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Yoo, Chung-Hee. "Active Control of Aeroelastic Vibrations for Electromechanical Missile Fin Actuation Systems". Journal of Guidance, Control, and Dynamics 40, n.º 12 (diciembre de 2017): 3299–306. http://dx.doi.org/10.2514/1.g002821.
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Haq, Mazhar Ul, Zhao Gang, Zhuang Zhi Sun y S. M. Aftab. "Torque Analysis of IPMC Actuated Fin of a Micro Fish like Device Using Two-Way Fluid Structure Interaction Approach". Journal of Biomimetics, Biomaterials and Biomedical Engineering 25 (octubre de 2015): 25–38. http://dx.doi.org/10.4028/www.scientific.net/jbbbe.25.25.
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In this paper, a numerical simulation of three dimensional model of IPMC actuated fin of a fish like micro device is presented using two-way fluid structure interaction approach. The device is towed by the surface vessel through a tow cable. Fin is acting as dorsal fin of the fish to control depth of the device and also acts as a stabiliser against its roll motion. Fin's displacement disturbs water flow streamlines around it, as a result velocity and pressure profile of fluid's domain changes around the actuated fin. As fin's position continuously changes throughout its actuation cycle, this makes it transient structural problem coupled with a fluid domain. Fin's displacement is received by the fluid and resulting fluid forces are received by the fin making it a two-way fluid structure interaction (FSI) problem. Such problems are solved by multi field numerical simulation approach. This multifield numerical simulation is performed in ANSYS WORKBENCH by coupling transient structural and Fluid Flow (CFX) analysis systems. It is desirous to determine the torque acting on the fin due to fluid forces through its actuation cycle by IPMC actuators. The objective of this study is to develop the methodology (two-way fluid structural interaction (FSI)) used to simulate the transient FSI response of the IPMC actuated fin, subjected to large displacement against different flow speeds. Efficacy of fin as depressor and riser is also required to be judged by monitoring the forces acting on wing in response to its displacement under IPMC actuation. Same approach is also applicable to the self-propelled systems.
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Wiguna, Tedy, Seok Heo, Hoon Cheol Park y Nam Seo Goo. "Mechanical Design of Biomimetic Fish Robot Using LIPCA as Artificial Muscle". Key Engineering Materials 326-328 (diciembre de 2006): 1443–46. http://dx.doi.org/10.4028/www.scientific.net/kem.326-328.1443.
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This paper presents a mechanical design of biomimetic fish robot using the Lightweight Piezo-Composite Actuator (LIPCA). We have designed a mechanism for converting actuation of the LIPCA into caudal fin movement. The linkage mechanism consists of rack-pinion and four-bar linkage systems. Two kinds of caudal fins are fabricated such that the shapes resemble subcarangiform and ostraciiform caudal fin shape, respectively, and then attached to the linkage system. The swimming test using 300 Vpp input with 1 Hz to 3 Hz frequency was conducted to investigate the effect of tail beat frequency and shape of caudal fin on the swimming speed. The maximum swimming speed was reached when the device was operated at its natural swimming frequency. At the natural swimming frequency of 1.016 Hz, maximum swimming speeds were 1.267 cm/s and 1.041 cm/s for ostraciiform and subcarangiform caudal fin, respectively. The Strouhal numbers, which are a measure of thrust efficiency, were also calculated in order to examine thrust performance of the present biomimetic fish robot.
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Haq, Mazhar Ul, Zhao Gang, Zhuang Zhi Sun y S. M. Aftab. "Force Analysis of IPMC Actuated Fin and Wing Assembly of a Micro Scanning Device through Two-Way Fluid Structure Interaction Approach". International Journal of Engineering Research in Africa 21 (diciembre de 2015): 19–32. http://dx.doi.org/10.4028/www.scientific.net/jera.21.19.
