Digital Actuator Research Articles

Origin of the ultrahigh field-induced strain in the Gd-doped 0.854Bi0.5Na0.5TiO3-0.12Bi0.5K0.5TiO3-0.026BaTiO3 ternary ceramic system

This study focused on analyzing the ferroelectric, piezoelectric, and dielectric properties of lead-free Bi0.487Na0.427K0.06Ba0.026TiO3 (0.854BNT-0.12BKT-0.026BT) ternary ceramic system by systematically doping 0.001, 0.01, 0.1, 0.5, and 1.0 mol% Gd2O3. The specific composition that was investigated is located at the tetragonal side of the rhombohedral-tetragonal morphotropic phase boundary (MPB) region. Undoped and Gd-doped BNT-BKT-BT ceramics were produced by the conventional solid-state reaction method. Ferroelectric, piezoelectric, and dielectric properties of ceramics were analyzed by carrying out electrical measurements from sintered samples. An ultrahigh field-induced unipolar strain of 0.52% at 65 kV cm−1, with a converse piezoelectric coefficient d33* of up to 795 pm V−1, was achieved with 0.5 mol% Gd doping. This was attributed to the Gd dopant disrupting the normal ferroelectric order and leading to the formation of a nonpolar relaxor phase. The field-induced transition from the nonpolar relaxor phase to the normal ferroelectric phase resulted in relatively large field-induced strain values in the 0.5 mol% Gd-doped ceramics. These results suggest that Gd-doped BNT-BKT-BT ceramics hold promise for digital actuator applications.

Digitalization of Radial Piston Pumps through Internal Mechanically Actuated Designs

Digital hydraulics is a technology gaining perceptible growth in fluid power research. The advantages of digital fluid power systems can be realized through improved system efficiencies, energy savings, increased productivity, and system performance compared to traditional fluid power systems. Conventional check valve pumps use differential pressures to deliver pressurized flow to the system. Digital fluid power pumps enable conventional check valve pumps to achieve variable displacements by enhancing the controllability of the inlet and outlet valves through digital hydraulic technologies and techniques. The benefit of this technology is the use of positive sealing check valves with lower leakage losses compared to typical variable displacement pumps, increasing the unit’s overall efficiency. The primary focus of prior digital pump/motor research has been on digital actuation using electronic solenoids to actuate or latch the valves. While these electrical systems provide a platform for digital hydraulic techniques, they come with a cost: added energy sources, advanced controls, and expensive data acquisition systems. Research has also shown that minor valve timing inconsistencies can limit the potential energy savings of digital pumps in electrically actuated systems. A system configuration that promotes the advantages of digital hydraulics while mitigating the disadvantages associated with electrical systems is mechanically actuated systems. This work discusses variable cams and their advantages/disadvantages in digital radial piston pump/motor technologies. The significance of this work is the investigation of the digitalization of radial piston pumps through mechanically actuated valving systems, which has yet to be implemented in prior research. This paper evaluates various design concepts for commercializing digital radial piston pumps using mechanically actuated cams. A two-quadrant pump and a four-quadrant pump/motor design are simulated to assess their potential efficiency across the bandwidth of their displacement. The results show that the two systems can achieve relatively high efficiencies across their displacement bandwidth but show room for further improvement by optimizing these systems. This study is the first step in designing an integrated mechanically actuated variable cam system in digital radial piston pumps.

Multi-Chamber Actuator Using Digital Pump for Position and Velocity Control Applied in Aircraft

This paper presents a multi-chamber hydraulic actuator controlled by digital pumps and on/off valves, in order to improve the efficiency of hydraulic systems applied in aircraft for flight control. Hydraulic positioning systems are used in many different applications, such as mobile machinery, industry and aerospace. In aircraft, the hydraulic actuators are used at flight control surfaces, cargo doors, steering, landing gear and so one. However, the massive use of resistive control techniques, which throttles the passages of the hydraulic fluid, associated with internal leakage of the hydraulic components, make these systems low energy efficient. In order to improve their energy efficiency, digital hydraulics emerges as a promising solution mainly for mobile applications. In this paper a hydraulic positioning system for aircraft control surfaces using a multi-chamber actuator controlled by on/off valves and a digital pump is proposed. The use of a digital pump with three fixed displacement pumps can provide eight different volumetric displacement outputs. The multi-chamber actuator with four areas can operate in two different modes, normal or regenerative, resulting in six different equivalent areas. The regenerative mode allows the actuator to achieve higher actuation velocity values with smaller pumps. These equivalent areas combined with the different supplied flow rates can deliver 43 different discrete output velocity values for the actuator, in steady-state. For the system dynamic analyses, three mathematical simulation models were developed using MATLAB/Simulink and Hopsan, one for the digital system, and two for the conventional solutions applied in aircraft (Servo Hydraulic Actuators (SHA) and Electro Hydrostatic Actuator (EHA)). The simulation results demonstrate that the digital actuator can achieve, for position control, a maximum position error, in a steady-state, of 0.7 mm. From the energy consumption point of view, the digital circuit consumes 31 times less energy when compared with the SHA and 1.7 when compared to the EHA, resulting in an energy efficiency of 54%.

