Search results for "Actuators"

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…

A Comparison Study of a Novel Self-Contained Electro-Hydraulic Cylinder versus a Conventional Valve-Controlled Actuator—Part 2: Energy Efficiency

2019

This research paper presents the second part of a comparative analysis of a novel self-contained electro-hydraulic cylinder with passive load-holding capability against a state of the art, valve-controlled hydraulic system that is typically used in load-carrying applications. After addressing the control design and motion performance in the first part of the study, the comparison is now focused on the systems&rsquo

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…

A Comparison Study of a Novel Self-Contained Electro-Hydraulic Cylinder versus a Conventional Valve-Controlled Actuator—Part 1: Motion Control

2019

This research paper presents the first part of a comparative analysis of a novel self-contained electro-hydraulic cylinder with passive load-holding capability against a state of the art, valve-controlled actuation system that is typically used in load-carrying applications. The study is carried out on a single-boom crane with focus on the control design and motion performance analysis. First, a model-based design approach is carried out to derive the control parameters for both actuation systems using experimentally validated models. The linear analysis shows that the new drive system has higher gain margin, allowing a considerably more aggressive closed-loop position controller. Several b…

CFD parametric analysis and experimental results on a hydraulic actuator

2014

A method for smoothly disengaging the load-holding valves of energy-efficient electro-hydraulic systems

2020

A novel self-contained, electro-hydraulic cylinder drive capable of passive load-holding, four-quadrant operations, and energy recovery was presented recently and implemented successfully. This solution improved greatly the energy efficiency and motion control in comparison to state-of-the-art, valve-controlled systems typically used in mobile or offshore applications. The passive load-holding function was realized by two pilot-operated check valves placed on the cylinder ports, where their pilot pressure is selected by a dedicated on/off electro valve. These valves can maintain the actuator position without consuming energy, as demonstrated on a single-boom crane. However, a reduced drop o…

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.

Filling carbon nanotubes with magnetic particles

2013

Magnetic carbon nanotube composites were obtained by filling carbon nanotubes with paramagnetic iron oxide particles. Measurements indicate that these functionalized nanotubes are superparamagnetic at room temperature. Details about the production and characterization of these materials are described along with the experimental procedures employed. These magnetic carbon nanotubes have the potential to be used in a wide range of applications, in particular, the production of nanofluids, which can be controlled by appropriate magnetic fields.

Effects of Bending on Raman-active Vibration Modes of Carbon Nanotubes

2008

We investigate vibration modes and their Raman activity of single-walled carbon nanotubes that are bent within their intrinsic elastic limits. By implementing novel boundary conditions for density-functional based tight-binding, and using non-resonant bond polarization theory, we discover that Raman activity can be induced by bending. Depending on the degree of bending, high-energy Raman peaks change their positions and intensities significantly. These effects can be explained by migration of nodes and antinodes along tube circumference. We discuss the challenge of associating the predicted spectral changes with experimental observations.

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…