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In this paper, a methodology is presented to perform force analysis of wing and fin assembly of a micro fish like device through strongly coupled two-way fluid structure interaction approach. The scanning device operates underwater and is towed by a surface vessel through a tow cable. Device fins are actuated by ionic polymer metal composite (IPMC) actuators, an EAP actuator. Fins act as riser, depressor and stabiliser against roll motion of the device. During tow, wing and fin assembly of the device come under hydrodynamic forces. These forces are influenced by fin displacement under IPMC actuation and wing's angle of attack for same towing conditions. To fully investigate wing and fin assembly performance, we must consider the interaction between their structure and fluid (water) and model the coupling mechanism accurately for fluid structure interaction (FSI) analysis. To obtain an accurate prediction to the hydrodynamic forces on wing and fin assembly of the device, it is necessary to conduct dynamic analysis of the surrounding fluid by computational fluid dynamics (CFD). A numerical simulation of three dimensional model of the assembly is performed in ANSYS WORKBENCH by coupling transient structural and Fluid Flow (CFX) analysis systems. The objectives of this study are as follows: 1) To build an accurate three-dimensional CFD model of the wing and IPMC actuated fin 2) To quantify the lift and drag forces acting on the wing and their corresponding coefficients 3) To demonstrate the influence of wing's angle of attack and fin displacement on generation of lift and drag forces. The presented methodology is also applicable to self-propelled micro robots.
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Nitzsche, F., D. G. Zimcik, T. G. Ryall, R. W. Moses y D. A. Henderson. "Closed-Loop Control Tests for Vertical Fin Buffeting Alleviation Using Strain Actuation". Journal of Guidance, Control, and Dynamics 24, n.º 4 (julio de 2001): 855–57. http://dx.doi.org/10.2514/2.4788.
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Xie, Ou, Qixin Zhu, Lin Shen y Kun Ren. "Kinematic study on a self-propelled bionic underwater robot with undulation and jet propulsion modes". Robotica 36, n.º 11 (30 de julio de 2018): 1613–26. http://dx.doi.org/10.1017/s0263574718000590.
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SUMMARYThis paper proposed a novel type of bionic underwater robot (BUR). The undulation and jet propulsion modes on the self-propelled BUR were combined, and the kinematic characteristics of the two propulsion modes were thoroughly compared. First, the prototype and swimming strategy of the BUR were presented, and a dynamic model of the BUR was established based on several assumptions. Then, a central pattern generator (CPG) model allowing free adjustment of frequency and amplitude was employed to achieve the undulation propulsion of carangiform fish and the jet propulsion of jellyfish. Also, the kinematic characteristics of the two propulsion modes were investigated through experiments under different caudal fin actuation parameters. The experimental results indicate that the developed prototype can realize the undulation and jet propulsion by the means of the coordinated movement of the multi-caudal fins. By adjusting the CPG parameters, the BUR can switch the propulsion mode smoothly. Furthermore, the propulsion velocity of the BUR initially increased rapidly with the frequency and then slowed down when the frequency was greater than 0.8 Hz in both propulsion modes. The undulation propulsion velocity increased with the amplitude in the measurement ranges, however, the jet propulsion velocity initially increased quickly with the amplitude and then kept constant and even decreased when the amplitude was greater than 11 cm. Under the same caudal fin actuation parameters, the average velocity in undulation propulsion mode was higher than that in jet propulsion mode.
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Karaağaçlı, Taylan y H. Nevzat Özgüven. "Experimental Identification of Backbone Curves of Strongly Nonlinear Systems by Using Response-Controlled Stepped-Sine Testing (RCT)". Vibration 3, n.º 3 (7 de septiembre de 2020): 266–80. http://dx.doi.org/10.3390/vibration3030019.
