaction is defined. A numerical example is presented to show the effect of actuator parameter selection on system damping, the performance improvement of the active over the passive isolator, the robustness of the control scheme to parameter variation, and the electrical power requirements for the actuator.
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Abdelrahman, Mohammad, i Sang-Young Park. "Integrated attitude determination and control system via magnetic measurements and actuation". Acta Astronautica 69, nr 3-4 (sierpień 2011): 168–85. http://dx.doi.org/10.1016/j.actaastro.2011.03.010.
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Sriramshankar, R., i G. R. Jayanth. "An Integrated Magnetic Actuation System for High-Speed Atomic Force Microscopy". IEEE/ASME Transactions on Mechatronics 23, nr 5 (październik 2018): 2285–94. http://dx.doi.org/10.1109/tmech.2018.2857464.
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Sokhanvar, S., A. Zabihollah i R. Sedaghati. "INVESTIGATING THE EFFECT OF THE ORTHOTROPIC PROPERTY OF PIEZOELECTRIC PVDF". Transactions of the Canadian Society for Mechanical Engineering 31, nr 1 (marzec 2007): 111–25. http://dx.doi.org/10.1139/tcsme-2007-0007.
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The applications of the piezoelectric Polyvinylidene Fluoride, PVDF, integrated with the beams, plates, and membranes, performing as sensor, actuator or combination have been received considerable attention in the recent years. However, not much work has been reported on the influence of the PVDF’s orthotropic behavior, particularly the effect of the orientation of the PVDF film in the host structure, on the performance of the system. In the present study, the effect of the piezoelectric PVDF film orientation on the output voltage, the actuation force, and the dynamic response of the integrated structures has been studied using the finite element method. In the sensory mode, the difference between the output voltages obtained from the biaxial piezoelectric PVDF film and uniaxial one, when the orientation of the film varies from 0 to 90 degree, is investigated. In each case the proportion contributions of the involved piezoelectric coefficients including d31, d32 and are studied. Alternatively, in the actuation mode, the effect of orthotropic behavior of the actuator on the nodal displacements has been taken into consideration. The influence of the material orthotropic property of the transducer on the free undamped response of the system is also investigated. Moreover an effective Young’s modulus and effective Poisson ratio for the uniaxial PVDF film has been introduced using an optimization procedure to minimize the error caused by isotropic assumption of uniaxial PVDF film.
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Bai, Xian-Xu, Peng Jiang i Li-Jun Qian. "Integrated semi-active seat suspension for both longitudinal and vertical vibration isolation". Journal of Intelligent Material Systems and Structures 28, nr 8 (31.08.2016): 1036–49. http://dx.doi.org/10.1177/1045389x16666179.
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“Functional integration” is to integrate two or multiple systems or mechanisms that are independent with each other and to realize the two or multiple functions using only one actuation system. Maximization of engineering applications of actuation systems could be achieved through the use of the “functional integration” concept-based structural design. In this article, an integrated semi-active seat suspension, mainly composed of a switching mechanism, a transmission amplification mechanism, and a damping force- or torque-controllable rotary magnetorheological (MR) damper working in pure shear mode, for both longitudinal and vertical vibration attenuation, is proposed, designed, and fabricated. The switching mechanism employs the parallelogram frames as a motion guide which keeps the seat moving longitudinally and vertically. Both longitudinal and vertical motions are transformed into a reciprocating rotary motion that is transmitted to the rotary MR damper after an amplification by a gear mechanism. The torque generated by the MR damper can be tuned by adapting the applied current in real time, and hence, effective two-dimensional vibration control of the seat could be realized. The mathematical model of the semi-active seat suspension system is established, and vibration isolation performance of the system is simulated and analyzed. Based on the established experimental test rig, the prototype of the semi-active seat suspension system is tested, and the results of the mathematical model and the experimental test are compared.
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Chen, Hui, Yong Ling Fu, Juan Chen i He Song Liu. "Research on the New Missile Actuation System with Dual Independent Closed-Loop". Applied Mechanics and Materials 551 (maj 2014): 337–43. http://dx.doi.org/10.4028/www.scientific.net/amm.551.337.
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With the development of the advanced precision-guided missile and anti-missile system, high precision, high penetration ability and Low energy consumption have become an important direction for the missile. A new missile electro-hydraulic actuation system with dual independent closed-loop is put forward with the trend of high performance and energy-saving, and then the operating principle and process are discussed. Finally the accurate mathematical model is established, and the influence of the different basic pressure on the dynamic performance is analyzed. The simulation results show that the new proposed scheme has made great improvements in reducing the zero-control current of the system, but the efficiency and performance of the actuation system should be considered integrated due to the decrease of the dynamic performance, so it is practical for the future development of the missile electro-hydraulic actuation system.
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Xue, Wendong, Mengjiao Yang, Deming Hong, Di Wu, Yishou Wang i Xinlin Qing. "The Design and Verification of an Active SAMSR Ultrasonic Guided Wave Monitoring System with Ultra-Low Crosstalk". Sensors 20, nr 3 (7.02.2020): 898. http://dx.doi.org/10.3390/s20030898.
