Actuator Setup Research Articles

Boosted Incremental Nonlinear Dynamic Inversion for Flexible Airplane Gust Load Alleviation

Active gust load alleviation is an important technology for reducing loads on future commercial airplanes so that the structure can be designed to be lighter in order to save fuel. For the intense reduction of gust loads, a highly reactive control system of sensors, control algorithms, and actuators is required, which is not yet available. In this paper, a control algorithm based on incremental nonlinear dynamic inversion is extended so that actuators respond faster. The control algorithm is applied to a future medium-range aircraft with distributed trailing-edge flaps. It is assumed that the vertical acceleration of the center of gravity and the displacement, velocity, and acceleration of the first wing bending mode are available as feedback variables. To allow comparability with other actuator and sensor setups, the authors abstract the actuator dynamics and sensor filter as control system time delay. The feedback gains are adjusted automatically to the control system time delay. In simulation, the authors investigate the influence of the control system time delay on the peak gust loads. They show that gust loads can indeed be intensely reduced with sufficiently small control system time delay in simulation.

Acoustic Trapping and Manipulation of Hollow Microparticles under Fluid Flow Using a Single-Lens Focused Ultrasound Transducer.

Microparticle manipulation and trapping play pivotal roles in biotechnology. To achieve effective manipulation within fluidic flow conditions and confined spaces, it is necessary to consider the physical properties of microparticles and the types of trapping forces applied. While acoustic waves have shown potential for manipulating microparticles, the existing setups involve complex actuation mechanisms and unstable microbubbles. Consequently, the need persists for an easily deployable acoustic actuation setup with stable microparticles. Here, we propose the use of hollow borosilicate microparticles possessing a rigid thin shell, which can be efficiently trapped and manipulated using a single-lens focused ultrasound (FUS) transducer under physiologically relevant flow conditions. These hollow microparticles offer stability and advantageous acoustic properties. They can be scaled up and mass-produced, making them suitable for systemic delivery. Our research demonstrates the successful trapping dynamics of FUS within circular tubings of varying diameters, validating the effectiveness of the method under realistic flow rates and ultrasound amplitudes. We also showcase the ability to remove hollow microparticles by steering the FUS transducer against the flow. Furthermore, we present potential biomedical applications, such as active cell tagging and navigation in bifurcated channels as well as ultrasound imaging in mouse cadaver liver tissue.

An efficient magnetothermal actuation setup for fast heating/cooling cycles or long-term induction heating of different magnetic nanoparticle classes

Alternating magnetic fields (AMFs) in the ∼100 kHz frequency regime cause magnetic nanoparticles (MNPs) to dissipate heat to their nanoscale environment. This mechanism is beneficial for a variety of applications in biomedicine and nanotechnology, such as localized heating of cancer tissue, actuation of drug release, or inducing conformational changes of molecules. However, engineering electromagnetic resonant circuits which generate fields to efficiently heat MNPs over long time scales, remains a challenge. In addition, many applications require fast heating/cooling cycles over ΔT= 5 °C–10 °C to switch the sample between different states. Here, we present a home-built magnetothermal actuation setup maximized in its efficiency to deliver stable AMFs as well as to enable fast heating/cooling cycles of MNP samples. The setup satisfies various demands, such as an elaborate cooling system to control heating of the circuit components as well as of the sample due to inductive losses. Fast cycles of remote sample heating/cooling (up to ±15 °C min−1) as well as long-term induction heating were monitored via contact-free thermal image recording at sub-mm resolution. Next to characterizing the improved hyperthermia setup, we demonstrate its applicability to heat different types of MNPs: ‘nanoflower’-shaped multicore iron oxide nanoparticles, core shell magnetite MNPs, as well as magnetosomes from magnetotactic bacteria (Magnetospirillum gryphiswaldense). MNPs are directly compared in their structure, surface charge, magnetic properties as well as heating response. Our work provides practical guidelines for AMF engineering and the monitoring of MNP heating for biomedical or nano-/biotechnological applications.

Network Interface Program for Actuator Controllers for Pseudo-Dynamic Hybrid Simulation

ABSTRACT A network interface program for controllers (NICON) for pseudo-dynamic hybrid simulations is presented. The program is implemented as an independent program residing between the simulation model and an actuator controller with various functions necessary for hybrid simulations, such as communication, coordinate transformation, error compensation. These functions are generalized to allow for a generic configuration of actuator setup theoretically with any number of control points and control degrees of freedom. Application examples of NICON to hybrid simulations of civil infrastructures subjected to earthquakes or fire are presented.

Tunable, Textile-Based Joint Impedance Module for Soft Robotic Applications.

