Digital Commons Network^™

Process Control Experiment: Automated Titration System, Marc Shuflit, Nathan Martin, Noelle Miller, Benjamin Tavares

Scholar Week 2016 - present

A titration experiment has been designed using a chemical reaction tank and implementing all the basic components found in automatic control systems. This system has been constructed using basic fluid flow hardware, control sensors and actuators, along with ladder logic programing for the Programmable Logic Controller (PLC) to automate an acid-base chemical titration. This system will be used in Olivet Nazarene University’s engineering labs to provide hands-on learning of state-of-the-art process technology.

Algorithm For The Functioning Of The Robot's Mechatronic System, Nodira Batirdjanovna Alimova, Bekmurod Bayotovich Yusupov

Chemical Technology, Control and Management

Currently, the introduction of mechatronics and robotics into modern technologies, including rural industry, which are based on different types of mechatronic modules, is relevant. The article discusses the functioning algorithm of the electro-pneumatic multi-position mechatronic system of an intelligent robot. The mechatronic system under consideration is an integrated complex of electro-pneumatic elements, electronic elements and computer technology, with constant dynamic changes in energy and information between them, united by a common automatic control system. The main distinctive feature of this mechatronic system is increased positioning accuracy and high traction forces.

Pneumatic Latched Demultiplexer Circuit For Controlling Multi-Actuator Soft Robots, Arsh Noor Amin

Master’s Theses

This thesis presents a novel method for controlling multi-actuator soft robots using pneumatic latched demultiplexer circuits implemented with monolithic membrane valves. The pneumatic circuits are designed to address the problems of heavy dependence on hard electrical components and lack of feasible multi-actuator soft robotic systems that limit the potential applications of soft robotics. The proposed pneumatic demultiplexers reduce the number of solenoid valves and electrical components required to drive soft robotic systems, making soft robot control mechanisms more compliant, scalable, and versatile. The thesis demonstrates the design, fabrication, and testing of 4-bit and n-bit pneumatic demultiplexer circuits that can control …

Design And Testing Of A Bearing Less Piezo Jet Micro Heat Sink, Rong-Tsu Wang, Jung-Chang Wang, Sih-Li Chen

Journal of Marine Science and Technology

The present study utilized piezoelectric ceramics (PC) as actuators to design five new piezoelectric heatsinks and preliminarily investigated the different design types and their operating conditions, such as the frequency, placement distance, thickness between piezoelectric sheets, piezoelectric sheet size, and noise produced. The results showed that when the micro heatsink bearingless piezo jet was placed too close to the heat source, the high temperature sucked back the surrounding fluids, causing the fluid chamber temperature to rise and the cooling effect to be reduced. Therefore, the heatsink should be placed between 10 and 20 mm from the heat source. With the …

Structural Design Of A New Reaction Frame For High Bay Laboratory, Cassidy A. Sutton, Adelaide Albro

Architectural Engineering

The Cal Poly High Bay Testing Lab recently acquired hydraulic actuators for structural testing. The actuators are used for performing force and displacement tests on structural specimens designed and built by students and faculty. The existing frame that the old actuators mount to did not have enough capacity to accommodate the amount of force that the new actuators are capable of. New reaction frames were needed to be designed and constructed so the new actuators could be used to their full potential. The following report explores two different options for possible reaction frames in the lab. Both options have a …

Design Of A Proprioceptive Actuator Utilizing A Cycloidal Gearbox, Craig John Kimball

Master's Theses

Legged robotics creates the demand for high torque compact actuators able to develop high instantaneous torque. Proprioceptive actuator design theory is a design theory that removes the need for a torque feedback device and relies on the stiffness in the leg for absorbing the high Ground Impact Forces created by walking locomotion. It utilizes a high torque density motor paired with a gearbox with a high gear ratio for torque multiplication. Previously work has been done to design a proprioceptive actuator design that utilizes a planetary gearbox to create a modular low-cost actuator for legged robotics. The purpose of this …

Influence Of Saturation Nonequilibrium And Variable Operation Conditions On The Electromechanical Performance Of Ionic Polymer Metal Composite Actuator Architectures, Allison Maria Arnold

