Actuators Research Papers - Academia.edu (original) (raw)

Subsea development has in later times become more and more popular. By the use of subsea production and processing structures situated on the seafloor, the hydrocarbons from multiple producing wells are combined and brought to storage... more

Subsea development has in later times become more and more popular. By the use of subsea production and processing structures situated on the seafloor, the hydrocarbons from multiple producing wells are combined and brought to storage facilities either at surface, or onshore. This reduces the need of production rigs and ultimately reduces the cost. In this paper, some of the main subjects involving subsea development are explained. The introduction of some design elements in a hypothetical subsea development has also been chosen and explained in this paper.

Internet of Things(IoT) in recent days playing a vital role in networking related applications. However, there are several protocols available for building IoT applications, but RPL and CoAP are important protocols.There is a customized... more

Internet of Things(IoT) in recent days playing a vital role in networking related applications. However, there are several protocols available for building IoT applications, but RPL and CoAP are important protocols.There is a customized protocol requirement for specific IoT applications, while working on specific research problems. Further, adequate platforms are required to evaluate the performance of these
protocols. These platforms need to be configured for the protocol, which is very crucial and timeconsuming task. At present, there is no collective and precise information available to carry out this work. This paper discusses two different open source platforms available for IoT. Also,various IoT research ideas need to design of IoT protocols. A few IoT communication technologies are mentioned in the paper. The
detail analysis of, two common protocols, namely Routing Protocol for Low-Power Lossy Networks (RPL) and Constrained Application layer protocol (CoAP) is carried out with respect to latency delay and packet
delivery ratio. The results, discussion and conclusion presented in this paper are useful for researchers, who are interested to work with IoT protocols and standards

European Union is involving increasing amount of resources on research projects that will dramatically change the costs of building and operating aircraft in the near future. Morphing structures are a key to turn current airplanes to more... more

European Union is involving increasing amount of resources on research projects that will dramatically change the costs of building and operating aircraft in the near future. Morphing structures are a key to turn current airplanes to more efficient and versatile means of transport, operating into a wider range of flight conditions. The concept of morphing may aim at a large number of targets, and its assessment strongly depends on the final objectives and the components where it has to be deployed. Maneuver, takeoff, landing, cruise conditions, just to cite few and very general examples, have all their own peculiarities that drive the specifications the wing shape change has to suit on. In general, an adaptive structure ensures a controlled and fully reversible transition from a baseline shape to a set of different configurations, each capable of withstanding the relative external loads. The level of complexity of morphing structures naturally increases as a consequence of the augmented functionality of the reference system. Actuation mechanisms constitute a very crucial aspect for adaptive structures design because has to comply variable wing shapes with associated loads and ensure the prescribed geometrical envelope. This chapter provides a presentation of the state of the art, technical requirements, and future perspectives of morphing ailerons. It addresses morphing aircraft component architecture and design with a specific focus on the structural actuator system integra‐ tion. The approach, including underlying concepts and analytical formulations, combines methodologies and tools required to develop innovative air vehicles. Aileron is a very delicate region, where aeroelastic phenomena may be very important because of the very reduced local stiffness and the complex aerodynamics, typical of the wingtip zone. On the other side, this wing segment showed to be the one where higher cruise benefits could be achieved by local camber variations. This target was achieved while keeping the typical maneuver functions.

The cyber-physical systems are the combination of computational elements and physical entities that can interact with humans through many modalities. The security includes the malicious attempts by adversary that disrupts or destructs the... more

The cyber-physical systems are the combination
of computational elements and physical entities that
can interact with humans through many modalities.
The security includes the malicious attempts by
adversary that disrupts or destructs the functions of
physical systems that affects infrastructure,
businesses, and routine human life. The research in
cyber-physical systems is in its infantry. The work
requires the development of security models at
cloud interacting with physical systems. The current
research discusses four parts. The security
requirements in the future engineering systems
includes the state of security in cloud cyberphysical systems, security requirements in Hadoop
distributed file systems and trust-based security
model in sensor networks. Further, the proposed
research develops the agent-based approach as an
example of trust-based packet transfer. The
approach keeps the each node’s current status. The
results show that maintaining the ratings of each
node, the trust can be calculated and eliminate the
malicious node.

