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Articles 1 - 21 of 21
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Design And Control Of Modular Soft Robotic Actuators With Architected Structures, Nicholas Pagliocca
Design And Control Of Modular Soft Robotic Actuators With Architected Structures, Nicholas Pagliocca
Theses and Dissertations
Soft robotic systems composed of highly compliant materials offer unparalleled advantages compared to rigid-body systems in applications such as fragile material handling and human-machine interactions. Often, their motions are prescribed by structural anisotropy and reinforcement materials to directionally limit motion. The continuum motion and non-linear material response intrinsic to soft robotics makes their design, modeling, and control a formidable challenge for engineers. Leveraging the deformation driven response of soft robotic actuators, highly versatile compliant architected structures whose local deformations dictate global material response can be integrated into soft robotic actuators for tunable mechanical responses. In this thesis, flexible center-symmetric perforated …
Application Of Multi-Input Multi-Output Feedback Control For F-16 Ventral Fin Buffet Alleviation Using Piezoelectric Actuators, Tomoyuki D. Ono
Application Of Multi-Input Multi-Output Feedback Control For F-16 Ventral Fin Buffet Alleviation Using Piezoelectric Actuators, Tomoyuki D. Ono
Theses and Dissertations
Control of structural vibrations has been a popular topic. Use of MFC piezoelectric actuators and co-located sensors allows for an active rather than passive control method. The F-16 ventral fin is susceptible to buffet induced vibrations and is a perfect test structure for active vibration control for flight-testing. The research follows the previous ACTIVE FIN project and improves on the design by increasing the number of actuator layers, available actuator power, and using multi-input multi-output (MIMO) control algorithms. The research involved experimental identification of the ventral fin and its principle strain directions, selection of system components, determination of mathematical plant …
F-16 Ventral Fin Buffet Alleviation Using Piezoelectric Actuators, Joseph S. Browning
F-16 Ventral Fin Buffet Alleviation Using Piezoelectric Actuators, Joseph S. Browning
Theses and Dissertations
Buffet-induced vibrations can have a disastrous impact on aircraft structures. Early attempts at combating buffet vibrations included passive methods such as structural enhancements and leading edge fences. Active methods have shown greater promise, including active airflow control, control surface modulation, and active structural control using piezoelectric actuators. Surface mounted piezoelectric actuators impart directional strain reducing the negative effects associated with harmful vibration. The Block-15 F-16 ventral fin represents an aircraft structure prone to failure when subjected to the buffet field from the wake of a LANTIRN pod. This research takes advantage of the susceptibility to buffet vibration of the Block …
Critical Life Prediction Research On Boron-Enhanced Ti-6al-4v, Kevin A. Schwendiman
Critical Life Prediction Research On Boron-Enhanced Ti-6al-4v, Kevin A. Schwendiman
Theses and Dissertations
Research on boron-enhanced Ti-6-4 has demonstrated the following improvements to the Ti-6-4 alloy: up to 40% increase in ultimate tensile strength, up to 30% increase in modulus/stiffness, while maintaining greater than 10% ductility at RT conditions. The increased properties are attributed to small additions of boron (-or= wt%), which refine the microstructure and result in a small volume fraction (~6 vol%) of fine TiB whiskers. Previous research indicates potential for substantial improvements in fatigue, fatigue crack growth, and fracture toughness. However, uncertainty regarding these second-tier mechanical properties is currently limiting implementation of this class of titanium alloys. This study of …
An Experimental Study Of A Pulsed Dc Plasma Flow Control Actuator, Jennifer D. Wall
An Experimental Study Of A Pulsed Dc Plasma Flow Control Actuator, Jennifer D. Wall
Theses and Dissertations
An experiment on the effects of a pulsed DC plasma actuator on a separated flow in a low speed wind tunnel was conducted. The actuator consisted of two asymmetric copper electrodes oriented normal to the flow separated by a dielectric barrier and mounted on a flat plate in the center of the tunnel. A contoured insert was constructed and used to create an adverse pressure gradient in the test section comparable to a Pak-B low pressure turbine blade distribution. Suction was applied from the upper wall to induce separation along the flat plate over the electrodes. The DC power supply …