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In stepped-sine testing of strongly nonlinear structures with the classical force-control strategy, corrective force perturbations of a standard controller used to capture the reference signal in the proximity of turning points of frequency response curves may often lead to a premature jump before reaching the actual resonance peak. Accordingly, a classical force-control approach is not suitable to identify backbone curves of strongly nonlinear structures. This paper shows that currently available commercial modal test equipment can accurately identify backbone curves of strongly nonlinear structures by using Response-Controlled stepped-sine Testing (RCT) and the Harmonic Force Surface (HFS) concept, both recently proposed by the authors. These methods can be applied to systems where there are many nonlinearities at several different (and even unknown) locations. However, these techniques are not applicable to systems where internal resonances occur. In RCT, the displacement amplitude of the driving point, rather than the amplitude of the applied force, is kept constant during the stepped-sine testing. Spectra of the harmonic excitation force measured at several different displacement amplitude levels are used to build up a smooth HFS. Isocurves of constant amplitude forcing on the HFS lead to constant-force frequency response curves with accurately measured turning points and unstable branches (if there are any), which makes it possible to identify backbone curves of strongly nonlinear structures experimentally. The validation of the proposed approach is demonstrated with numerical and experimental case studies. A five degree-of-freedom (DOF) lumped system with five cubic stiffness elements, which create strong conservative nonlinearity, is used in the numerical example. Experimental case studies consist of a cantilever beam and a control fin actuation mechanism of a real missile structure. The cantilever beam is supported at its free-end by two metal strips constrained at both ends to create strong stiffening nonlinearity. The control fin actuation mechanism exhibits very complex and strong nonlinearity due to backlash and friction.
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Xie, Ou, Boquan Li y Qin Yan. "Computational and experimental study on dynamics behavior of a bionic underwater robot with multi-flexible caudal fins". Industrial Robot: An International Journal 45, n.º 2 (19 de marzo de 2018): 267–74. http://dx.doi.org/10.1108/ir-06-2017-0122.
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Purpose This paper aims to develop a novel type of bionic underwater robot (BUR) with multi-flexible caudal fins. With the coordinate movement of multi-caudal fins, BUR will combine the undulation propulsion mode of carangiform fish and jet propulsion mode of jellyfish together organically. The use of Computational Fluid Dynamics (CFD) and experimental method helps to reveal the effect of caudal fin stiffness and motion parameters on its hydrodynamic forces. Design/methodology/approach First, the prototype of BUR was given by mimicking the shape and propulsion mechanism of both carangiform fish and jellyfish. Besides, the kinematics models in both undulation and jet propulsion modes were established. Then, the effects of caudal fin stiffness on its hydrodynamic forces were investigated based on the CFD method. Finally, an experimental set-up was developed to test and verify the effects of the caudal fin stiffness on its hydrodynamic forces under different caudal fin actuation frequency and amplitude. Findings The results of this paper demonstrate that BUR with multi-flexible caudal fins combines the hydrodynamic characteristics of undulation and jet propulsion modes. In addition, the caudal fin with medium stiffness can generate larger thrust force and reduce the reactive power. Practical implications This paper implies that robotic fish can be equipped with both undulation and jet propulsion modes to optimize the swimming performance in the future. Originality/value This paper provides a BUR with multi-propulsion modes, which has the merits of high propulsion efficiency, high acceleration performance and overcome the head shaken problem effectively.
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Muralidharan, M. y I. A. Palani. "Development of Subcarangiform Bionic Robotic Fish Propelled by Shape Memory Alloy Actuators". Defence Science Journal 71, n.º 1 (1 de febrero de 2021): 94–101. http://dx.doi.org/10.14429/dsj.71.15777.
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In this paper, a shape memory alloy (SMA) actuated subcarangiform robotic fish has been demonstrated using a spring based propulsion mechanism. The bionic robotic fish developed using SMA spring actuators and light weight 3D printed components can be employed for under water applications. The proposed SMA spring-based design without conventional motor and other rotary actuators was able to achieve two-way shape memory effect and has reproduced the subcarangiform locomotion pattern. The positional kinematic model has been developed and the dynamics of the proposed mechanism were analysed and simulated using Automated Dynamic Analysis of Mechanical Systems (ADAMS). An open loop Arduino-relay based switching control has been adopted to control the periodic actuation of the SMA spring mechanism. The undulation of caudal fin in air and water medium has been analysed. The caudal fin and posterior body of the developed fish prototype have taken part in undulation resembling subcarangiform locomotion pattern and steady swimming was achieved in water with a forward velocity of 24.5 mm/s. The proposed design is scalable, light weight and cost effective which may be suitable for underwater surveillance application.