An autonomous crawler excavator for hazardous environments

Abstract As part of ROBDEKON, a 24-ton crawler excavator was equipped with sensors and a digital actuation interface as a technology demonstrator which features autonomy capabilities. The system architecture includes algorithms for localization, perception, mapping, planning, and control. The system is capable of tasks like autonomous driving to a target location, excavation of a predefined area to a given depth, and autonomous loading of an autonomously approaching transport vehicle. To ensure safety, collision avoidance based on 360° perception is always active during autonomous operation. This article presents the concept and implementation of the excavator’s autonomy functionality.

Design, Micro-Fabrication, and Characterization of a 3-DoF Micro-Conveyor Based on Digital Actuators

In this paper, a novel optimal 3-DoF micro-conveyor based on electromagnetic digital actuators array is proposed. The micro-conveyor consists of four electromagnetic digital actuators. Two specific control strategies have been built to realize the 3-DoF planner conveyance task. A static analytical model and a dynamic semi-analytical model based on the principle have been built for the optimal design, analysis, and necessary calculation of a prototype. The prototype was manufactured by micro-fabrication technology and several experiments were carried out. The experimental results are in good agreement with the modeling results. Benefited from the optimal design and high fabrication precision, the proposed micro-conveyor is proved to be better in magnetic homogeneity of elementary actuators, output stability, long range conveyance linearity, and have one more DoF (planar rotation) compared to the previous work.

Experimental Characterization of a Stick-Slip Driving Micro Conveyance Device Consisting of Digital Actuators

Micro conveyance devices are important elements in high precision positioning systems, which play vital roles in many scientific and industrial fields and are widely needed in many applications. This work presents the modeling and experimental validation of a pre-designed and fabricated micro conveyance device. This micro conveyance device consists of eight elementary electromagnetic digital actuators and can realize a conveyance application based on a stick-slip driving principle. A dynamic model based on the prototype device was established for stick-slip displacement simulation. Four sub-models of the dynamic model regarding the calculation of actuation force and friction force within the device were built and integrated. Experiments focusing on the conveyance application were carried out to test the performance of the prototype device. It has been observed that the simulated results obtained using the dynamic model were in good agreement with the experiment results. The proposed device suggests an alternative to the micro conveyance system.

Trajectory and Conveyance Validation of a Micro Conveyor Based on a Digital Electromagnetic Actuators Array for the Micro-Factory

Micro-factories are characterized by high modularity, reconfigurability and mobility. To achieve this, the micro-factory needs a conveyor which is able to transport objects in as many degrees of freedom (DoF) as possible, executes optimal trajectories of these objects in terms of energy and precision and is robust to withstand possible malfunctions. In this article, we present the planar conveyance of objects on a digital actuation array following trajectories generated by an adapted A* algorithm. The A* algorithm exploits the predictions of a developed dynamic model of the system to find the optimal paths (in terms of energy) on the conveyor surface. The dynamic model predictions were compared to experimental measurements, obtaining low root-mean-square-errors for all conditions. Uni-dimensional conveyance tests characterized the influence of the control parameters. Then, bi-dimensional motions characterized the conveyor’s performance. From the bi-dimensional test, a position root-mean-square-error of 20 μm was measured for a 1109 μm open-loop controlled trajectory. The modular nature of the array allows easy scaling and avoiding possible malfunctioning zones, increasing the robustness of the micro-conveyor. The experimental tests demonstrate that the proposed device is an interesting alternative for the micro-factory.