Alleviation Of Buffet-Induced Vibration Using Piezoelectric Actuators, Shawn D. Morganstern
Alleviation Of Buffet-Induced Vibration Using Piezoelectric Actuators, Shawn D. Morganstern
Theses and Dissertations
Buffet-induced vibration has been problematic for aircraft structures for many years. The F-16 ventral fin, while prone to these effects, lends itself well to the evaluation of modern active structural and flow control technologies. The objective of this research was to determine the most critical natural modes of vibration for the F-16 ventral fin and design piezoelectric actuators capable of reducing buffet-induced ventral fin vibration. A finite element model (FEM) for the fin was developed, tuned and optimized to closely match published modal frequencies. Piezoelectric actuator patches were designed using the strain characteristics of the FEM and integrated into the …
Macroscopic Computational Model Of Dielectric Barrier Discharge Plasma Actuators, Timothy R. Klein
Macroscopic Computational Model Of Dielectric Barrier Discharge Plasma Actuators, Timothy R. Klein
Theses and Dissertations
Recent progress in the generation and sustainment of gas discharges at atmospheric pressure has energized research in the field of plasma-aerodynamics. Plasma actuators are promising devices that achieve flow control with no moving parts, do not alter the airfoil shape and place no parts in the flow. The operation of a plasma actuator is examined using a macroscopic (force and power addition) computational fluid dynamic model of a dielectric barrier discharge, DBD, in Fluent. A parametric approach is adopted to survey the range of requisite magnitudes of momentum and energy delivered to the flow field and to identify the effects …
Biaxial Fatigue Behavior Of Niti Shape Memory Alloy, Daniel M. Jensen
Biaxial Fatigue Behavior Of Niti Shape Memory Alloy, Daniel M. Jensen
Theses and Dissertations
Nitinol is a shape memory alloy (SMA) capable of martensite-to-austenite phase transformations enabling shape-memory behavior. Shape-memory properties make Nitinol a strong candidate material for use in aircraft applications such as actuators. Structural integrity and reliability of torque tube actuators must be assured before this material can be used in flight-critical components. Thorough understanding of the fatigue response of the material is essential for a structurally-sound SMA actuator design. The present effort investigates pure torsion and combined tension-torsion fatigue behavior of Nitinol at room temperature. Monotonic tests in tension and torsion were conducted to typify uni-directional stress-strain behavior. Fully-reversed torsion fatigue …
Electromechanical Characterization Of Poly(Dimethyl Siloxane) Based Electroactive Polymers, Wrutu Deepak Parulkar
Electromechanical Characterization Of Poly(Dimethyl Siloxane) Based Electroactive Polymers, Wrutu Deepak Parulkar
Theses and Dissertations
The main objectives of this thesis are 1) to evaluate the effect of cross-linking polar cyano phenyl (CN) groups on poly (dimethyl siloxane) (PDMS) and 2) to characterize the electromechanical properties of the resulting CN-PDMS blend as an electroactive actuator. Materials responding to an external stimulus are referred to as electroactive materials. There are several phenomena, which govern the mechanism in these materials, such as piezoelectricity, Maxwell's effect, ferroelectricity, electrostriction to name a few. These electroactive materials can be employed in several applications such as biomedical devices, robots, MEMs, aerospace vehicles, where the application is governed by the specific mechanism. …
Demonstrating Optothermal Actuators For An Autonomous Mems Microrobot, Francis R. Szabo
Demonstrating Optothermal Actuators For An Autonomous Mems Microrobot, Francis R. Szabo
Theses and Dissertations
There are numerous applications for microrobots which are beneficial to the Air Force. However, the microrobotics field is still in its infancy, and will require extensive basic research before these applications can be fielded. The biggest hurdle to be solved, in order to create autonomous microrobots, is generating power for their actuator engines. Most present actuators require orders of magnitude more power than is presently available from micropower sources. To enable smaller microrobots, this research proposed a simplified power concept that eliminates the need for on-board power supplies and control circuitry by using actuators powered wirelessly from the environment. This …
Mechanical Computing In Microelectromechanical Systems (Mems), Kenneth C. Bradley
Mechanical Computing In Microelectromechanical Systems (Mems), Kenneth C. Bradley
Theses and Dissertations