The design of soft actuators is often focused on achieving target trajectories or delivering specific forces and torques, rather than controlling the impedance of the actuator. This article outlines a new soft, tunable pneumatic impedance module based on an antagonistic actuator setup of textile-based pneumatic actuators intended to deliver bidirectional torques about a joint. Through mechanical programming of the actuators (select tuning of geometric parameters), the baseline torque to angle relationship of the module can be tuned. A high bandwidth fluidic controller that can rapidly modulate the pressure at up to 8 Hz in each antagonistic actuator was also developed to enable tunable impedance modulation. This high bandwidth was achieved through the characterization and modeling of the proportional valves used, derivation of a fluidic model, and derivation of control equations. The resulting impedance module was capable of modulating its stiffness from 0 to 100 Nm/rad, at velocities up to 120°/s and emulating asymmetric and nonlinear stiffness profiles, typical in wearable robotic applications.

Hydroxyl terminated polybutadiene-based shape memory polyurethane nanocomposites containing nano metal-oxide fillers for microfluidic valve actuator applications

We report here a novel and unique thermo-responsive Shape Memory Polyurethane Nanocomposites (SMPUNCs) derived from Hydroxyl Terminated Polybutadiene (HTPB) and Poly Tetra Methylene Glycol (PTMG) blend encapsulated with nano metal oxides fillers such as CuO, NiO, Fe2O3, CuFe2O4, and Fe2NiO4 for possible use in polymer-based microvalve actuator systems. The synthesis methods adopted and the various characterization techniques employed are presented. The corresponding SMPUs are named PU−CuO, PU−Fe2O3, PU-NiO, PU−CuFe2O4, and PU-Fe2NiO4 respectively. HTPB and PTMG are used as the base polyols for reacting with isocyanates to form the polyurethane base matrix, named as PU-Neat for comparison. Different fillers were used to study the effect of these fillers on the enhancement of the shape memory properties of polyurethane. Morphological, thermal, mechanical, and shape-memory properties of the prepared SMPUs are fully characterized. Morphological studies confirm that all the nano-metal oxide fillers are uniformly dispersed within the SMPU matrix. The shape memory transition temperature (Ttrans), which plays an important role in the shape memory effect (SME), is obtained from DSC analysis. The results show that Ttrans is enhanced with the reinforcement of the nano-metal oxide fillers (resulting in about 10% enhancement in the shape recovery time). The metal oxide filler integrated samples show higher thermal stability as well as shape fixing and recovery performances than PU-Neat. The tensile test confirmed that the PU−Fe2O3 matrix possesses a high tensile modulus and is rigid when compared to other SMPUs. We also demonstrated a microvalve actuator system using PU−Fe2O3, as it possesses the optimum shape recovery and better shape fixing properties, compared to other prepared Shape Memory Polyurethane Nanocomposites. An improvement of 10% efficiency in the closing and opening of the valve for PU composite film was observed in the demonstrated actuator setup.

An experimental comparative study of adaptive sigma-point Kalman filters: Case study of a rigid–flexible four-bar linkage mechanism and a servo-hydraulic actuator

This paper investigates the application, design, and implementation of different adaptive sigma-point Kalman filters for nonlinear dynamic systems. It is a well-known fact that the performance of nonlinear Kalman filters depends on a prior knowledge of system noise statistics. In real-time applications, this knowledge is difficult and in some cases impossible to predefine. Therefore, an adaptation mechanism based on the random weighting method is proposed in this work to estimate, simultaneously, noise covariance and the state of the system. On the other hand, for real time execution, the computational efficiency of such filters should also be considered to minimize the burden on computational resources. Based on these two factors, in this paper, four different variants of the adaptive sigma-point Kalman filter are studied in detail: (I) an Adaptive Unscented Kalman filter (AUKF), (II) an Adaptive Square-root Unscented Kalman filter (ASr-UKF) with an Unscented Transformation sigma-point selection strategy, (III) an Adaptive Scaled Spherical Simplex Unscented Kalman filter (AS3UKF), and (IV) an Adaptive Square-root Scaled Spherical Simplex Unscented Kalman filter (ASr-S3UKF) with scaled spherical simplex sigma-point selection strategy. The performance of these adaptive sigma-point Kalman filters is analyzed here in depth and discussed for application to a simulated rigid–flexible four-bar linkage mechanism and a practical servo-hydraulic actuator setup under different scenarios. The simulation and the experimental results indicated that, for the cases studied in this article, the filters are competitive and present advantages and disadvantages that should be dealt with according to the requirements of the problem.

Elastohydrodynamic propulsion of a filament magnetically driven at both ends.