A robotic arm has anatomy similar to the human arm. They are becoming very popular as research platforms. This technology is wel l sui ted for real t ime appl icat ions , due to the ease with which humans perform different tasks in... more

A robotic arm has anatomy similar to the human arm. They are becoming very
popular as research platforms. This technology is wel l sui ted for real t ime
appl icat ions , due to the ease with which humans perform different tasks in different
environments. Progress of robotic a rm is, however, inhibited due to a shortage of
affordable platforms with wide capabilities. In this work, we present inf rar ed bas ed
autonomous robot i c arm. This robotic arm has been developed with sufficient
power and capabilities so as to be employed for various applications. It has
autonomous capabilities and can effectively work in different environment by
employing a infra based servo motor module. The function which we have
implemented is of an autonomous garbage collector. It measures breadth of the object
and correspondingly grab or avoid it.

An Emergency Response (ER) Cyber-Physical System (CPS) to avoid landslides and survey areas located on or near slopes is introduced that handles two problems: electronic waste disposal, and environmental disasters. Uncomplicated detection... more

An Emergency Response (ER) Cyber-Physical System (CPS) to avoid landslides and survey areas located on or near slopes is introduced that handles two problems: electronic waste disposal, and environmental disasters. Uncomplicated detection circuits using salvaged components can pinpoint floods in impoverished regions. CPSs simplify hazard prediction and mitigation in disaster supervision. Nonetheless, few green practices and efforts have been accomplished in this regard. Recent technical advances help landslides studies and the evaluation of suitable risk alleviation measures. This work addresses in situ meters, and cameras to observe ground movements more accurately. The ER-CPS identifies and can help mitigate landslides using techniques based on motion detection that can productively predict and monitor the zone conditions to classify it, and the landslide-related data can be transmitted to inspecting stations to lessen the erosion/sedimentation likelihood while increasing security.

— In the present days many immoral activities are taking place in ration shop, which are meant to distribute the commodities to the people who are in below the poverty line, as the distribution process is manually operated and due to... more

— In the present days many immoral activities are taking place in ration shop, which are meant to distribute the commodities to the people who are in below the poverty line, as the distribution process is manually operated and due to which it consumes a lots of time. To overcome this problem we one can use RFID technology. In this report RFID tags are introduced, the RFID card are used instead of ration cards, which consists of all the details about the card holder like family details, type of card and its validity etc. In this report we are going to discuss different types of automatic ration distribution system implemented for the automatic ration distribution.

This paper concerns the thermal investigation of a surface-mounted permanent-magnet synchronous motor designed for high-temperature aerospace actuation applications. A finite-element package was developed, enabling accurate 3-D transient... more

This paper concerns the thermal investigation of a surface-mounted permanent-magnet synchronous motor designed for high-temperature aerospace actuation applications. A finite-element package was developed, enabling accurate 3-D transient thermal analysis by considering complex and unsymmetrical actuator housing configurations. Its validity was verified by measurements carried out at different duty cycles and operating conditions.

This paper develops a model based on an original lumped-parameter network configuration for the thermal transient analysis of a permanent magnet synchronous motor (PMSM). The specific PMSM was designed and optimized for a demanding... more

This paper develops a model based on an original lumped-parameter network configuration for the thermal transient analysis of a permanent magnet synchronous motor (PMSM). The specific PMSM was designed and optimized for a demanding aerospace application. The validity of the proposed lumped-parameter model is verified by measurements carried out in a thermal chamber.