Mechanical computing devices in polysilicon-based microelectromechanical systems (MEMS) were designed with the goal of developing computing devices for harsh environments, such as those with high dose radiation and high temperatures, as well as devices that may be able to interface with molecular or biological computer systems. The devices that were designed include both analog and digital computing devices. The analog devices include integrators, differentials (summers), multipliers, and those that perform trigonometric functions. The digital devices that were designed are inverters, NAND, NOR, and XOR logic gates. Analog-to-digital (A-to-D) and digital-to-analog (D-to-A) converters were also designed. The designs were submitted to …
Electro-Mechanical Fatigue Behavior Of A Quasi-Isotropic Laminate With An Embedded Piezoelectric Actuator, Tse Lin Hsu
Electro-Mechanical Fatigue Behavior Of A Quasi-Isotropic Laminate With An Embedded Piezoelectric Actuator, Tse Lin Hsu
Theses and Dissertations
This study primarily investigated the electro-mechanical fatigue behavior of the embedded piezoelectric actuators in graphite/epoxy laminate with a lay-up of 0 | ± 45 | 90s. A secondary focus was the investigation of the mechanical fatigue effects of the 0 | 0 | ± 45 | 0 | 0 | 90s laminate with embedded PZT under tensile loading. All the fatigue tests were conducted with a triangular loading waveform which had a frequency of 10 Hz and with R=0. 1. In the electro-mechanical testing, the embedded actuator was excited by a -10 V to -100 V or a 10 V …
Development And Packaging Of Microsystems Using Foundry Services, Jeffrey T. Butler
Development And Packaging Of Microsystems Using Foundry Services, Jeffrey T. Butler
Theses and Dissertations
Micro-electro-mechanical systems (MEMS) are a new and rapidly growing field of research. Several advances to the MEMS state of the art were achieved through design and characterization of novel devices. Empirical and theoretical model of polysilicon thermal actuators were developed to understand their behavior. The most extensive investigation of the Multi-User MEMS Processes (MUMPs) polysilicon resistivity was also performed. The first published value for the thermal coefficient of resistivity (TCR) of the MUMPs Poly 1 layer was determined as 1.25 x 10(exp -3)/K. The sheet resistance of the MUMPs polysilicon layers was found to be dependent on linewidth due to …
High Amplitude Tracking Control, Joseph W. Mcnamee
High Amplitude Tracking Control, Joseph W. Mcnamee
Theses and Dissertations
The problem of tracking control in the face of high amplitude dynamic reference signals, hard state and control constraints, and open-loop unstable plants is investigated. Saturation effects mitigation is a current research topic, and a large body of literature exists which addresses this problem. However, with a few notable exceptions, little work has been accomplished which is applicable to the problem of high amplitude dynamic reference signal tracking in the face of hard state and control constraints, and open-loop unstable plants. Moreover, methods that do address the stated problem generally limit the exogenous reference signal to statically admissible values to …
Multiple Model Adaptive Estimation And Control Redistribution Performance On The Vista F-16 During Partial Actuator Impairments, Curtis S. Clark
Multiple Model Adaptive Estimation And Control Redistribution Performance On The Vista F-16 During Partial Actuator Impairments, Curtis S. Clark
Theses and Dissertations
Multiple Model Adaptive Estimation with Control Reconfiguration (MMAE/CR) capability to estimate and compensate for partial actuator failures, or "impairments" is investigated using the high-fidelity, nonlinear, six-degree-of-freedom, VISTA F-16 simulation which currently resides on the Simulation Rapid-Prototyping Facility (SRF). After developing a model for inserting partial actuator impairments into the VISTA F-16 truth model, research begins with a battery of single actuator impairment tests. This stage of research explores the capability of the existing MMAE algorithm to estimate single, partial actuator impairments, and helps to define refinements and expansions needed in the MMAE algorithm for the second phase of research: the …
Manual Tracking Flight Control With Amplitude And Rate Constrained Dynamic Actuators, Russel B. Miller
Manual Tracking Flight Control With Amplitude And Rate Constrained Dynamic Actuators, Russel B. Miller
Theses and Dissertations
A new control methodology for manual flight control, viz., real-time tracking control, is developed. Amplitude and rate constrained dynamic actuators are considered. Optimal tracking control is made possible by the use of unique reference signal prediction strategies which extrapolate the reference signal over the optimization horizon. A receding horizon, linear-quadratic inner-loop controller is employed in conjunction with an outer-loop nonlinear element. The constraint effects mitigation strategy is to optimally track a modified reference signal which yields feasible actuator commands over the optimization horizon when the pilot demanded reference is too aggressive to be tracked by the inner-loop optimal control law. …