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Curet, Oscar M., Neelesh A. Patankar, George V. Lauder y Malcolm A. MacIver. "Aquatic manoeuvering with counter-propagating waves: a novel locomotive strategy". Journal of The Royal Society Interface 8, n.º 60 (22 de diciembre de 2010): 1041–50. http://dx.doi.org/10.1098/rsif.2010.0493.
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Many aquatic organisms swim by means of an undulating fin. These undulations often form a single wave travelling from one end of the fin to the other. However, when these aquatic animals are holding station or hovering, there is often a travelling wave from the head to the tail, and another moving from the tail to the head, meeting in the middle of the fin. Our study uses a biomimetic fish robot and computational fluid dynamics on a model of a real fish to uncover the mechanics of these inward counter-propagating waves. In addition, we compare the flow structure and upward force generated by inward counter-propagating waves to standing waves, unidirectional waves, and outward counter-propagating waves (i.e. one wave travelling from the middle of the fin to the head, and another wave travelling from the middle of the fin to the tail). Using digital particle image velocimetry to capture the flow structure around the fish robot, and computational fluid dynamics, we show that inward counter-propagating waves generate a clear mushroom-cloud-like flow structure with an inverted jet. The two streams of fluid set up by the two travelling waves ‘collide’ together (forming the mushroom cap) and collect into a narrow jet away from the cap (the mushroom stem). The reaction force from this jet acts to push the body in the opposite direction to the jet, perpendicular to the direction of movement provided by a single travelling wave. This downward jet provides a substantial increase in the perpendicular force when compared with the other types of fin actuation. Animals can thereby move upward if the fin is along the bottom midline of the body (or downward if on top); or left–right if the fins are along the lateral margins. In addition to illuminating how a large number of undulatory swimmers can use elongated fins to move in unexpected directions, the phenomenon of counter-propagating waves provides novel motion capabilities for systems using robotic undulators, an emerging technology for propelling underwater vehicles.
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Low, Kin Huat, Shuxiang Guo, Xinyan Deng, Ravi Vaidyanathan, James Tangorra, Hoon Cheol Park y Fumiya Iida. "Special Issue on Focused Areas and Future Trends of Bio-Inspired Robots “Analysis, Control, and Design for Bio-Inspired Robotics”". Journal of Robotics and Mechatronics 24, n.º 4 (20 de agosto de 2012): 559–60. http://dx.doi.org/10.20965/jrm.2012.p0559.
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The science of biomimetics is about “the abstraction of good design from nature.” The goal of this scientific field is to identify specific desirable features in the biological systems and apply them to the design of new products or systems. Engineers, scientists, entrepreneurs, and business people are increasingly turning towards nature for design inspiration. The combination of biological principles, mechanical engineering, and robotics has opened entirely new areas and possibilities. On the other hand, we can see that nature can serve as an important source of inspiration to foster innovation. Industrial applications designers can exploit millions of years of tinkering and tweaking by borrowing from nature’s best designs and applying these to new problems and situations. Through biomimetics, we are able to learn and mimic the aforementioned abilities from biology to effectively promote the development of science and technology. In this special issue, you will find a total of eleven papers covering various biomimetics research with focus on analysis, control, design, and simulation. The articles in this issue are contributed by authors from several countries (USA, Japan, UK, China, Switzerland, Brunei, and Singapore) and are grouped into three categories: analysis, control, and design. In the first paper, Kim and Kurabayashi formulate the stability conditions for the artificial pheromone potential field. On the basis of the result of the stability analysis, they further presented a pheromone filter for making a smoothing kernel. The proposed filter was applied to the potential field with several peaks and used by the mobile agent. They are developing a fully automated pheromone robotic system, which aims at achieving a system closer to the natural biological world. In the second paper by Zhang and He, the influence of reciprocal effect between swimming models and morphologic on the fin propulsion performance is analyzed. From the simulation and experiments, they find that the compliance of the distribution mode of fin outline with amplitude envelope can generate better propulsion force. The results are useful for the optimal design of undulating robotic fins. For the third paper, Gouwanda and Senanayake introduce the use of wearable wireless gyroscopes for estimating gait stability. An experimental study was conducted to verify the validity of this