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Due to long propagation distance and high sensitivity to a variety of damages, ultrasonic guided wave technologies have been widely applied in the damage detection or health monitoring of pipe networks and large plate-like structures. However, there are two important problems to be solved when applying this technology; namely, the large scanning time required for monitoring large-scaled structures and the serious crosstalk between the actuation and receiving signals, especially when monitoring hot-spot regions. Therefore, this study mainly designed key parts, such as the matrix switcher and attenuation circuit. The single-actuation and multiple-simultaneous-reception (SAMSR) mechanism based on an analog switching matrix and a low noise charge amplifier circuit was designed and integrated with the SPI control bus to shorten the scanning time. Moreover, a two-stage attenuation circuit with an interlocking isolation structure is presented to effectively isolate the receiving signals from the actuation signals to obtain ultra-low crosstalk even under a high voltage actuation source. In this study, the designed matrix switcher and other components were integrated into the developed ultrasonic guided wave monitoring system. Several experiments were conducted on a stiffened composite structure to illustrate the effectivity of the developed SAMSR ultrasonic guided wave system by comparing the signals collected with those from a commercial ultrasonic guided wave system.
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Luo, Zhan Qiang, i De Liang Liang. "Modeling and Torque Balance Control of the Novel Dual-Redundancy Permanent Magnet Brushless Machine System". Applied Mechanics and Materials 416-417 (wrzesień 2013): 509–20. http://dx.doi.org/10.4028/www.scientific.net/amm.416-417.509.
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electromechanical actuator (EMA) as the integrated actuation system used in more aircraft has the advantages of both small size and high power density. Dual-redundancy permanent magnet brushless machine system used in EMA improves aircraft control actuator working reliability. The system topology is proposed by the analysis of different kinds of redundancy running modes and structures of dual-redundancy machine. The cause and consequence of unequal torque in two redundancy machines are analyzed. The equal torque is realized by using crossed-feedback control and piecewise linear interpolation methods. Experimental results show that the method can effectively eliminate torque unequal. The experimental results show that the proposed control strategies are suituble for this system operation under different various complicated conditions such as in the rated operation, step response and frequency response.
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Schönfeld, Dennis, Dilip Chalissery, Franziska Wenz, Marius Specht, Chris Eberl i Thorsten Pretsch. "Actuating Shape Memory Polymer for Thermoresponsive Soft Robotic Gripper and Programmable Materials". Molecules 26, nr 3 (20.01.2021): 522. http://dx.doi.org/10.3390/molecules26030522.
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For soft robotics and programmable metamaterials, novel approaches are required enabling the design of highly integrated thermoresponsive actuating systems. In the concept presented here, the necessary functional component was obtained by polymer syntheses. First, poly(1,10-decylene adipate) diol (PDA) with a number average molecular weight Mn of 3290 g·mol−1 was synthesized from 1,10-decanediol and adipic acid. Afterward, the PDA was brought to reaction with 4,4′-diphenylmethane diisocyanate and 1,4-butanediol. The resulting polyester urethane (PEU) was processed to the filament, and samples were additively manufactured by fused-filament fabrication. After thermomechanical treatment, the PEU reliably actuated under stress-free conditions by expanding on cooling and shrinking on heating with a maximum thermoreversible strain of 16.1%. Actuation stabilized at 12.2%, as verified in a measurement comprising 100 heating-cooling cycles. By adding an actuator element to a gripper system, a hen’s egg could be picked up, safely transported and deposited. Finally, one actuator element each was built into two types of unit cells for programmable materials, thus enabling the design of temperature-dependent behavior. The approaches are expected to open up new opportunities, e.g., in the fields of soft robotics and shape morphing.
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Cheng, Shing Shin, Yeongjin Kim i Jaydev P. Desai. "Modeling and characterization of shape memory alloy springs with water cooling strategy in a neurosurgical robot". Journal of Intelligent Material Systems and Structures 28, nr 16 (24.01.2017): 2167–83. http://dx.doi.org/10.1177/1045389x16685443.
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Since shape memory alloy has a high power density and is magnetic resonance imaging compatible, it has been chosen as the actuator for the meso-scale minimally invasive neurosurgical intracranial robot (MINIR-II) that is envisioned to be operated under continuous magnetic resonance imaging guidance. We have devised a water cooling strategy to improve its actuation frequency by threading a silicone tube through the spring coils to form a compact cooling module-integrated actuator. To create active bi-directional motion in each robot joint, we configured the shape memory alloy springs in an antagonistic way. We modeled the antagonistic shape memory alloy spring behavior and provided the detailed steps to simulate its motion for a complete cycle. We investigated the heat transfer during the resistive heating and water cooling processes. Characterization experiments were performed to determine the parameters used in both models, which were then verified by comparing the experimental and simulated data. The actuation frequency of the antagonistic shape memory alloys was evaluated for several motion amplitudes and we could achieve a maximum actuation frequency of 0.143 Hz for a sinusoidal trajectory with 2 mm amplitude. Lastly, we developed a robotic system to implement the actuators on the MINIR-II to move its end segment back and forth for approximately ±25°.