Design And Development Of Microswitches For Micro-Electro-Mechanical Relay Matrices, Mark W. Phipps
Design And Development Of Microswitches For Micro-Electro-Mechanical Relay Matrices, Mark W. Phipps
Theses and Dissertations
Many different micro-electro-mechanical switches were designed in the Multi-User MEMS processes (MUMPs) and deep x-ray lithography and electroforming (LIGA) processes. The switches were composed of actuators that operated based upon either electrostatic forces or thermal forces. A thermally activated beam flexure actuator that operated based upon differential heating was used extensively. This actuator, which was fabricated in the MUMPs process, was able to deflect up to 12 microns with a total input power of less than 25 mW. The thermal resistance, which was needed to model this actuator, was determined from a material constant, 1.9 ± 0.08 m1.5-°C-W …
Electro-Hydrostatic Actuator Controller Design Using Quantitative Feedback Theory, Ki Ho Kang
Electro-Hydrostatic Actuator Controller Design Using Quantitative Feedback Theory, Ki Ho Kang
Theses and Dissertations
The Electro-Hydrostatic Actuator (EllA) technology offers a higher degree of combat survivability and easier maintainability of the aircraft flight control system, because all the components necessary to operate the actuator are collocated with the actuator. Quantitative Feedback Theory (QFT) is used to design a control system for the EHA. The impact of parameter variations, sensor noise, and flight conditions are explicitly considered in the design process. The solution utilizes a two loop QFT feedback structure. The inner loop structure stabilizes the motor's angular velocity and decreases the outer loop's uncertainty. The outer loop structure controls the RAM piston's position to …
Silicon Based Microactuators For Telerobotic Tactile Stimulation, Britton C. Read Iii
Silicon Based Microactuators For Telerobotic Tactile Stimulation, Britton C. Read Iii
Theses and Dissertations
Silicon based microelectromechanical (MEM) devices using both surface and bulk micromachining have been realized to provide tactile stimulation. The bulk MEM devices utilize the bimorph principle and are fabricated in a complementary metal oxide semiconductor (CMOS) process through MOS implementation system (MOSIS). The surface MEM devices utilize the electrostatic principle and are fabricated in a complementary metal oxide semiconductor (CMOS) process through MOS implementation system (MOSIS). The surface MEM devices utilize the electrostatic principle and are fabricated in the multi-user MEM process (MUMPS) through MCNC. Eleven major designs are presented and tested to determine if they are suitable to provide …
Performance Impacts For Actuator Misalignments And Failures In Large- Aperture Adaptive-Optic Telescopes, Timothy D. Hogan
Performance Impacts For Actuator Misalignments And Failures In Large- Aperture Adaptive-Optic Telescopes, Timothy D. Hogan
Theses and Dissertations
Large-aperture telescopes require adaptive optics in order to compensate for atmospheric turbulence which would otherwise negate the resolution advantages of using large apertures. This investigation analyzes the impacts of misalignments and failures, in the deformable mirror actuators, upon the performance of such systems. A numerical simulation of a standard adaptive optics system is used to generate characteristic optical transfer function OTF and signal-to-noise ratio SNR performance metrics. The performance impacts of the misalignments are shown to be dependent upon the Fried parameter effective telescope diameter, the source object brightness, and the control system time delay. The degree of performance degradation …
Experimental And Analytical Analysis Of The Response Of A Smart Beam To Rate Feedback, Terance J. Hoffman
Experimental And Analytical Analysis Of The Response Of A Smart Beam To Rate Feedback, Terance J. Hoffman
Theses and Dissertations
A smart beam with embedded sensors and actuators was analyzed and tested. The smart beam studied was constructed from graphite and epoxy with piezoceramic actuators and NiTiNOL sensors embedded. It was mounted vertically and subjected to transverse dynamic loading at the free end. Analytic expressions for the open loop and closed loop response (using strain rate feedback control) of the beam (including internal damping) to external forcing were derived in detail. Experimental testing of the beam verified the accuracy of the predicted open loop response.