approach. The result is expected to be employed in clinical research to assist clinicians and biomechanists in further study, which allows clinicians and biomechanists to devise appropriate strategies that improve human walking stability and reduce the risk of falls in the elderly. In another paper, Pang, Guo, and Song present an implementation of a continuous upper limb motion recognition method based on surface electromyography (sEMG) into control of an Upper Limb Exoskeleton Rehabilitation Device (ULERD). Experimental results showed that this method is effective for obtaining a control source through raw sEMG signals derived from the unaffected arm for motor control of a ULERD equipped on the affected arm during bilateral rehabilitation in real-time. There are three papers related to the control of bioinspired robots. In the paper by Sinnet and Ames, a sagittal walking is designed using Human-Inspired Control which produces human-like bipedal walking with good stability properties. The proposed control scheme, which is based on a fundamental understanding of human walking, is validated in both simulation and experiment. In the second paper, Cheng and Deng have presented a filtered-error based controller for attitude stabilization and tracking in flapping flight. By approximating nonlinear terms in the dynamic equation, the controller has successfully achieved stabilization and tracking tasks for two different insect models. Compared to a Linear Quadratic Gaussian (LQG) controller designed solely for stabilization purposes, the current controller achieves faster convergence and a broader stable region. In order to tackle such a discrepancy between biological and artificial systems, Maheshwari, Gunura and Iida present the concept and design of an adaptive clutch mechanism that discretely covers the full-range of dynamics. This novel actuation principle is then tested in a case study of position and trajectory control for a simple pendulum. The preliminary investigation of this actuation principle has shown a few potentially interesting research directions in the future. The four papers in this special issue cover the design and simulation. In the first paper, Chi and Low introduce the background of fin designs for robotic manta ray. After having analyzed and summarized the various designs, the structure of fin ray effect is investigated in depth. Their characteristics in motion are revealed through kinematic analysis, and the potential design for their RoMan IV with such structure is also presented. The work in the second paper by Boxerbaum et al. reports on the design and optimization of a biologically inspired amphibious robot for deployment and operation in an ocean beach environment. The authors present a new design fusing a range of insect-inspired passive mechanisms with active autonomous control architectures to seamlessly adapt to and traverse through a range of challenging substrates both in and out of the water. A bio-inspired adaptive perching mechanism is presented in the third paper by Chi et al. Based on the anatomy analysis of bird’s perching, some guiding principles for the perching mechanism design are obtained. By making use of motion capture system, reliability of the designed perching mechanism under static conditions is validated. Experiment results show that the perching mechanism is applicable to wide ranges of perching angles and target diameters. In the last paper, Guo et al. present virtual-reality simulators for training with force feedback in Minimally Invasive Surgery (MIS). This application allows generating realistic physical-based models of catheters and blood vessels, and enables surgeons to touch, feel and manipulate virtual catheter inside a vascular model through the same surgical operation mode as is used in actual MIS. The special issue of the Journal of Robotics and Mechatronics on Focused Areas and Future Trends of Bio-Inspired Robots at a particularly appropriate time when the area of biomimetics has attracted a growing interest in recent years in developing autonomous robots that can interact in an unknown environment. Research has also shown that biologically inspired robots will exhibit much greater adaptivity and robustness in performance in unstructured environments than today’s conventional robots. This new class of robots will be substantially more compliant and stable than current robots, and will take advantage of new developments in materials, fabrication technologies, sensors and actuators. Applications of bio-inspired robots will include autonomous or semi-autonomous tasks such as reconnaissance and de-mining for small, insect-like robots and human interaction tasks at a larger scale. We would like to thank the authors for contributing their research papers to this special issue, and the reviewers who, in spite of their busy schedules, took time to provide in-depth comments and constructive criticisms. Last but not least, we would like to thank Editor-in-Chief, Professor Tatsuo Arai, for his support and suggestions to our proposal, which makes the publication of this special issue possible. Our heartfelt thanks go to Mr. Kunihiko Uchida of Fuji Technology Press Ltd. for his professional assistance during the editing process of this special section.