We report here the development of an actuator with an ionic electroactive polymer (IEAP) laminate that is exclusively designed to exhibit a combination of high electrically induced strain and high bending modulus. The newly constructed... more

We report here the development of an actuator with an ionic electroactive polymer (IEAP) laminate that is exclusively designed to exhibit a combination of high electrically induced strain and high bending modulus. The newly constructed laminate is one of the few IEAPs meeting the requirements for use in miniature soft robotics. The laminate has activated carbon-based electrodes and ionic liquid is used as an electrolyte. Layers of compliant gold foil are used as current collectors. The superior performance of the IEAP laminate is demonstrated by constructing a centimeter-scale robot propelled by a single IEAP actuator. The cyclic locomotion of the robot is inspired by the movements of an inchworm, while the IEAP laminate is used concurrently as an actuator and a structural member. The 830-mg robot is able to crawl on a smooth surface in open air, solely by undulation of its body. The microprocessor-controlled robot has an on-board lithium battery and uses a pulse-width-modulated signal to drive the IEAP actuator. The robot is able to carry its own power supply and even an extra payload. The constructed biomimetic robot is distinctive for the use of a non-planar actuator whose shape is programmed during the manufacturing process.

Lead-free piezoelectric ceramics, 0.96[{Bi0.5 (Na0.84K0.16)0.5}1 – x Lix(Ti1 – yNby)O3]–0.04SrTiO3 (BNKLiTN–ST) with x, y = 0–0.030, were synthesized by solid-state reaction method. X-ray diffraction patterns indicated that Li and Nb... more

Lead-free piezoelectric ceramics, 0.96[{Bi0.5 (Na0.84K0.16)0.5}1 – x
Lix(Ti1 – yNby)O3]–0.04SrTiO3 (BNKLiTN–ST) with x, y =
0–0.030, were synthesized by solid-state reaction method. X-ray
diffraction patterns indicated that Li and Nb successfully diffused
into the BNKT–ST lattice and formed a pure perovskite
structure with x, y ≤ 0.025. Increasing the Li and Nb contents
(x, y = 0.020) induced a phase transformation from the coexistent
rhombohedral–tetragonal phases for pure BNKT–ST
ceramics to a pseudocubic phase, resulting in degradation of the
remnant polarization and coercive field. However, the fieldinduced
strain was markedly enhanced at x, y = 0.020, giving
rise to a giant dynamic piezoelectric constant (d33* = Smax/
Emax = 800 pm/V). Furthermore, the temperature dependence
of the field-induced strain response showed temperature-insensitivity
up to 120°C. To explore its potential for device applications,
a 10-layered stack-type multilayer actuator was
fabricated from the optimal composition (x, y = 0.020). This
actuator showed a large Smax/Emax of 600 pm/V at a relatively
low driving field of 4.5 kV/mm suggesting highly promising
results in lead-free BNT-based ceramics.

Technology is a never ending process. From the past decade has seen significant advancement in the field of consumer electronics. Various devices such as cellular phones, air conditioners, home security devices, home theatres, etc. are... more

Technology is a never ending process. From the past decade has seen significant advancement in the field of consumer electronics. Various devices such as cellular phones, air conditioners, home security devices, home theatres, etc. are lead us to smart home/home automation. They have given rise to a PAN (Personal Area Network) in home environment, where all these appliances can be interrelated and monitored using a single controller. Busy personalities and physical limitation/old aged people require home automation and networking to ease their work. Home automation networks uses many systems like wireless embedded sensors and actuators that allows monitoring and control applications for home user and give an efficient home management

In recent decades, micro and nanoscale technologies have become cutting-edge frontiers in material science and device developments. This worldwide trend has induced further improvements in actuator production with enhanced performance. A... more

In recent decades, micro and nanoscale technologies have become cutting-edge frontiers in material science and device developments. This worldwide trend has induced further improvements in actuator production with enhanced performance. A main role has been played by nanostructured carbon-based materials, i.e., carbon nanotubes and graphene, due to their intrinsic properties and easy functionalization. Moreover, the nanoscale decoration of these materials has led to the design of doped and decorated carbon-based devices effectively used as actuators incorporating metals and metal-based structures. This review provides an overview and discussion of the overall process for producing AC actuators using nanostructured, doped, and decorated carbon materials. It highlights the differences and common aspects that make carbon materials one of the most promising resources in the field of actuators.