Graduate Theses, Dissertations, and Problem Reports

Electroactive polymers (EAPs) continue to gain attention for their potential to offer unique and versatile solutions in the soft robotic and flexible electronic industries. Ionic Polymer-Metal Composites (IPMCs) are a class of ionic-type EAPs which can be configured as capacitor actuators with very low voltage requirements (≤ 5 V AC or DC). Their compact, portable, and lightweight properties, coupled with a biomimetic bending actuation response make them ideal for human-machine integrated technologies such as medical implants, active skins, and artificial muscles. The Nafion-based IPMC can be described as a layered composite capacitor containing an ionic polymer core, sandwiched between chemically …

Polyvinyl Chloride Gels: Theoretical Modeling Of Their Actuation Mechanism And Characterization Of Their Properties, Zachary Frank

UNLV Theses, Dissertations, Professional Papers, and Capstones

Polyvinyl chloride (PVC) gels are an electroactive polymer smart material which has been considered in a variety of actuator applications. Their large deformation, fast response rates, optical transparency, and soft nature has made them a key area of interest in fields ranging from soft robotics to optics. PVC gels are made from PVC mixed with large quantities of plasticizer, such as dibutyl adipate (DBA). When a voltage is applied, the gel experiences an “anodophilic” deformation (in which it moves preferentially towards the anode). This unique characteristic is the result of a charge buildup near the anode surface, which creates electromechanical …

Dynamic Modeling Of Soft Robotic Dielectric Elastomer Actuator, Abdullah De Jesus El Atrache Ceballos

Doctoral Dissertations and Master's Theses

Dielectric elastomers actuators (DEAs) are among the preferred materials for developing lightweight, high compliance and energy efficient driven mechanisms for soft robots. Simple DEAs consist mostly of a homogeneous elastomeric materials that transduce electrical energy into mechanical deformation by means of electrostatic attraction forces from coated electrodes. Furthermore, stacking multiple single DEAs can escalate the total mechanical displacement performed by the actuator, such is the case of multilayer DEAs. The presented research proposes a model for the dynamical characterization of multilayer DEAs in the mechanical and electrical domain. The analytical model is derived by using free body diagrams and lumped …

Actuator Fault Status Evaluation Based On Two-Class Nmf Network, Yinsong Wang, Tianshu Sun

Journal of System Simulation

Abstract: In the feedback control loop, the adjustment ability of controller covers up the performance degradation of the actuator to some degree. A fault state evaluation algorithm based on a two-class non-negative matrix network is proposed to implement online fault state monitoring of the actuator, including fault classification and degradation assessment. The local static features of the samples are extracted, and a classifier model is established to form a network. The similarity is introduced to describe the dynamic characteristics between samples. To fulfill the actuator fault status assessment, the static distance and dynamic changes of the network output are merged …

Inverted Fluorescence Microscope, Matthew B. Pfeiffer, Spencer George Hann, Thomas James Eggenberger, Trevor Lee Blythe

Mechanical Engineering

Team F13 is composed of Trevor Blythe, Spencer Hann, Matthew Pfeiffer, and Thomas Eggenberger. We are all majoring in mechanical engineering and in our final year of study here at Cal Poly San Luis Obispo. This project is a continuation of a 2019-2020 senior project. The previous team designed and built a functioning inverted fluorescence microscope (IFM) from scratch. This device was created as a lab tool for undergraduate students to be able to perform experiments on microfluidic devices constructed in Cal Poly’s Microfabrication Laboratory. Although substantially functional, several design constraints had not yet been met. Our team has improved …

Actuating A Magnetic Shape Memory Element Locally With A Set Of Coils, Andrew Armstrong, Peter Müllner

Materials Science and Engineering Faculty Publications and Presentations

The local actuation of a magnetic shape memory (MSM) element as used in an MSM micropump is considered. This paper presents the difference between an electromagnetic driver and a driver that uses a rotating permanent magnet. For the magnetic field energy of the permanent magnetic drive, the element takes in a significant stray field. In a particular case, energy reduction was 12.7 mJ. For an electromagnetic drive with an identical size of the MSM element, the total magnetic field energy created by the system was 2.28 mJ. Attempts to experimentally nucleate twins in an MSM element by energizing an electromagnetic …