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Mani, Smitha, Sahjendra N. Singh, Surya Kiran Parimi y Woosoon Yim. "Adaptive Servoregulation of a Projectile Fin Using Piezoelectric Actuator". Journal of Dynamic Systems, Measurement, and Control 129, n.º 1 (7 de marzo de 2006): 100–104. http://dx.doi.org/10.1115/1.2397159.
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This brief paper treats the question of adaptive control of a projectile fin using a piezoelectric actuator. The hollow projectile fin is rigid, within which a flexible cantilever beam with a piezoelectric active layer is mounted. The model of the fin-beam system includes the aerodynamic moment, which is a function of angle of attack of the projectile. The rotation angle of the fin is controlled by deforming the flexible beam, which is hinged at the tip of the rigid fin. An adaptive servoregulator is designed for the control of the fin angle using the fin angle and its derivative for feedback. Interestingly, the knowledge of the dimension and parameters of the system is not essenstial for the synthesis of the control law. In the closed-loop system, the fin angle asymptotically converges to the desired set point and the elastic modes converge to their equilibrium values. Computer simulation and laboratory test results are presented to show the performance of the controller.
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Lu, Jin, Zhigang Wu y Chao Yang. "High-Fidelity Fin–Actuator System Modeling and Aeroelastic Analysis Considering Friction Effect". Applied Sciences 11, n.º 7 (29 de marzo de 2021): 3057. http://dx.doi.org/10.3390/app11073057.
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Both the dynamic characteristics and structural nonlinearities of an actuator will affect the flutter boundary of a fin–actuator system. The actuator models used in past research are not universal, the accuracy is difficult to guarantee, and the consideration of nonlinearity is not adequate. Based on modularization, a high-fidelity modeling method for an actuator is proposed in this paper. This model considers both freeplay and friction, which is easy to expand. It can be directly used to analyze actuator characteristics and perform aeroelastic analysis of fin–actuator systems. Friction can improve the aeroelastic stability, but the mechanism of its influence on the aeroelastic characteristics of the system has not been reported. In this paper, the LuGre model, which can better reflect the friction characteristics, was integrated into the actuator. The influence of the initial condition, freeplay, and friction on the aeroelastic characteristics of the system was analyzed. The comparison of the results with the previous research shows that oversimplified friction models are not accurate enough to reflect the mechanism of friction’s influence. By changing the loads, material, and geometry of contact surfaces, flutter can be effectively suppressed, and the power loss caused by friction can be minimized.
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Wu, S. Z., D. N. Wormley, D. Rowell y P. Griffith. "Boiler Implosion Control in Fossil Fuel Power Plants". Journal of Dynamic Systems, Measurement, and Control 107, n.º 4 (1 de diciembre de 1985): 267–69. http://dx.doi.org/10.1115/1.3140734.
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An evaluation of systems for control of fossil fuel power plant boiler and stack implosions has been performed using computer simulation techniques described in a companion paper. The simulations have shown that forced and induced draft fan control systems and induced draft fan bypass systems reduce the furnace pressure excursions significantly following a main fuel trip. The limitations of these systems are associated with actuator range and response time and stack pressure excursions during control actions. Preliminary study suggests that an alternative control solution may be achieved by discharging steam into the furnace after a fuel trip.
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Noh, Jaeho, Jaeyong Lee, Woosung Yang y Sungon Lee. "Design of a Concentrically Stacked Modular Actuator with Forced Air Cooling for Multi-DOF Robotic Systems". Energies 11, n.º 11 (29 de octubre de 2018): 2947. http://dx.doi.org/10.3390/en11112947.
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This paper proposes a concentrically stacked modular (CoSMo) actuator with rotary electric motors to implement multi-degree-of-freedom (multi-DOF) robotic systems with high power densities. The CoSMo actuator shows a novel design concept, which enables the actuator module with an integrated radiator to be combined in series and cooled by a single fan. This unique system has elevated thermal characteristics owing to the heatsink sharing effect. This enables the module to carry higher current by decreasing the temperature-rise rate. Also, the proposed design concept reduces the number of components required for cooling and allows the actuator to be placed concentrically, which contributes to the system having low mechanical impedance and higher power output per unit mass. The thermal characteristics and feature of the CoSMo actuator were analytically and numerically verified by simulation using a simplified model. To advance the thermal characteristics of the system further, the adequate actuator types for the CoSMo actuator were analyzed and a prototype was fabricated based on the analysis. Through the experiment using the prototype, we verified that the maximum continuous current that can be applied to the CoSMo actuator is up to about three times greater than the rated current in a forced air-cooling environment.