ABSTRACT Advanced robotics requires a new generation of actuators able to exhibit a number of desirable characteristics ranging from high power density and high efficiency, high positioning resolution, high torque capacity and torsional... more

ABSTRACT Advanced robotics requires a new generation of actuators able to exhibit a number of desirable characteristics ranging from high power density and high efficiency, high positioning resolution, high torque capacity and torsional stiffness, lightweight designs and low-cost packages. In this paper, we present the development and the experimental evaluation of a new actuator, aimed at improving the torque density and mechanical efficiency of actuated robotic joints, and enhancing the portability and effectiveness of robotic systems engaged in biomechanical applications such as rehabilitation robots and wearable exoskeletons. The new actuator, called the Gear Bearing Drive (GBD), consists of a two-stage planetary gear arrangement coupled through the planets and driven by an external rotor brushless motor that is inscribed within the input stage sun gear. This planetary configuration enables for incredible high-speed reductions and allows for embedding the motor directly within the gearbox saving significant space on the actuator length. Our initial experimental prototypes have demonstrated impressive performance with the potential to deliver more than 30Nm of continuous torque with 85% mechanical efficiency and 0.0005 degree of backlash, and up to 200 rpm maximum output speed in a highly compact and robust package.

In this work, a phase diagram of A- and B-site co-substituted 0.96[{Bi0.5 (Na0.84K0.16)}1xyLixMgy(Ti1zNbz)O3]–0.04SrTiO3 (abbreviated as LMN-doped BNKT–ST), where x, y and z ¼ 0.00–0.030, was schematically constructed on the basis of... more

In this work, a phase diagram of A- and B-site co-substituted 0.96[{Bi0.5 (Na0.84K0.16)}1xyLixMgy(Ti1zNbz)O3]–0.04SrTiO3 (abbreviated as LMN-doped BNKT–ST), where x, y and z ¼ 0.00–0.030, was schematically constructed on the basis of crystal structure and electromechanical, dielectric and piezoelectric properties. The underlying mechanism of the compositionally-induced non-ergodic (NR) to ergodic relaxor (ER) phase transition was explored, and emphasis was given on relating the chemically-induced polymorphic structural phase transition to the dynamics of polar nano-regions (PNRs) and their random fields, which strongly affect the dielectric, ferroelectric, piezoelectric and field-induced strain properties of the investigated system. Xray diffraction patterns revealed that LMN doping resulted in a transition from coexistence of rhombohedral and tetragonal phases to a pseudocubic phase. Both the dielectric constant and the ferroelectric–relaxor transition (TF–R 100 C) temperature decreased with an increase in LMN content. The piezoelectric and ferroelectric responses of the BNKT–ST ceramics were significantly decreased by the addition of LMN. However, the destabilization of the piezoelectric and ferroelectric properties was accompanied by significant enhancements in the bipolar and unipolar strains. A large electric-field-induced strain (S ¼ 0.28%) and a corresponding dynamic piezoelectric constant (Smax/Emax) of 560 pm V1 were observed under the driving field of 5 kV mm1 when 1.5 mol% LMN was substituted on respective sites. This
significant strain enhancement at this composition, with LMN ¼ 0.015, may be attributed to both the field-induced reversible structural transition and the compositionally-induced NR to ER phase transition. The composition- and temperature-dependence of the energy storage density (W) were studied to demonstrate the practicability of the LMN-doped BNKT–ST. It was found that the addition of LMN enhanced the difference between maximum polarization and remnant polarization, resulting in an improvement of the energy storage properties. For the composition with LMN ¼ 0.020, a nearly temperature-invariant large recoverable energy density (W ¼0.70 J cm3) was achieved under 5.5 kV mm1 in the wide temperature range of 100–150 C. These properties indicate that the synthesized system might be a promising lead-free candidate for actuator and energy storage capacitor applications.