Polymeric Impulsive Actuation Mechanisms: Development, Characterization, And Modeling, Yongjin Kim

Doctoral Dissertations

Recent advances in the field of biomedical and life-sciences are increasingly demanding more life-like actuation with higher degrees of freedom in motion at small scales. Many researchers have developed various solutions to satisfy these emerging requirements. In many cases, new solutions are made possible with the development of novel polymeric actuators. Advances in polymeric actuation not only addressed problems concerning low degree of freedom in motion, large system size, and bio-incompatibility associated with conventional actuators, but also led to the discovery of novel applications, which were previously unattainable with conventional engineered systems. This dissertation focuses on developing novel actuation mechanisms …

Tuned Photomechanical Switching Of Laterally Constrained Arches, Matthew L. Smith, J Gao, A A. Skandani, N Deering, D H. Wang, A A. Sicard, M Plaver, L-S Tan, T J. White, M R. Shankar

Faculty Publications

Laterally constrained arches driven between stable states by light, represent a unique space for compliant mechanism design. Exploiting mechanical multistability can overcome limitations of functional photomechanical actuators, which include limited repeatability, actuation speed, and positioning characteristics. Here, the addition of lateral constraints to an elastic bistable arch system is proposed as a method for toggling between bifurcated states by controlling the location of actinic irradiation. This approach expands the design space for photomechanical, mutistable structures and actuators. Arch behavior as a function of system parameters is simulated, including conditions leading to multistability. An experimental demonstration and exploration of a constrained …

Dual-Axis Solar Tracker, Alazone Smith

All Undergraduate Projects

The global energy crisis and continued supporting evidence of global climate change have begun to shift the world economies towards solutions that solve both challenges. Solar power has become one of the most recognizable and popularized renewable energy methods to date. In comparison to other photovoltaic systems, this project demonstrates the performance advantages of a dual-axis solar tracker. It also addressing its viability on a non-commercial scale. The objective was to improve upon previous solar tracker projects at Central Washington University by adding another axis to the system. This system implements both an actuator and a stepper motor to examine …

Synthesis And Integration Of Oligoviologens Into Hydrogel Actuators, Kevin Liles

Arts & Sciences Electronic Theses and Dissertations

Interest in the development of soft-material artificial molecular muscles has inspired scientists to pursue novel stimuli-responsive systems capable of undergoing change in the physical and mechanical properties of a material in response to external stimuli. This interest has been driven primarily by advances, or the desire for advances, in fields such as soft robotics, microfluidics, and bio-compatible drug-delivery systems. In this work, redox-responsive viologens and their ability to form stable radical-cation complexes were evaluated as a method of actuation in stimuli-responsive materials, specifically hydrogels.

First, a brief overview of hydrogel actuators is covered, with some examples given of the broad …

Swelling Induced Deformation Of Thermally Responsive Hydrogels, Ying Zhou

Doctoral Dissertations

Hydrogels are crosslinked polymeric networks imbibed with aqueous solutions. They undertake dramatic volume changes through swelling and deswelling processes, which can be stimulated by factors like temperature, pH or different chemicals. These unique properties render hydrogels particularly interesting for shape morphing related applications. In this thesis, we focus on the swelling induced deformation of thermally responsive hydrogels with lower critical solution temperatures (LCSTs), including poly(N-isopropylacrylamide) (PNIPAm) and poly(N,N-diethylacrylamide) (PDEAm). Particularly, benzophenone containing monomers are copolymerized with NIPAm or DEAm to create photocrosslinkable temperature-responsive polymers, which allows fabrication of hydrogels with controlled shapes and crosslinking …

Diginol: A Joule-Heated Binary-Partitioned Nitinol Actuator, Martin Dawson Holland

All ETDs from UAB

New and innovative robotic designs are always needed in both research and commercial fields. To that end, new and innovative actuators are needed as well. In this paper, a digitally controlled Nitinol actuator, Diginol, is proposed. Diginol is a Nitinol actuator that uses Joule heating to individually activate partitions of a length of Nitinol. The lengths of the partitions follow a base-2 pattern, minimizing the number of partitions required for a given number of actuation lengths. Activating separate partitions instead of the entire length of Nitinol circumvents the need to account for the hysteresis and nonlinearities inherent in the transformation …