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Xu, Yanlei, Zongmei Gao, Lav Khot, Xiaotian Meng i Qin Zhang. "A Real-Time Weed Mapping and Precision Herbicide Spraying System for Row Crops". Sensors 18, nr 12 (3.12.2018): 4245. http://dx.doi.org/10.3390/s18124245.
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This study developed and field tested an automated weed mapping and variable-rate herbicide spraying (VRHS) system for row crops. Weed detection was performed through a machine vision sub-system that used a custom threshold segmentation method, an improved particle swarm optimum (IPSO) algorithm, capable of segmenting the field images. The VRHS system also used a lateral histogram-based algorithm for fast extraction of weed maps. This was the basis for determining real-time herbicide application rates. The central processor of the VRHS system had high logic operation capacity, compared to the conventional controller-based systems. Custom developed monitoring system allowed real-time visualization of the spraying system functionalities. Integrated system performance was then evaluated through field experiments. The IPSO successfully segmented weeds within corn crop at seedling growth stage and reduced segmentation error rates to 0.1% from 7.1% of traditional particle swarm optimization algorithm. IPSO processing speed was 0.026 s/frame. The weed detection to chemical actuation response time of integrated system was 1.562 s. Overall, VRHS system met the real-time data processing and actuation requirements for its use in practical weed management applications.
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Wang, Weichen, Yuanwen Jiang, Donglai Zhong, Zhitao Zhang, Snehashis Choudhury, Jian-Cheng Lai, Huaxin Gong i in. "Neuromorphic sensorimotor loop embodied by monolithically integrated, low-voltage, soft e-skin". Science 380, nr 6646 (19.05.2023): 735–42. http://dx.doi.org/10.1126/science.ade0086.
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Artificial skin that simultaneously mimics sensory feedback and mechanical properties of natural skin holds substantial promise for next-generation robotic and medical devices. However, achieving such a biomimetic system that can seamlessly integrate with the human body remains a challenge. Through rational design and engineering of material properties, device structures, and system architectures, we realized a monolithic soft prosthetic electronic skin (e-skin). It is capable of multimodal perception, neuromorphic pulse-train signal generation, and closed-loop actuation. With a trilayer, high-permittivity elastomeric dielectric, we achieved a low subthreshold swing comparable to that of polycrystalline silicon transistors, a low operation voltage, low power consumption, and medium-scale circuit integration complexity for stretchable organic devices. Our e-skin mimics the biological sensorimotor loop, whereby a solid-state synaptic transistor elicits stronger actuation when a stimulus of increasing pressure is applied.
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Chen, Jie, Hengyu Guo, Zhiyi Wu, Guoqiang Xu, Yunlong Zi, Chenguo Hu i Zhong Lin Wang. "Actuation and sensor integrated self-powered cantilever system based on TENG technology". Nano Energy 64 (październik 2019): 103920. http://dx.doi.org/10.1016/j.nanoen.2019.103920.
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Park, J., C. S. Kim i M. Choi. "Oxidase-Coupled Amperometric Glucose and Lactate Sensors With Integrated Electrochemical Actuation System". IEEE Transactions on Instrumentation and Measurement 55, nr 4 (sierpień 2006): 1348–55. http://dx.doi.org/10.1109/tim.2006.876396.
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Kammegne, M. J. Tchatchueng, i R. M. Botez. "A new hybrid control methodology for a morphing aircraft wing-tip actuation mechanism". Aeronautical Journal 123, nr 1269 (28.08.2019): 1757–87. http://dx.doi.org/10.1017/aer.2019.106.
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ABSTRACTThe focus of this paper is on the modelling of miniature electromechanical actuators used in a morphing wing application, on the development of a control concept for these actuators, and on the experimental validation of the designed control system integrated in the morphing wing-tip model for a real aircraft. The assembled actuator includes as its main component a brushless direct current motor coupled to a trapezoidal screw by using a gearing system. A Linear Variable Differential Transformer (LVDT) is attached on each actuator giving back the actuator position in millimetres for the control system, while an encoder placed inside the motor provides the position of the motor shaft. Two actuation lines, each with two actuators, are integrated inside the wing model to change its shape. For the experimental model, a full-scaled portion of an aircraft wing tip is used with the chord length of 1.5 meters and equipped on the upper surface with a flexible skin made of composite fibre materials. A controllable voltage provided by a power amplifier is used to drive the actuator system. In this way, three control loops are designed and implemented, one to control the torque and the other two to control the position in a parallel architecture. The parallel position control loops use feedback signals from different sources. For the first position control loop, the feedback signal is provided by the integrated encoder, while for the second one, the feedback signal comes from the LVDT. For the experimental model, the parameters for the torque control, but also for the position control-based encoder signal, are implemented in the power amplifier energising the electrical motor. On the other hand, a National Instruments real-time system is used to implement and test the position control-based LVDT signal. The experimental validation of the developed control system is realised in two independent steps: bench testing with no airflow and wind-tunnel testing. The pressure data provided by a number of Kulite sensors equipping the flexible skin upper surface and the infrared thermography camera visualisations are used to estimate the laminar-to-turbulent transition point position.