Planar Micro-Positioning Device Based on a 3D Digital Electromagnetic Actuator

In this paper, a novel micro-positioning device based on a 3D digital actuator is presented. The proposed system allows realizing planar motions of micro-objects, which could be implemented in several applications where micro-positioning tasks are needed such as micro-component manufacturing/assembly, biomedicine, scanning microscopy, etc. The device has three degrees of freedom, and it is able to achieve planar motions of a mobile plate in the xy-plane at two different levels along the z-axis. It consists of a hexagonal mobile part composed of a permanent magnet that can reach twelve discrete positions distributed between two z-axis levels (six at each level). Two different approaches are presented to perform positioning tasks of the plate using the digital actuator: the stick-slip and the lift-mode approaches. A comparison between these two approaches is provided on the basis of the plate displacement with respect to different current values and conveyed mass. It was observed that for a current of 2 A, the actuator is able to displace a mass of 1.15 g over a distance of 0.08 mm. The optimal positioning range of the planar device was found to be ±5.40 mm and ±7.05 mm along the x- and y-axis, respectively.

Origin of the Large Field-Induced Strain and Enhanced Energy Storage Response of Rare-Earth-Doped Lead-Free 0.854BNT-0.12BKT-0.026BT Ceramics.

In this study, effects of rare-earth elements such as Nd, Gd, and Ce on the structural and electrical properties of lead-free bismuth sodium potassium barium titanate Bi0.487Na0.427K0.06Ba0.026TiO3 (0.854BNT-0.12BKT-0.026BT) (BNKBT) ceramics have been investigated in detail. Solid-state reaction method was used to prepare undoped, 1.0 mol% Nd, 1.0 mol% Gd, 1.0 mol%, 2.1 mol%, and 2.7 mol% Ce-doped BNKBT ceramic powder compositions. A pure single perovskite structure was observed in the X-ray diffraction (XRD) patterns for all the BNKBT ceramic systems, although doping was found to cause changes in peak splitting and peak positions due to their site preference. The Curie temperatures have not shifted significantly with doping, but the relative permittivity values were found to have increased. The nonergodic normal ferroelectric character of undoped BNKBT ceramic switched to an ergodic relaxor character at room temperature with Nd, Gd, and Ce doping with pinched polarization vs electric field hysteresis loops. Increased field-induced strain levels were observed in the doped BNKBT ceramics with 1 mole% Ce doping yielding a giant field-induced strain of 0.38% under an E -field of 65 kV/cm. Nd-doping, on the other hand, resulted in the highest releasable energy density of 0.64 J/cm3 at 65 kV/cm. Consequently, the rare-earth-doped BNKBT ceramics were found to be promising for both digital actuator and high-energy-density capacitor applications due to their favorable electrical properties.

Modeling and Experimental Validation of a Planar Microconveyor Based on a 2 × 2 Array of Digital Electromagnetic Actuators

A critical component of the highly packaged and automated environment of the microfactory is its transportation system. It needs to be autonomous, flexible, precise and, crucially, easy to integrate given the compact and dense nature of the microfactory. In this article, we present the modeling and experimental validation of a digital actuator array used as a stick-slip microconveyance system. This array is based on a modular and scalable design of a 2 ×2 matrix of electromagnetic digital actuators working in open-loop collaboration to perform planar conveyance tasks while being easy to integrate. A dynamic model of the array was developed and compared with experimental measurements of the mobile parts kinematics, unidimensional and bidimensional conveyed object displacements. The experimental measurements were taken with a dual camera setup-one for the position measurements of the conveyed object and a high-speed camera at 15 kHz for the kinematics of the mobile parts of the actuators and conveyed object. From the experimental tests, we measured a minimum and maximum object displacement step of 7.9 and 204.5 μm, respectively. The minimum rise time of the digital actuator was 0.8 ms. The bidimensional movements of the object demonstrated the planar motion capacity of the array, with generated angles from 1°to 88°. The dynamic model achieved a good correlation with the experimental measurements of the mobile part of the actuator as well as the conveyed object. The open-loop control performance of our digital actuation system suggests an interesting alternative to the conveyance systems for the microfactory.

Development of a Dual Supply H-Bridge Amplifier for High Speed Actuation of Digital Hydraulic Switching Valves

For many digital hydraulic systems, fast and precise valve actuation is a key to improve efficiency and performance. Such an actuation may be achieved by optimizing the valve design from a mechanical and hydraulically point of view. But additionally, power electronics for valve actuation has to be given also high attention since it can have significant influence on valve dynamics, particularly in case of high-speed actuation with switching times in the range of 1 ms or less. Such actuation poses requirements that are not met by standard power electronics. These requirements are analysed in this paper and a proper schematic for the power electronics is derived. Measurements with a corresponding prototype prove that a fast, precise and very repeatable valve actuation can be achieved if the power electronics is conceived according to the characteristics of high speed valves.