The elastohydrodynamic interaction between an elastic filament and its surrounding fluid was exploited to develop the first microswimmers. These flexible microswimmers are typically actuated magnetically at one end and their propulsion behavior is relatively well understood. In this work, we move beyond the traditional single-end actuation setup and explore the propulsion characteristics of an elastic filament driven by magnetic torques at both ends. We report the emergence of new modes of propulsion behaviors in different physical regimes, depending on the balance of elastic and viscous forces as well as the arrangement of the magnetic moments at the filament ends. In particular, under the same magnetic actuation, a filament driven at both ends can propel either forward or backward depending on its relative stiffness. Moreover, this new backward propulsion mode can generate a magnitude of propulsion that is unattainable by the traditional single-end actuation setup. We characterize these new propulsion behaviors and provide some physical insights into how they emerge from the complex interplay between viscous and elastic forces and magnetic actuation in various configurations. Taken together, these findings could guide the development of soft microrobots with enhanced propulsion performance and maneuverability for future biomedical applications.

Implications of dragonfly's muscle control on flapping kinematics and aerodynamics

In this work, we designed and characterized a passive structural wing actuation setup that was able to realistically mimic the flapping and pitching kinematics of dragonflies. In this setup, an inelastic string limited the wing pitch that may be sufficiently simple for practical micro air vehicle applications. To further evaluate the dominance of inertial passive and active muscle-controlled pitch actuation in dragonfly flight, the flow fields and pitching angle variations of the naturally actuated wing of a tethered dragonfly were compared with that of the same wing artificially actuated via a proposed passive mechanism. We found that passive rotation characterizes most of the forewing flapping cycle except the upstroke reversal where the dragonfly uses its muscle movement to accelerate its forewing rotation. The measured flow fields show that accelerated wing rotation at the upstroke reversal will result in a stronger leading edge vortex during the downstroke, the additional force from which is estimated to account for 4.3% of the total cycle averaged force generated.

Boundary state feedback control for semilinear fractional-order reaction diffusion systems

This paper investigates the stabilization results for a semilinear time fractional-order reaction diffusion partial differential equations using backstepping method. The parabolic system is addressed with time fractional-order of (0, 1) in the Caputo sense. More general type of actuation setup which can be expressed as Dirichlet, Neumann and Robin type boundary actuation's is considered. The main aim is to achieve the stabilization of the considered system using an invertible transformation through the stability of target system which is verified by Mittag-Leffler stability based on (Q, S, R) dissipativity theory and linear matrix inequality (LMI) technique. The explicit solutions of kernel functions are found by method of successive approximation and to be design the boundary control law for the closed loop system. Finally, the proposed results are validated through numerical examples.

Body-Powered and Portable Soft Hydraulic Actuators as Prosthetic Hands

Soft robotic actuators are highly flexible, compliant, dexterous, and lightweight alternatives that can potentially replace conventional rigid actuators in various human-centric applications. This research aims to develop a soft robotic actuator that leverages body movements to mimic the function of human fingers for gripping and grasping tasks. Unlike the predominantly used chamber-based actuation, this study utilizes actuators made from elastomers embedded with fiber braiding. The Young’s modulus of the elastomer and braiding angles of the fiber highly influenced the bending angle and force generated by these actuators. In this experiment, the bending and force profiles of these actuators were characterized by varying the combinations of elastomeric materials and braiding angles to suit hand manipulation tasks. Additionally, we found that utilizing water, which is relatively more incompressible than air, as the actuation fluid enabled easier actuation of the actuators using body movements. Lastly, we demonstrated a body-powered actuator setup that can provide comfort to patients in terms of portability, standalone capability, and cost effectiveness, potentially allowing them to be used in a wide range of wearable robotic applications.

Suitability of Different Analytical Derivations of Electrically Induced Stress States in Planar and Cylindrical Dielectric Elastomer Actuators.

Dielectric elastomers (DE) belong to a very performant and efficient class of functional materials for actuators, while being compliant, low-weight and silent, they offer high energy efficiencies and large deformations under an applied electric field. In this work, a comparison of different approaches to derive expressions for the electrically induced stress states in dielectric materials is given. In particular, the focus is on three different ways to analytically describe stress states in planar actuator setups and to show how they are connected to each other regarding their resulting deformations. This is the basis to evaluate the suitability of these approaches for cylindrical actuator geometries together with exemplary calculations for concrete use cases. As an outcome, conclusions on the suitability of the different approaches for certain actuator setups are drawn. In particular cylindrical actuator geometries are taken into account and a recommendation on which approach is useful to describe a certain actuator effect is given.