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Zhou, Su-Wei, Chen Liang i C. A. Rogers. "An Impedance-Based System Modeling Approach for Induced Strain Actuator-Driven Structures". Journal of Vibration and Acoustics 118, nr 3 (1.07.1996): 323–31. http://dx.doi.org/10.1115/1.2888185.
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This paper presents the theoretical development and experimental verification of a system model of piezoelectric (PZT) patch actuators for induced strain actuation of two-dimensional active structures. The model includes the dynamic interaction between PZT actuators and their host structures. Analytical solutions of the output behavior of the PZT actuators have been developed based upon the actuator input impedance and the mechanical impedance of the host structures. The impedance-based model was then applied to thin plates and thin shells, and to beams. The case studies demonstrate the generality and utility of the impedance modeling approach. A simply-supported thin plate with surface-bonded PZT patches was built and tested so that the ability of the impedance model to accurately predict the dynamic performance of the actuator and the host structure has been verified. When compared with conventional static models, the impedance modeling method offers insight into the dynamic coupling of the integrated PZT/substrate systems.
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Lan, Ning, Manzhao Hao, Chuanxin M. Niu, He Cui, Yu Wang, Ting Zhang, Peng Fang i Chih-hong Chou. "Next-Generation Prosthetic Hand: from Biomimetic to Biorealistic". Research 2021 (25.03.2021): 1–4. http://dx.doi.org/10.34133/2021/4675326.
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Integrating a prosthetic hand to amputees with seamless neural compatibility presents a grand challenge to neuroscientists and neural engineers for more than half century. Mimicking anatomical structure or appearance of human hand does not lead to improved neural connectivity to the sensorimotor system of amputees. The functions of modern prosthetic hands do not match the dexterity of human hand due primarily to lack of sensory awareness and compliant actuation. Lately, progress in restoring sensory feedback has marked a significant step forward in improving neural continuity of sensory information from prosthetic hands to amputees. However, little effort has been made to replicate the compliant property of biological muscle when actuating prosthetic hands. Furthermore, a full-fledged biorealistic approach to designing prosthetic hands has not been contemplated in neuroprosthetic research. In this perspective article, we advance a novel view that a prosthetic hand can be integrated harmoniously with amputees only if neural compatibility to the sensorimotor system is achieved. Our ongoing research supports that the next-generation prosthetic hand must incorporate biologically realistic actuation, sensing, and reflex functions in order to fully attain neural compatibility.
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McGlone, M. E. "Transition of a Technology Base for Advanced Aircraft Gas Turbine Control Systems". Journal of Engineering for Gas Turbines and Power 120, nr 3 (1.07.1998): 437–41. http://dx.doi.org/10.1115/1.2818163.
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Technology assessments during the 1980s projected the development of advanced military fighter aircraft that would require propulsion systems that could accommodate multimission capability with super maneuverability. These propulsion systems would be required to provide significantly improved thrust to weight, reduced thrust specific fuel consumption, and up and away thrust vectoring capabilities. Digital electronic control systems with significantly expanded capabilities would be required to handle these multifunction control actuation systems, to integrate them with flight control systems, and to provide fail-operational capability. This paper will discuss the challenges that were presented to propulsion system control designers, the innovation of technology to address these challenges, and the transition of that technology to production readiness. Technology advancements will be discussed in the area of digital electronic control capability and packaging, advanced fuel management systems, high pressure fuel hydraulic actuation systems for multifunction nozzles, integrated flight propulsion controls, and higher-order language software development tools. Each of these areas provided unique opportunities where technology development programs and flight prototyping carried concepts to reality.
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Nguyen, Manh Hung, Hoang Vu Dao i Kyoung Kwan Ahn. "Active Disturbance Rejection Control for Position Tracking of Electro-Hydraulic Servo Systems under Modeling Uncertainty and External Load". Actuators 10, nr 2 (22.01.2021): 20. http://dx.doi.org/10.3390/act10020020.
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In this paper, an active disturbance rejection control is designed to improve the position tracking performance of an electro-hydraulic actuation system in the presence of parametric uncertainties, non-parametric uncertainties, and external disturbances as well. The disturbance observers (Dos) are proposed to estimate not only the matched lumped uncertainties but also mismatched disturbance. Without the velocity measurement, the unmeasurable angular velocity is robustly calculated based on the high-order Levant’s exact differentiator. These disturbances and angular velocity are integrated into the control design system based on the backstepping framework which guarantees high-accuracy tracking performance. The system stability analysis is analyzed by using the Lyapunov theory. Simulations based on an electro-hydraulic rotary actuator are conducted to verify the effectiveness of the proposed control method.