Theoretical And Experimental Investigation On The Multiple Shape Memory Ionic Polymer-Metal Composite Actuator, Qi Shen

UNLV Theses, Dissertations, Professional Papers, and Capstones

Development of biomimetic actuators has been an essential motivation in the study of smart materials. However, few materials are capable of controlling complex twisting and bending deformations simultaneously or separately using a dynamic control system. The ionic polymer-metal composite (IPMC) is an emerging smart material in actuation and sensing applications, such as biomimetic robotics, advanced medical devices and human affinity applications. Here, we report a Multiple Shape Memory Ionic Polymer-Metal Composite (MSM-IPMC) actuator having multiple-shape memory effect, and is able to perform complex motion by two external inputs, electrical and thermal. Prior to the development of this type of actuator, …

Fundamental Study And Development Of Tuned Active Flow Control Actuators, Brian A. Binkley

Doctoral Dissertations

A novel, multi-level, flow-control actuator was developed using piezoceramic materials. Several actuators were fabricated in various shapes and sizes to produce a variety of effects for flow control applications. The actuators were studied in a quiescent-air bench test to understand the vibrations produced by various actuator shapes. The actuator flow-control effect was studied experimentally with flat-plate and cavity configurations, and was studied numerically using moving boundary conditions and dynamic meshing. The disturbances produced by the actuator couple with the cavity flow field producing increased cavity tones, increased vorticity, and sustainment of large-scale vorticity downstream of the cavity. The combined actuation …

Water Jet Cutting Head Actuator, Jacob D. Augustynovich

Williams Honors College, Honors Research Projects

In an effort to increase efficiency and productivity, WARDJet was seeking a better actuation method for the cutting head on their waterjets. Current actuation methods were, for the most part, purely mechanical, relying on compressed air, springs, and water pressure to open and close the valve to 60,000 psi of water. Increasing the speed of the on/off cycle times of the waterjet would allow for faster movements of the cutting head from one cut to the next, increasing the overall amount of products cut in a day, week, and year. This obviously points to increased sales, increased profit, and increased …

Strategies And Techniques For Fabricating Mems Bistable Thermal Actuators., Dilan Ratnayake

Electronic Theses and Dissertations

Bistable elements are beginning to appear in the field of MEMS as they allow engineers to design sensors and actuators which require no electrical power and possess mechanical memory. This research focuses on the development of novel strategies and techniques for fabricating MEMS bistable structures to serve as no electrical power thermal actuators. Two parallel strategies were explored for the design and fabrication of the critical bistable element. Both strategies involved an extensive material study on candidate thin film materials to determine their temperature coefficient of expansion and as-deposited internal stress properties. Materials investigated included titanium tungsten, Invar, silicon nitride …

Exploring How Haptics Contributes To Immersion In Virtual Reality, Dimcho Zhelyazkov Karakashev, Hong Z. Tan

The Summer Undergraduate Research Fellowship (SURF) Symposium

Virtual Reality (VR) has been around for more than fifty years but the technology hasn’t reached practical usability until very recently. With the current head-mounted display (HMD) technology and an abundance of investment in VR startups, we have finally reached at the point where it is possible to simulate complex virtual environments that feel immersive. A major problem with virtual reality is that everything looks real but you can not touch and feel virtual objects. We are focusing on developing a device that will allow users to feel what they touch in VR. We developed a hand-held interface and an …

Integrated Biocompatible Piezoelectric Micropump System With Nanoliter Volume Precision, Yagmur Akin

Open Access Theses

Developments in microfluidics have led a wide variety of research on MEMS-scaled biomedical applications. Many biomedical sensors, drug delivery systems, cell and protein syntheses devices, microfluidic switches have been successfully miniaturized. However, there is a need for controlled fluid transport for most of these biomedical devices. To address this need, micropump design has been a highly attractive research area for decades and various micropump design templates have been used for controlled fluid transfer. However, most of these developed micropumps are either: not small enough to combine with other microfluidic systems or require a large activation energy which does not make …