Analysis and Comparison of Electromagnetic Microrobotic Platforms for Biomedical Applications

Magnetic microrobotics is a promising technology for improving minimally invasive surgery (MIS) with the ambition of enhancing patient care and comfort. The potential benefits include limited incisions, less hemorrhaging and postoperative pain, and faster recovery time. To achieve this, a key issue relies on the design of a proper electromagnetic actuation (EMA) setup which is based on the use of magnetic sources. The magnetic field and its gradient generated by the EMA platform is then used to induce magnetic torque and force for microrobot manipulations inside the human body. Like any control systems, the EMA system must be adapted to the given controlled microrobot and customized for the application. With great research efforts on magnetic manipulating of microrobots, the EMA systems are approaching commercial applications, and their configurations are becoming more suitable to be employed in real medical surgeries. However, most of the proposed designs have not followed any specific rule allowing to take into account the biomedical applications constraints. Through reviewing the different proposed EMA systems in the literature, their various specifications and configurations are comprehensively discussed and analyzed. This study focus on EMA platforms that use electromagnets. From this review and based on the biomedical application specifications, the appropriate EMA system can be determined efficiently.

Design of Faulty Switching Detection and Alert System to Prevent Fatality of Servicemen During Transformer Maintenance

Enriching electric safety feature is the foremost concern for reducing fatality. Recent power system installations have been equipped with all safety features by employing modernized technological innovations. However, the age-old equipment installed long before lacks safety features. One of the critical safety feature issues that cause a threat to human life due to lack of safety features is the malfunction of the air break isolation switch which is caused by thermal effects. Similarly, fatality during the maintenance of distribution of the transformer is of significant concern. Globally, air break switches have been utilized to isolate power lines and transformers in the distribution premises. Facilitating the transformers with safety features is a highly complicated and expensive task. Consequently, severe fatalities have been recorded due to the lack of accident preventive techniques. In this perspective, the proposed work is to develop a Faulty Switching Detection and Alert System (FSDA) to alleviate the life-threatening issues. The FSDA mechanism is an integrated actuator setup configured beside the transformer switches and operating rods, and the malfunction of switches is detected and alerted. The Programmable Logic Controller (PLC) module is used to integrate the detection mechanism with alert and display system. The system generates an alarm to alert the workmen to avoid fatality.

Underwater Bending Actuator Based on Integrated Anisotropic Textile Materials and a Conductive Hydrogel Electrode

Electroactive polymers (EAPs), especially dielectric elastomer actuators (DEAs), belong to a very promising and emerging class of functional materials. While DEAs are mostly utilized to rely on carbon-based electrodes, there are certain shortcomings of the use of carbon electrodes in the field of soft robotics. In this work we present a fish-like bending structure to serve as possible propulsion element, completely avoiding carbon-based electrodes. The presented robot is moving under water, using a particularly tailored conductive hydrogel as inner electrode and a highly anisotropic textile material to manipulate the bending behavior of the robot. The charge separation to drive two DEAs on the outsides of the robot is provided by the conductive hydrogel while the surrounding water serves as counter electrode. To characterize the hydrogel, tensile tests and impedance spectroscopy are used as measurement methods of choice. The performance of the robot was evaluated using a digital image correlation (DIC) measurement for its bending deflections under water. The developed fish-like robot was able to perform a dynamic bending movement, based on a tri-stable actuator setup. The performed measurements underpin the sufficient characteristics for an underwater application of conductive hydrogel electrodes as well as the applicability of the robotic concept for under water actuations.

Robust Fractional-Order Control Using a Decoupled Pitch and Roll Actuation Strategy for the I-Support Soft Robot

Tip control is a current open issue in soft robotics; therefore, it has received a good amount of attention in recent years. The desirable soft characteristics of these robots turn a well-solved problem in classic robotics, like the end-effector kinematics and dynamics, into a challenging problem. The high redundancy condition of these robots hinders classical solutions, resulting in controllers with very high computational costs. In this paper, a simplification is proposed in the actuation setup of the I-Support soft robot, allowing the use of simple strategies for tip inclination control. In order to verify the proposed approach, inclination step input and trajectory-tracking experiments were performed on a single module of the I-Support robot, resulting in zero output error in all cases, including those where the system was exposed to disturbances. The comparative results of the proposed controllers, a proportional integral derivative (PID) and a fractional order robust (FOPI) controller, validate the feasibility of the proposed approach, showing a clear advantage in the use of the fractional robust controller for the tip inclination control of the I-Support robot compared to the integer order controller.