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Busek, Mathias, Stefan Gruenzner, Tobias Steege, Florian Schmieder, Udo Klotzbach i Frank Sonntag. "Design, characterization, and modeling of microcirculation systems with integrated oxygenators". Journal of Sensors and Sensor Systems 5, nr 1 (24.06.2016): 221–28. http://dx.doi.org/10.5194/jsss-5-221-2016.
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Abstract. Here, we describe a microfluidic system for hypoxia assays on human cell culture models. These systems are developed to replace or reduce animal testing in biomedical basic research. The presented system uses a gas-permeable membrane as a gas–liquid interface and a micropump for media actuation to influence the oxygen content in two cell culture chambers. To apply well-defined hypoxic conditions to the cells, a good understanding of the mass transport phenomena is necessary. Therefore, a complete network model of the microfluidic system is presented. This model is validated by means of micro-particle image velocimetry (µPIV) and optical oxygen measurement with fluorescence lifetime detection. Finally, the impact of several process parameters, e.g., the gas permeability of the pump, is discussed using the developed model.
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Berkmortel, Nicole, Matthew Curtis, Colin Johnson, Alicia Schmidt, Elyse Hill i S. Andrew Gadsden. "Development of a Mechatronic System for Plant Recognition and Intra-row Weeding With Machine Vision". Journal of Agricultural Science 13, nr 3 (15.02.2021): 1. http://dx.doi.org/10.5539/jas.v13n3p1.
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In this paper, an electro-mechanical integrated weed management system was designed, constructed, and tested. This laboratory-scale solution integrated elements of machine vision, controls, and mechanical actuation to selectively remove weeds from within a crop row. The device was validated in a controlled environment using corn crops. Various crop conditions were considered to ensure the robustness of the design. Though some design aspects should be reworked for improved results, the device can effectively be used to facilitate small-scale research for automated weeding strategies.
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Ameduri, Salvatore. "A SMA Based Morphing Leading Edge Architecture". Advanced Materials Research 1016 (sierpień 2014): 383–88. http://dx.doi.org/10.4028/www.scientific.net/amr.1016.383.
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This paper analyses a morphing leading edge device, activated by a Shape Memory Alloy (SMA) actuator. The objective is to achieve the Droop Nose effect for particular phases of the flight (e.g. take-off, landing), both obtaining an increased lift and preserving the laminar flow. The device is constituted of: a kinematic chain at the level of the wing section, transmitting motion to the skin, this way fitting the Droop Nose target shape; a span-wise architecture integrated with a SMA actuator, ensuring both a reduction of the actuation forces and the balancing of the aerodynamic external load. A dedicated logical framework was adopted for the design, taking into account the SMA material features and the device intrinsic non-linearity. The framework was integrated within an optimization genetic algorithm, to fit the target shape with an appropriate architecture topology. The optimized system proved to produce the desired morphing, also under the most severe aerodynamic loads.
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Pétin, Jean-François, Benoit Iung i Gérard Morel. "Distributed intelligent actuation and measurement (IAM) system within an integrated shop-floor organisation". Computers in Industry 37, nr 3 (listopad 1998): 197–211. http://dx.doi.org/10.1016/s0166-3615(98)00099-2.
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Hendy, Hossam, Yehia Elhalwagy, Sameh Shelan i Mohammed Abozied. "Design and implementation of FPGA based integrated missile actuation system and control synthesis". International Journal of Automation and Control 17, nr 1 (2023): 1. http://dx.doi.org/10.1504/ijaac.2023.10053904.
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Ho, Chih-Ming, i Yu-Chong Tai. "REVIEW: MEMS and Its Applications for Flow Control". Journal of Fluids Engineering 118, nr 3 (1.09.1996): 437–47. http://dx.doi.org/10.1115/1.2817778.
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Emerging micromachining technology enables us to fabricate mechanical parts on the order of micron size. It provides us with micro-sensors and micro-actuators which facilitate the exploration of all areas of science. Furthermore, these miniature transducers can be integrated with microelectronics. With an integrated system, it then becomes possible to complete the loop of sensing, information processing, and actuation. This type of system enables us to perform real-time control of time varying events which are common in fluid dynamics. In this review paper, we will first briefly introduce Micro-Electro-Mechanical-Systems (MEMS) technology. Then, the applications of MEMS to flow control will be discussed.
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Eveker, K. M., D. L. Gysling, C. N. Nett i O. P. Sharma. "Integrated Control of Rotating Stall and Surge in High-Speed Multistage Compression Systems". Journal of Turbomachinery 120, nr 3 (1.07.1998): 440–45. http://dx.doi.org/10.1115/1.2841735.