Lifetime prediction of optocouplers in digital input and output modules based on bayesian tracking approaches

Digital input and output modules are widely used to connect digital sensors and actuators to automation systems. Digital I/O modules provide flexible connectivity extension to numerous sensors and actuators and protect systems from high voltages and currents by isolation. Components in digital I/O modules are inevitably affected by operating and environmental conditions, such as high voltage, high current, high temperature, and temperature cycling. Because digital I/O modules transfer signals or isolate the systems from unexpected voltage and current transients, their failures may result in signal transmission failures and damages to sensitive circuitry leading to system malfunction and system shutdown. In this study, the lifetime of optocouplers, one of the critical components in digital I/O modules, was predicted using Bayesian tracking approaches. Accelerated degradation tests were conducted for collecting the critical performance parameter of optocouplers, current transfer ratio (CTR), during their lifetime. Bayesian tracking approaches, including extended Kalman filter and particle filter, were applied to predict the failure. The performance of each prognostic algorithm was then compared using accuracy and robustness-based performance metrics.

Fault-Aware Resource Allocation for Heterogeneous Data Sources with Multipath Routing

With the rapid development of cloud computing and big data, diverse types of traffic generated from heterogeneous data sources are delivered throughout communication networks, which consist of various node kinds such as digital sensors and smart actuators, and different applications. Due to the shared medium, communication networks are vulnerable to misbehaving nodes, and it is a crucial aspect to maintain an acceptable level of service degradation. This paper studies the fault-aware resource allocation problem by exploiting multipath routing and dynamic rate assignment for heterogeneous sources. We estimate the impacts of faults and formulate the resource allocation as a lossy network flow optimization problem based on these estimates. The traditional flow optimization solutions focus on homogeneous traffic. In our work, we model the performance of heterogeneous applications as a relaxed utility function and develop an effective utility framework of rate control for heterogeneous sources with multipath routing in presence of misbehaving nodes. We design a distributed algorithm to decide the routing strategy and obtain the rate assignments on the available paths in a lossy utility fair manner. Extensive performance evaluations corroborate the significant performance of our algorithm in effective utility and utility fairness in the presence of misbehaving nodes.

Piezoelectric energy reclamation based on frequency up-conversion technique for digital actuator autonomous additional functions

A piezoelectric vibration energy harvester aiming at collecting energy from the operation of an electromagnetic digital actuator is presented. It is based on the frequency up-conversion and can simultaneously obtain the information of discrete position location. The objective is an improved reliability of such digital actuators ensuring sample controls of the actuator positions. The considered electromagnetic digital actuator is capable of achieving two-dimensional in-plane movements by switching a mobile permanent magnet among four discrete positions. The demonstration of a first step toward integrated additional autonomous functions scavenging a part of the mechanical energy of the mobile permanent magnet is achieved. The vibration energy harvester consists of a piezoelectric cantilever beam magnetically attached to the mobile permanent magnet. The limited magnetic interaction force allows a frequency up-conversion strategy to be set. The frequency up-conversion technique that is used here consists of a “low frequency” excitation that drives a much higher natural frequency oscillator. Indeed, once the energy harvester separates from the mobile permanent magnet, a free oscillation occurs and the induced mechanical energy is harvested. This design concept is numerically analyzed and experimentally validated. Harvested energy of 4.7 µJ is obtained from preliminary experiments using a simple out-of-plane cantilever beam with 9 N/m stiffness and 16 mN magnetic attraction between the vibration energy harvester and the mobile permanent magnet when they contact each other. This energy is in accordance with the requirements for wireless communication of simple information. Finally, an L-shaped cantilever beam optimized design is proposed for future in-plane integration.

Development of a 2D array of micromachined electromagnetic digital actuators for micro-conveyance applications

In this paper a 5 × 5 micromachined digital electromagnetic actuator array for microdisplacements is presented. Each elementary actuator is composed of a permanent magnet placed in a silicon square cavity. This magnet can be switched between four discrete positions and can be switched by applying current pulses through wires placed below the cavity. A semi-analytical model has been developed to design the actuator. Then, a prototype, composed of a silicon part, has been manufactured using deep reactive ion etching process. An elementary actuator was as firstly experimentally characterized. Then the array was used to realize a conveyance task. The maximum displacement quantum of the conveyed object is 115 µm.