This article provides an overview of the state of the art in research driven towards the modi cation of the tim- bral properties of acoustic musical instruments through the use of elec- tromechanical actuators (actuated instruments),... more

This article provides an overview of the state of the art in research driven towards the modi cation of the tim- bral properties of acoustic musical instruments through the use of elec- tromechanical actuators (actuated instruments), allowing for synthetic sound generation to blend with the sound diffusion patterns of acoustic instruments. A selection of acoustic instruments and experimental research representing four Hornbos- tel-Sachs classes (idiophones, mem- branophones, chordophones and aero- phones) is presented and their nou- velle characteristics and subsequent implementation is discussed, focusing on the techniques employed in the acoustical actuation.

Despite tremendous improvements in recent years, lower-limb prostheses are still inferior to their biological counterparts. Most powered knee joints use impedance control, but it is unknown which impedance profiles are needed to replicate... more

Despite tremendous improvements in recent years, lower-limb prostheses are still inferior to their biological counterparts. Most powered knee joints use impedance control, but it is unknown which impedance profiles are needed to replicate physiological behavior. Recently, we have developed a method to quantify such profiles from conventional gait data. Based on this method, we derive stiffness requirements for knee prostheses, and we propose an actuation concept where physical actuator stiffness changes in function of joint angle. The idea is to express stiffness and moment requirements as functions of angle, and then to combine a Series Elastic Actuator (SEA) with an optimized nonlinear transmission and parallel springs to reproduce the profiles. By considering the angle-dependent stiffness requirement, the upper bound for the impedance in zero-force control could be reduced by a factor of two. We realize this ANGle-dependent ELAstic Actuator (ANGELAA) in a leg, with rubber cords as series elastic elements. Hysteresis in the rubber is accounted for, and knee moment is estimated with a mean error of 0.7 Nm. The nonlinear parallel elasticity creates equilibria near 0° as well as 90° knee flexion, frequent postures in daily life. Experimental evaluation in a test setup shows force control bandwidth around 5-9 Hz, and a pilot experiment with an amputee subject shows the feasibility of the approach. While weight and power consumption are not optimized in this prototype, the incorporated mechatronic principles may pave the way for cheaper and lighter actuators in artificial legs and in other applications where stiffness requirements depend on kinematic configuration.

IoT or Internet of Things is an innovation, that utilizes web for controlling electronic, mechanical, autos and other physical gadgets associated with the web. The Internet of Things utilizes cleverly associated gadgets and frameworks to... more

IoT or Internet of Things is an innovation, that utilizes web for controlling electronic, mechanical, autos and other physical gadgets associated with the web. The Internet of Things utilizes cleverly associated gadgets and frameworks to use information accumulated by implanted sensors, actuators in machines and other physical articles. Presently a day, IoT is spreading quickly which is extremely helpful to improve the personal satisfaction. IoT insightfully associates the things basically to improve the existence with the assistance of computerized reasoning, calculations and assortment of information. Step by step, IoT Devices are getting less expensive, littler and amazing after some time, so it is progressively adaptable to use for various applications. IoT can incorporate equipment segments like distinctive wearable gadgets, work areas, tablets, cellphones and programming parts like information assortment, gadget combination, constant examination, application and procedure expansions. IoT can be utilized for various purposes like industry, designing and foundation, home and office, government and security, wellbeing and medication. IoT can likewise be utilized for checking air and water contamination, outrageous climate, business cultivating and so forth. This paper centers around IoT and its uses for various applications.

Technology is a never ending process. From the past decade has seen significant advancement in the field of consumer electronics. Various devices such as cellular phones, air-conditioners, home security devices, home theatres, etc. are... more

Technology is a never ending process. From the past decade has seen significant advancement in the field of consumer electronics. Various devices such as cellular phones, air-conditioners, home security devices, home theatres, etc. are lead us to smart home/home automation. They have given rise to a PAN (Personal Area Network) in home environment, where all these appliances can be interconnected and monitored using a single controller. Busy individuals and physical limitation/old aged people required home automation and networking to ease their work. Home automation networks uses many systems like wireless embedded sensors and actuators that enable monitoring and control applications for home user and give an efficient home management.