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Aeroengines operate in regimes for which both rotating stall and surge impose low-flow operability limits. Thus, active control strategies designed to enhance operability of aeroengines must address both rotating stall and surge as well as their interaction. In this paper, a previously developed nonlinear control strategy that achieves simultaneous active control of rotating stall and surge is applied to a high-speed three-stage axial flow compression system with operating parameters representative of modern aeroengines. The controller is experimentally validated for two compressor builds and its robustness to radial distortion assessed. For actuation, the control strategy utilizes an annulus-averaged bleed valve with bandwidth on the order of the rotor frequency. For sensing, measurements of the circumferential asymmetry and annulus-averaged unsteadiness of the flow through the compressor are used. Experimental validation of simultaneous control of rotating stall and surge in a high-speed environment with minimal sensing and actuation requirements is viewed as another important step toward applying active control to enhance operability of compression systems in modern aeroengines.
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Luo, Jack K., Y. Q. Fu, Greg Ashley i Williams I. Milne. "Integrated ZnO Film Based Acoustic Wave Microfluidics and Biosensors". Advances in Science and Technology 67 (październik 2010): 49–58. http://dx.doi.org/10.4028/www.scientific.net/ast.67.49.
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Lab-on-a-chip (LOC) is one of the most important microsystems with promising applications in microanalysis, drug development and diagnosis, etc. We have been developing a LOC biodetection system using acoustic wave as a single actuation mechanism for both microfluidics and biosensing using low cost piezoelectric ZnO film. Surface acoustic waves (SAW) coupled into the liquid will induce acoustic streaming, or move the droplet on the surface. These have been utilized to make SAW-based micropumps and micromixers which are simple in structure, easy to fabricate, low cost, reliable and efficient. SAW devices and thin film bulk acoustic resonators (FBAR) have been fabricated on nanocrystalline ZnO thin films deposited using sputtering on Si substrates. A streaming velocity up to ~5cm/s within a microdroplet and a droplet moving speed of ~1cm/s have been achieved. SAW based droplet ejection and vaporization have also been realized. SAW devices and FBARs have been used to detect antibody/antigen and rabbit/goat immunoglobulin type G molecules, showing their high sensitivity. The results have demonstrated the feasibility of using a single actuation mechanism for the LOC.
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Wang, Xin. "Modeling and control of a torque load system with servo actuator's dynamics". Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering 231, nr 9 (7.07.2016): 1676–85. http://dx.doi.org/10.1177/0954410016656882.
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In this work, the models and control strategy of the Electric Servo-torque System(ESS) which is used as an experiment rig for conducting dynamic performance and stability tests of aerial vehicle control surface actuation systems are presented. The detailed dynamics of the load motor and loaded flight actuator’s rotating movement in the ESS are analyzed, leading to an integrated load torque synchronization system. The kinematic dynamics of the loaded control surface driving actuator is an important consideration to estimate the trend of torque variation and to improve the performance of the load system. The load control method is expressed in terms of a multi-loop torque control law, which uses feedback and feedforward loops to meet system design requirements. Numerical examples together with experimental results are included to illustrate the effectiveness of the proposed models and control parameters. This brief addressed a specific utilization of the loaded actuator’s dynamics, revealing that it can reduce both the phase lag and the amplitude gain of the load torque in the Electric Servo-torque System.
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Qiu, Xianbo, Junhui Zhang, Shisong Gong, Dong Wang, Shan Qiao, Shengxiang Ge, Ningshao Xia, Duli Yu i Shizhi Qian. "A Single-Bead-Based, Fully Integrated Microfluidic System for High-Throughput CD4+T Lymphocyte Enumeration". SLAS TECHNOLOGY: Translating Life Sciences Innovation 23, nr 2 (13.10.2017): 134–43. http://dx.doi.org/10.1177/2472630317737016.
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A single-bead-based, fully integrated microfluidic system has been developed for high-throughput CD4+T lymphocyte enumeration at point-of-care testing. Instead of directly counting CD4+T lymphocytes, CD4+T lymphocyte enumeration is achieved by quantitatively detecting CD4 antigen from the lysed blood sample with a functionalized polycarbonate single bead based on chemiluminescence. To implement the sandwiched chemiluminescence immunoassay with reduced nonspecific binding, a streamlined microfluidic chip with multiple reaction chambers is developed to allow each reaction step to be completed in an independent chamber where reagent is pre-stored. With simple magnetic control, the single bead with an embedded ferrous core can be consecutively transported between each of two adjacent chambers for different reactions. Meanwhile, enhanced mixing can be achieved by moving the single bead back and forth inside one chamber with magnetic actuation. High-throughput detection can be performed when a linear actuation stage is adopted to introduce synchronous magnetic control to multiple single beads in parallel microfluidic chips. A sensitive charge-coupled device (CCD) camera is adopted for high-throughput chemiluminescence detection from multiple single beads. Experimental results show that with the fully integrated microfluidic system, easy-to-operate, accurate, low-cost, immediate, and high-throughput CD4+T lymphocyte enumeration can be successfully achieved at resource-poor settings.