Estimation of fatigue life using low cost pneumatic setup and Arduino based data acquisition (DAQ)

With increase in number of Students opting of Masters in Engineering, the demand for High quality and Precise Instruments has risen by many folds. The Students in countries like India, strive to get access to components and Hardwares to validate and obtain definitive results to pursue their Research within Student level, irrespective of whether the Grade/Level is Bachelors/Masters. When we talk about assessment of Fatigue Life of a job, the conventional setup of Repeatedly Twisting and Releasing comes into our mind wherein Twisting /Shear Stress is repeatedly introduced and released. However, when Metal Plates are required to be tested, bending stresses are to be introduced. The objective of is paper, aims around development of Low cost setup for estimation of Fatigue life of Samples, constrained to bending stress, using Pneumatic setup as stress producing actuator and Arduino setup combined with Strain gauges as low cost data acquisition (DAQ) tool. The data from the DAQ is logged through LABVIEW, for obtaining SN Curve and further analysis.

Experimental Characterization of a Large-Range Parallel Kinematic XYZ Flexure Mechanism

Abstract Previously, we reported the conceptual design of a novel parallel-kinematic flexure mechanism that provides large and decoupled motions in the X, Y, and Z directions, along with good actuator isolation, and small parasitic error motions (Awtar, S., Ustick, J., and Sen, S., 2012, “An XYZ Parallel-Kinematic Flexure Mechanism With Geometrically Decoupled Degrees of Freedom,” ASME J. Mech. Rob., 5(1), p. 015001). This paper presents the detailed design and fabrication of a high-precision experimental setup to characterize and validate the motion attributes of this proposed flexure design via comprehensive measurements. The unique aspects of this experimental setup include a novel modular construction and exact-constraint assembly of the flexure mechanism from 12 identical parallelogram flexure modules. The flexure mechanism along with the sensing and actuation setup in the experiment is designed to enable large range (10 mm) in each direction. Experimental measurements and finite-elements analysis demonstrate <3% variation in motion direction stiffness, 20.4% lost motion, <11.6% cross-axis error, <3.3% actuator isolation, and <9.5 mrad motion stage rotation over the entire 10 mm × 10 mm × 10 mm range of motion.

Studies on development of NiTi-integrated optical fiber sensor and its life cycle behavior

Shape memory alloy coating on an optical fiber plays an important role in developing novel active thermal sensors in the field of microelectromechanical systems. In this article, a detailed analysis of NiTi alloy deposited over plastic optical fiber was discussed. A detailed investigation of the morphological, structural, and thermal properties of the NiTi-coated optic fiber was conducted. The uniformity, crystallinity, transformation temperatures, and thermal stability of the coatings were measured using differential scanning calorimetry, scanning electron microscopy, X-ray diffraction, and thermogravimetric analysis, respectively. Also, an electrical actuation setup thermo-mechanical test was conducted through Joule heating in which different voltages at varying loads have been used. The sensor characteristic–based parameters (time response and sensitivity) were also calculated. The article presents a complete analysis of experimental results showing the properties and performances of the plastic optical fiber after coating with shape memory alloy.

Applicability of Vapor-Deposited Thermoresponsive Hydrogel Thin Films in Ultrafast Humidity Sensors/Actuators

Thermoresponsive polymers reversibly react to changes in temperature and water content of their environment (i.e., relative humidity, RH). In the present contribution, the thermoresponsiveness of poly(N-vinylcaprolactam) thin films cross-linked by di(ethylene glycol) divinyl ether deposited by initiated chemical vapor deposition are investigated to assess their applicability to sensor and actuator setups. A lower critical solution temperature (LCST) is observed at around 16 °C in aqueous environment, associated with a dramatic change in film thickness (e.g., 200% increase at low temperatures) and refractive index, while only thermal expansion of the polymeric system is found, when ramping the temperature in dry atmosphere. In humid environment, we observed a significant response occurring in low RH (already below 5% RH), with the moisture swelling the thin film (up to 4%), but mainly replacing air in the polymeric structure up to ∼40% RH. Non-temperature-dependent swelling is observed up to 80% RH. Above that, thermoresponsive behavior is also demonstrated to be present in humid environment for the first time, whereas toward 100% RH, film thickness and index appear to approach the values obtained in water at the respective temperatures. The response times are similar in a large range of RH and are faster than the ones of the reference humidity sensor used (i.e., seconds). A sensor/actuator hygromorphic device was built by coating a thin flower-shaped poly(dimethylsiloxane) (PDMS) substrate with the thermoresponsive polymer. The large swelling due to water uptake upon exposure to humid environment at temperatures below the LCST caused the petals to bend, mimicking the capability of plants to respond to environmental stimuli via reversible mechanical motion.