Repeatability of strain magnitude and strain rate measurements in the periodontal ligament using fibre Bragg gratings: An ex vivo study in a swine model

Measurement of periodontal ligament (PDL) strain in an ex vivo or in vivo setting of a complete tooth-PDL-bone complex (TPBC) has yet to be achieved in the literature. The objective of this study was to investigate inter- and intra-TPBC PDL strain measurement using fibre Bragg grating (FBG) strain sensors. Second and third premolars from the left and the right side of four swine mandibles were removed to yield sixteen TPBC samples. Samples were secured in a miniature load-frame equipped with a digital actuator used to apply apical-directed displacement to the tooth. The same tooth on left and right sides of the mouth were exposed to the same loading condition over ten trials allowing for comparisons in a split-mouth study. Displacements of 0.2 and 0.3mm were considered along with displacement rates of 0.025, 0.05, and 0.1mm/s, yielding six loading combinations. Hypothesis testing between left and right teeth revealed FBGs did not always measure the same strain between left and right TPBCs. For all strain measures, the average coefficient of variation (CV) (all data collected) was 2.16 (range: 0.274–10.71). For repeated measures in single TPBCs, the minimum CV ranged from 0.037 to 0.449, and generally coincided with the time of maximum strain measured over the test duration. Based on the findings of this study, it is suggested that FBGs can provide repeatable ex vivo strain measures in the PDL of complete TPBCs.

Design, Modeling, and Characterization of an Optical Switch Based on Four Positions Digital Actuator

In this paper, the design, modeling, and characterization of a 1 $\times$ 4 optical fiber switch and the possibility to extend it to an N $\times$ M optical fiber switch array are presented. The proposed optical switch is based on a four positions digital actuator where the switching of the mobile part between the discrete positions is ensured using electromagnetic effect (Lorentz force). A holding of the mobile part in discrete position without any energy consumption is also ensured using magnetic effect. The N $\times$ M optical switch array based on a matrix of four positions actuator is first described. The principle and an analytical model of the digital actuator and the application as 1 $\times$ 4 optical fiber switch are then presented. Using this model, a prototype of the optical fiber switch has been designed and then fabricated. Experimental tests of the optical switch are shown and the performances of the switch are evaluated. Comparisons between simulated and experimental results are presented and show a good agreement. Finally, improvements of the optical switch design are proposed and the performances of this improved design are estimated using the analytical model.

Frequency up conversion approach to scavenge mechanical energy from an electromagnetic digital actuator

This paper reports the practical design and experimental testing of a piezoelectric energy reclamation system. The presented system aims at scavenging energy from a miniaturized electromagnetic digital actuator for additional function such as obtains the discrete position information for enhanced reliability. Based on frequency up conversion technique, and the considered actuator dynamical responses, a piezoelectric energy harvester has been experimentally evaluated. In plane integration is the next step.

Design and Characterization of a High-Precision Digital Electromagnetic Actuator with Four Discrete Positions

A high-precision planar digital electromagnetic actuator with two displacement directions and four discrete positions is presented in this paper. The four discrete positions are located at each corner of a square cavity where a mobile permanent magnet moves thanks to Lorentz forces generated when a driving current passes through two orthogonal wires placed below the cavity. Four fixed permanent magnets are placed around the cavity in order to ensure high-precision magnetic holding of the mobile magnet at each discrete position. An analytical model of the actuator is presented and used to characterize its properties (switching time, energy consumption, and displaceable mass). Based on this model, an experimental prototype has been developed and then characterized. Comparisons between experimental and simulated results are carried out and show good agreement. The positioning repeatability errors have also been characterized according to the input signal in order to qualify the digital behavior of this high-precision actuator. Finally, an application of this digital actuator as a linear conveyor is presented and experimentally tested.

1X4 Optical Switch Based on Digital Actuator

In this article, an optical fiber switch based on a digital actuator is presented. Four discrete positions are obtained through a magnetic holding of a Mobile Permanent Magnet (MPM) placed in a fixed square cavity. The MPM can switch, thanks to Lorentz's force, between the four corners of the cavity. A 1X4 optical fiber switch is obtained by fixing a prismatic mirror on the top side of the MPM and an N × N switch array can be obtained using a matrix of this unit. After a presentation of the actuator principle, the optical switch is detailed and characterized for telecommunication purpose.