The paper deals with the modelling of electromechanical flight actuators for power absorption studies. The recent trend to the electrification of all aircraft systems actually arises challenging issues about the management of the on-board... more

The paper deals with the modelling of electromechanical flight actuators for power absorption studies. The recent trend to the electrification of all aircraft systems actually arises challenging issues about the management of the on-board power, with a strong need of accurate systems’ models. One of the key engineering concerns is to define the modelling detail that is adequate for power characterisation. In this paper, two models of an electro-mechanical actuator for flight controls are developed: a detailed one, created in the AMESim environment, that includes the simulation of all system parts (3-phase brushless motor, mechanical transmission, PWM power electronics and control electronics), and a simplified Simulink model. The transient and the steady-state actuator power absorptions during a sample flight manoeuvre are evaluated, highlighting and discussing the importance of a detailed modelling for a complete characterisation of the
electrical energy requests.

Volume 1 concentrates on UAS control and performance methodologies including Computer Vision and Data Storage, Integrated Optical Flow for Detection and Avoidance Systems, Navigation and Intelligence, Modeling and Simulation, Multisensor... more

Volume 1 concentrates on UAS control and performance methodologies including Computer Vision and Data Storage, Integrated Optical Flow for Detection and Avoidance Systems, Navigation and Intelligence, Modeling and Simulation, Multisensor Data Fusion, Vision in Micro-Aerial Vehicles (MAVs), Computer Vision in UAV using ROS, Security Aspects of UAV and Robot Operating System, Vision in Indoor and Outdoor Drones, Sensors and Computer Vision, and Small UAVP for Persistent Surveillance.

This paper presents tests on a treadmill-based non-anthropomorphic wearable robot assisting hip and knee flexion/extension movements using compliant actuation. Validation experiments were performed on the actuators and on the robot, with... more

This paper presents tests on a treadmill-based non-anthropomorphic wearable robot assisting hip and knee flexion/extension movements using compliant actuation. Validation experiments were performed on the actuators and on the robot, with specific focus on the evaluation of intrinsic backdrivability and of assistance capability. Tests on a young healthy subject were conducted. In the case of robot completely unpowered, maximum backdriving torques were found to be in the order of 10 Nm due to the robot design features (reduced swinging masses; low intrinsic mechanical impedance and high-efficiency reduction gears for the actuators). Assistance tests demonstrated that the robot can deliver torques attracting the subject towards a predicted kinematic status.

Shape control of adaptive wings has the potential to improve wing aerodynamic performance in off-design conditions. A possible way to attain this objective is to implement specific technologies for trailing edge morphing, aimed at... more

Shape control of adaptive wings has the potential to improve wing aerodynamic performance in off-design conditions. A possible way to attain this objective is to implement specific technologies for trailing edge morphing, aimed at changing the airfoil camber. In the framework of SARISTU project (EU-FP7), an innovative structural system incorporating a gapless deformable trailing edge was developed. A related key technology is the capability to emulate and maintain pre-selected target wing shapes within an established margin, enabling optimal aerodynamic performance under current operational pressure loads. In this paper, the actuation and control logics aimed at preserving prescribed geometries of an adaptive trailing edge under variable conditions are numerically and experimentally detailed. The actuation concept relies on a quick-return mechanism, driven by load-bearing actuators acting on morphing ribs, directly and individually. The adopted unshafted distributed electromechanical system arrangement uses servo-rotary actuators, each rated for the torque of a single adaptive rib of the morphing structure. The adopted layout ensures compactness and weight limitations , essential to produce a clean aerodynamic system. A Fiber Bragg Grating (FBG)-based distributed sensor system generates the information for appropriate open-and closed-loop control actions and, at the same time, monitors possible failures in the actuation mechanism.