An Internet Of Things (Iot) Robotic Light Switch, Arsal Habib

Honors Theses

The purpose of this project was to design and build an Internet of Things (IoT) Robotic Light Switch. This light switch would act as a complementary device to existing toggle switches and equip them with typical smart device features such as remote control (via Wi-Fi), digital voice assistant control, motion-sensing and integration with other smart home solutions (such as IFTTT). All these features would be supported by a dedicated web page that would also be able to view the usage statistics of the device. This device is aimed at offering users an extremely easy-to-install home automation solution that needs no …

Fault-Tolerant Control Of Electric Vehicles With In-Wheel Motors Using Actuator-Grouping Sliding Mode Controllers, Boyuan Li, Haiping Du, Weihua Li

Faculty of Engineering and Information Sciences - Papers: Part A

Although electric vehicles with in-wheel motors have been regarded as one of the promising vehicle architectures in recent years, the probability of in-wheel motor fault is still a crucial issue due to the system complexity and large number of control actuators. In this study, a modified sliding mode control (SMC) is applied to achieve fault-tolerant control of electric vehicles with four-wheel-independent-steering (4WIS) and four-wheel-independent-driving (4WID). Unlike in traditional SMC, in this approach the steering geometry is re-arranged according to the location of faulty wheels in the modified SMC. Three SMC control laws for longitudinal velocity control, lateral velocity control and …

Sparse Aperture Speckle Interferometry Telescope Active Optics Control System, Matthew Clause

Master's Theses

A conventional large aperture telescope required for binary star research is typically cost prohibitive. A prototype active optics system was created and fitted to a telescope frame using relatively low cost components. The active optics system was capable of tipping, tilting, and elevating the mirrors to align reflected star light. The low cost mirror position actuators have a resolution of 31 nm, repeatable to within 16 nm. This is accurate enough to perform speckle analysis for the visible light spectrum. The mirrors used in testing were not supported with a whiffletree and produced trefoil-like aberrations which made phasing two mirrors …

Effects Of Magnetic Field On The Shape Memory Behavior Of Single And Polycrystalline Magnetic Shape Memory Alloys, Ali S. Turabi

Theses and Dissertations--Mechanical Engineering

Magnetic Shape Memory Alloys (MSMAs) have the unique ability to change their shape within a magnetic field, or in the presence of stress and a change in temperature. MSMAs have been widely investigated in the past decade due to their ability to demonstrate large magnetic field induced strain and higher frequency response than conventional shape memory alloys (SMAs). NiMn-based alloys are the workhorse of metamagnetic shape memory alloys since they are able to exhibit magnetic field induced phase transformation. In these alloys, martensite and austenite phases have different magnetization behavior, such as the parent phase can be ferromagnetic and martensite …

Robust Position Control Of A Novel Series Elastic Actuator Via Disturbance Observer, Emre Sariyildiz, Gong Chen, Haoyong Yu

Faculty of Engineering and Information Sciences - Papers: Part B

This paper proposes a new robust position control method for a novel series elastic actuator (SEA). It is a wellknown fact that SEAs provide many benefits in force control, e.g., lower reflected inertia and impedance, greater shock tolerance, safety, and so on. However, current SEA designs have a common performance limitation due to the compromise on the selection of spring stiffness. The performance of an SEA can be significantly improved by changing the stiffness of the spring; however, designing a variable-stiffness SEA is a quite challenging task. In this paper, a novel variable-stiffness SEA, which can relax the fundamental performance …

Plant-Biomimetic Hydrogel Actuators: Creating Movement In Hydrogels Through The Study Of Plants, Christen Rhodes

Theses and Dissertations

Plants are sessile organisms that have developed methods of movement to respond to environmental stimuli. Some of the approaches feature the unequal expansion of cells and controlling deformation direction through fibers under swelling and drying. Hydrogels are three dimensional polymer networks that have the capacity for large volume changes due their affinity for water and can be tough and/or stimuli-responsive. In this paper, three preliminary plant-biomimetic hydrogel actuator designs are discussed and tested from wet to dry. The first actuator design, termed a 1%-0.1% bilayer, features two layers of different swelling and drying rates due to differences in cross-linking density. …