Search results for "Actuators"
showing 10 items of 26 documents
Electrical conductance of carbon nanotubes with misaligned ends
2013
During a manufacturing process, when a straight carbon nanotube is placed on a substrate, e.g., production of transistors, its two ends are often misaligned. In this study, we investigate the effects of multiwall carbon nanotubes’ (MWCNTs) outer diameter and chirality on the change in conductance due to misalignment of the two ends. The length of the studied MWCNTs was 120 nm, while the diameters ranged between 4 and 7 nm. A mixed finite element-tight-binding approach was carefully designed to realize reduction in computational time by orders of magnitude in calculating the deformation-induced changes in the electrical transport properties of the nanotubes. Numerical results suggest that ar…
A Novel Solution for the Elimination of Mode Switching in Pump-Controlled Single-Rod Cylinders
2020
This paper concerns the stability issue of pump-controlled single-rod cylinders, known as mode switching. First, a review of the topic is provided. Thereafter, the most recently proposed solution for the elimination of mode switching is investigated and shown to result in unstable behavior under certain operating conditions. A theoretical analysis is provided demonstrating the underlying mechanisms of this behavior. Based on the analysis, a novel control strategy is proposed and investigated numerically. Proper operation and stability are demonstrated for a wide range of operating conditions, including situations under which the most recently proposed solution results in unstable behavior a…
Active shape correction of a thin glass/plastic x-ray mirror
2015
Optics for future X-ray telescopes will be characterized by very large aperture and focal length, and will be made of lightweight materials like glass or plastic in order to keep the total mass within acceptable limits. Optics based on thin slumped glass foils are currently in use in the NuSTAR telescope and are being developed at various institutes like INAF/OAB, aiming at improving the angular resolution to a few arcsec HEW. Another possibility would be the use of thin plastic foils, being developed at SAO and the Palermo University. Even if relevant progresses in the achieved angular resolution were recently made, a viable possibility to further improve the mirror figure would be the app…
Stiffness Estimation and Adaptive Control for Soft Robots
2022
Nonostante la sorprendente crescita nello sviluppo dei robot ispirati alla natura, tra cui i cosiddetti soft robot, il potenziale di questi sistemi, che hanno intrinseche capacità di adattamento, non è ancora stato sfruttato a pieno. La ricerca ha principalmente considerato il controllo in retroazione della posizione dei giunti del robot, lasciando la gestione della cedevolezza di questi ultimi ancora in anello aperto. Peraltro, le attuali limitazioni nel processo di produzione degli attuatori a cedevolezza variabile e l'inevitabile variabilità nel tempo degli elementi elastici costitutivi, i quali sono soggetti ad usura e deformazione plastica, rendono il problema della determinazione prec…
Discrete Learning Control with Application to Hydraulic Actuators
2015
In this paper the robustness of a class of learning control algorithms to state disturbances, output noise, and errors in initial conditions is studied. We present a simple learning algorithm and exhibit, via a concise proof, bounds on the asymptotic trajectory errors for the learned input and the corresponding state and output trajectories. Furthermore, these bounds are continuous functions of the bounds on the initial condition errors, state disturbance, and output noise, and the bounds are zero in the absence of these disturbances.
Parameters influencing the stiffness of composites reinforced by carbon nanotubes – A numerical–analytical approach
2014
Abstract Due to their high stiffness and strength, as well as their electrical conductivity, carbon nanotubes are under intense investigation as fillers in polymer matrix composites. The nature of the carbon nanotube/polymer bonding and the curvature of the carbon nanotubes may strongly reduce the reinforcing effect of the carbon nanotubes when added to a matrix to create composites. Here the effects of carbon nanotube waviness and the interaction with the matrix on the stiffness of the composite are investigated. Using a mixed numerical–analytical model, a parametric study of the waviness and volume fraction influence of CNTs on the elastic behavior of the nanocomposite is presented. The m…
Realization and drive tests of active thin glass x-ray mirrors
2016
A technique to obtain lightweight and high-resolution focusing mirror segments for large aperture X-ray telescopes is the hot slumping of thin glass foils. In this approach, already successfully experimented to manufacture the optics of the NuSTAR X-ray telescope, thin glasses are formed at high temperature onto a precisely figured mould. The formed glass foils are subsequently stacked onto a stiff backplane with a common axis and focus to form an XOU (X-ray Optical Unit), to be later integrated in the telescope optic structure. In this process, the low thickness of the glass foils guarantees a low specific mass and a very low obstruction of the effective area. However, thin glasses are sub…
Controlling electrical percolation in multicomponent carbon nanotube dispersions
2011
Carbon nanotube reinforced polymeric composites can have favourable electrical properties, which make them useful for applications such as flat-panel displays and photovoltaic devices. However, using aqueous dispersions to fabricate composites with specific physical properties requires that the processing of the nanotube dispersion be understood and controlled while in the liquid phase. Here, using a combination of experiment and theory, we study the electrical percolation of carbon nanotubes introduced into a polymer matrix, and show that the percolation threshold can be substantially lowered by adding small quantities of a conductive polymer latex. Mixing colloidal particles of different …
Decoupled nonlinear adaptive control of position and stiffness for pneumatic soft robots
2020
This article addresses the problem of simultaneous and robust closed-loop control of joint stiffness and position, for a class of antagonistically actuated pneumatic soft robots with rigid links and compliant joints. By introducing a first-order dynamic equation for the stiffness variable and using the additional control degree of freedom, embedded in the null space of the pneumatic actuator matrix, an innovative control approach is introduced comprising an adaptive compensator and a dynamic decoupler. The proposed solution builds upon existing adaptive control theory and provides a technique for closing the loop on joint stiffness in pneumatic variable stiffness actuators. Under a very mi…
HYPERSPECTRAL REFLECTANCE SIGNATURES AND POINT CLOUDS FOR PRECISION AGRICULTURE BY LIGHT WEIGHT UAV IMAGING SYSTEM
2018
Abstract. The objective of this investigation was to study the use of a new type of a low-weight unmanned aerial vehicle (UAV) imaging system in the precision agriculture. The system consists of a novel Fabry-Perot interferometer based hyperspectral camera and a high-resolution small-format consumer camera. The sensors provide stereoscopic imagery in a 2D frame-format and they both weigh less than 500 g. A processing chain was developed for the production of high density point clouds and hyperspectral reflectance image mosaics (reflectance signatures), which are used as inputs in the agricultural application. We demonstrate the use of this new technology in the biomass estimation process, w…