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Wierach, Peter, Jan Petersen i Michael Sinapius. "Design and Experimental Characterization of an Actuation System for Flow Control of an Internally Blown Coanda Flap". Aerospace 7, nr 3 (17.03.2020): 29. http://dx.doi.org/10.3390/aerospace7030029.
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The focus of the work is on the evaluation, development and integration of a robust actuator system for three-dimensional flow control of a blown Coanda flap to improve the high lift system of commercial aircraft. As part of the research work presented, the system is integrated into a wind tunnel model in order to influence the flow across the entire width of the model. The system developed is based on individual bending transducers that can vary the height of the blowing slot dynamically. The system is divided into 33 segments and is therefore able to implement static and dynamic actuation along the wing-span (3D-actuation). All segments can be controlled independently and thus offer great optimization potential for an effective flow control. Different configurations were developed and evaluated against each other with respect to the demanding requirements (small installation space, frequency range from 5 Hz to 300 Hz, 1 bar pressure, 0.4 mm deflection, 1 m span). The design of the blown flap has been specified in an iterative design process. In the final configuration, all mechanical components are reduced to the bare minimum for weight reduction reasons, in order to meet the dynamic requirements of the wind tunnel model. To characterize the lip segments, a test device has been designed that can be pressurized to generate aerodynamic loads on the lip segments. Finally, 33 lip segments were integrated into a wind tunnel model and tested intensively as part of a measurement campaign. The first aerodynamic results show an increase in lift of up to ∆Ca = 0.57. These aerodynamic gains are achieved at amplitudes that do not require the lip segments to completely close or open the blowing slot, which shows the advantage of the current lip design that enables activation with independently controlled stationary and unsteady components.
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Sinha, Soham, i Richard West. "Towards an Integrated Vehicle Management System in DriveOS". ACM Transactions on Embedded Computing Systems 20, nr 5s (31.10.2021): 1–24. http://dx.doi.org/10.1145/3477013.
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Modern automotive systems feature dozens of electronic control units (ECUs) for chassis, body and powertrain functions. These systems are costly and inflexible to upgrade, requiring ever increasing numbers of ECUs to support new features such as advanced driver assistance (ADAS), autonomous technologies, and infotainment. To counter these challenges, we propose DriveOS, a safe, secure, extensible, and timing-predictable system for modern vehicle management in a centralized platform. DriveOS is based on a separation kernel, where timing and safety-critical ECU functions are implemented in a real-time OS (RTOS) alongside non-critical software in Linux or Android. The system enforces the separation, or partitioning, of both software and hardware among different OSes. DriveOS runs on a relatively low-cost embedded PC-class platform, supporting multiple cores and hardware virtualization capabilities. Instrument cluster, in-vehicle infotainment and advanced driver assistance system services are implemented in a Yocto Linux guest, which communicates with critical real-time services via secure shared memory. The RTOS manages a real-time controller area network (CAN) interface that is inaccessible to Linux services except via well-defined and legitimate communication channels. In this work, we integrate three Qt-based services written for Yocto Linux, running in parallel with a real-time longitudinal controller task and multiple CAN bus concentrators, for vehicular sensor data processing and actuation. We demonstrate the benefits and performance of DriveOS with a hardware-in-the-loop CARLA simulation using a real car dataset.
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Razzaq, M. Yasar, M. Behl i A. Lendlein. "Magneto-Mechanical Actuators with Reversible Stretching and Torsional Actuation Capabilities". MRS Advances 4, nr 19 (2019): 1057–65. http://dx.doi.org/10.1557/adv.2019.123.
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ABSTRACTComposite actuators consisting of magnetic nanoparticles dispersed in a crystallizable multiphase polymer system can be remotely controlled by alternating magnetic fields (AMF). These actuators contain spatially segregated crystalline domains with chemically different compositions. Here, the crystalline domain associated to low melting transition range is responsible for actuation while the crystalline domain associated to the higher melting transition range determines the geometry of the shape change. This paper reports magneto-mechanical actuators which are based on a single crystalline domain of oligo(ω-pentadecalactone) (OPDL) along with covalently integrated iron(III) oxide nanoparticles (ioNPs). Different geometrical modes of actuation such as a reversible change in length or twisting were implemented by a magneto-mechanical programming procedure. For an individual actuation mode, the degree of actuation could be tailored by variation of the magnetic field strengths. This material design can be easily extended to other composites containing other magnetic nanoparticles, e.g. with a high magnetic susceptibility.
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Ullah, Zahid, Ronnapee Chaichaowarat i Witaya Wannasuphoprasit. "Variable Damping Actuator Using an Electromagnetic Brake for Impedance Modulation in Physical Human–Robot Interaction". Robotics 12, nr 3 (4.06.2023): 80. http://dx.doi.org/10.3390/robotics12030080.
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Compliance actuation systems are efficient and safe, drawing attention to their development. However, compliance has caused bandwidth loss, instability, and mechanical vibration in robotic systems. Variable physical damping was introduced to address these issues. This paper presents a technique for obtaining variable damping properties using an electromagnetic brake. The relationship mapping of the voltage and the braking torque is studied and applied to the variable damping concept. A new model is proposed to demonstrate the actuation system performance gained by introducing physical damping. The experimental setup comprises an electromagnetic brake and a motor with an integrated controller for speed control and torque feedback. The motor provides the motion, while the electromagnetic brake replicates the damping through a friction mechanism. The variable damping concept was evaluated experimentally using a 1-degree-of-freedom rotational system. Experimental results show that the proposed concept can generate the desired mechanical damping with a high degree of fidelity.
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Schlüter, Kathrin, Leonardo Riccardi i Annika Raatz. "An Open-Loop Control Approach for Magnetic Shape Memory Actuators Considering Temperature Variations". Advances in Science and Technology 78 (wrzesień 2012): 119–24. http://dx.doi.org/10.4028/www.scientific.net/ast.78.119.
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Magnetic shape memory alloys (MSMA) offer remarkable potentials for actuation purposes because of a large achievable strain and a short response time. But, apart from these advantages, MSMA show a hysteretic behavior between the input and output quantities. Hysteretic phenomena represent an important challenge for the design of control systems for MSMA-based actuators. Furthermore, this hysteretic behavior is sensitive to temperature variations, a situation that arises in many applications. To face the problem of increasing/decreasing temperature during operation, an open-loop control approach considering temperature variations is presented in this paper. For this purpose, an actuator prototype is characterized with particular emphasis on temperature influence concerning the input-output behavior. The presence of a time-varying nonlinearity is addressed by means of a set of hysteresis models and relative compensators to improve the positioning performance of the actuator system. Subsequently, the obtained models are integrated in the control loop and tested experimentally. Finally, the results achieved with the introduced control concept are presented.
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Panza, M. J., i R. W. Mayne. "Hydraulic Actuator Tuning in the Control of a Rotating Flexible Beam Mechanism". Journal of Dynamic Systems, Measurement, and Control 118, nr 3 (1.09.1996): 449–56. http://dx.doi.org/10.1115/1.2801166.
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The end point position and vibration control of a rotating flexible beam mechanism driven by a hydraulic cylinder actuator are considered. An integrated nonlinear system model comprised of beam dynamics, hydraulic actuator, control valves, and control scheme is presented. Control based on simple position feedback, along with a hydraulic actuation system tuned to suppress beam vibration over a wide range of angular motion, is investigated. For positioning to small to moderate mechanism angles, a linear system model with the actuator tuned for good open-loop performance is developed. Actuator tuning is accomplished by varying the system hydraulic resistance according to a dimensionless parameter defining the interaction between actuator dynamics and the fundamental mode of the flexible beam. Simulation results for a closed-loop system indicate that this simple tuned control provides comparable performance and requires less control effort than an untuned system with a more complex state feedback optimal controller. To compensate for geometric nonlinearities that cause instability when positioning to large mechanism angles, an active actuator tuning scheme based on continuous variation of hydraulic resistance is proposed. The active variable resistance controller is combined with simple position feedback and designed to provide a constant dimensionless actuator-flexible beam interaction parameter throughout the motion. Simulation results are presented to show the stabilizing effect of this control strategy.
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Alam, Umme Kawsar, Kassidy Shedd i Mahdi Haghshenas-Jaryani. "Trajectory Control in Discrete-Time Nonlinear Coupling Dynamics of a Soft Exo-Digit and a Human Finger Using Input–Output Feedback Linearization". Automation 4, nr 2 (31.05.2023): 164–90. http://dx.doi.org/10.3390/automation4020011.
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This paper presents a quasi-static model-based control algorithm for controlling the motion of a soft robotic exo-digit with three independent actuation joints physically interacting with the human finger. A quasi-static analytical model of physical interaction between the soft exo-digit and a human finger model was developed. Then, the model was presented as a nonlinear discrete-time multiple-input multiple-output (MIMO) state-space representation for the control system design. Input–output feedback linearization was utilized and a control input was designed to linearize the input–output, where the input is the actuation pressure of an individual soft actuator, and the output is the pose of the human fingertip. The asymptotic stability of the nonlinear discrete-time system for trajectory tracking control is discussed. A soft robotic exoskeleton digit (exo-digit) and a 3D-printed human-finger model integrated with IMU sensors were used for the experimental test setup. An Arduino-based electro-pneumatic control hardware was developed to control the actuation pressure of the soft exo-digit. The effectiveness of the controller was examined through simulation studies and experimental testing for following different pose trajectories corresponding to the human finger pose during the activities of daily living. The model-based controller was able to follow the desired trajectories with a very low average root-mean-square error of 2.27 mm in the x-direction, 2.75 mm in the y-direction, and 3.90 degrees in the orientation of the human finger distal link about the z-axis.