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Pham, Van Anh, Tan Tien Nguyen, Byung Ryong Lee y Tuong Quan Vo. "Dynamic Analysis of a Robotic Fish Propelled by Flexible Folding Pectoral Fins". Robotica 38, n.º 4 (4 de julio de 2019): 699–718. http://dx.doi.org/10.1017/s0263574719000997.
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SUMMARYBiological fish can create high forward swimming speed due to change of thrust/drag area of pectoral fins between power stroke and recovery stroke in rowing mode. In this paper, we proposed a novel type of folding pectoral fins for the fish robot, which provides a simple approach in generating effective thrust only through one degree of freedom of fin actuator. Its structure consists of two elemental fin panels for each pectoral fin that connects to a hinge base through the flexible joints. The Morison force model is adopted to discover the relationship of the dynamic interaction between fin panels and surrounding fluid. An experimental platform for the robot motion using the pectoral fin with different flexible joints was built to validate the proposed design. The results express that the performance of swimming velocity and turning radius of the robot are enhanced effectively. The forward swimming velocity can reach 0.231 m/s (0.58 BL/s) at the frequency near 0.75 Hz. By comparison, we found an accord between the proposed dynamic model and the experimental behavior of the robot. The attained results can be used to design controllers and optimize performances of the robot propelled by the folding pectoral fins.
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Lee, Sang Yeal y Hyung Suck Cho. "A fuzzy controller for an electro-hydraulic fin actuator using phase plane method". Control Engineering Practice 11, n.º 6 (junio de 2003): 697–708. http://dx.doi.org/10.1016/s0967-0661(02)00179-x.
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Zhu, Chenglong, Chenxi Li, Xinyi Chen, Kanjian Zhang, Xin Xin y Haikun Wei. "Event-Triggered Adaptive Fault Tolerant Control for a Class of Uncertain Nonlinear Systems". Entropy 22, n.º 6 (27 de mayo de 2020): 598. http://dx.doi.org/10.3390/e22060598.
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This paper considers an adaptive fault-tolerant control problem for a class of uncertain strict feedback nonlinear systems, in which the actuator has an unknown drift fault and the loss of effectiveness fault. Based on the event-triggered theory, the adaptive backstepping technique, and Lyapunov theory, a novel fault-tolerant control strategy is presented. It is shown that an appropriate comprise between the control performance and the sensor data real-time transmission consumption is made, and the fault-tolerant tracking control problem of the strict feedback nonlinear system with uncertain and unknown control direction is solved. The adaptive backstepping method is introduced to compensate the actuator faults. Moreover, a new adjustable event-triggered rule is designed to determine the sampling state instants. The overall control strategy guarantees that the output signal tracks the reference signal, and all the signals of the closed-loop systems are convergent. Finally, the fan speed control system is constructed to demonstrate the validity of the proposed strategy and the application of the general systems.
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Alanis, Alma Y., Jorge D. Rios, Nancy Arana-Daniel y Carlos Lopez-Franco. "Real-time neural control of all-terrain tracked robots with unknown dynamics and network communication delays". Ingeniería Investigación y Tecnología 21, n.º 3 (1 de julio de 2020): 1–12. http://dx.doi.org/10.22201/fi.25940732e.2020.21.3.026.
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This work focuses on the design of an intelligent controller that is a considerably large challenge for cyber-physical systems. The proposed controller can deal with unknown dynamics, actuator saturation, unknown external and internal disturbances, unknown communication delays and packet losses. Such a controller is designed using a discrete-time approach based on inverse optimal control and a recurrent high-order neural network identifier. The applicability of the proposed scheme is shown through real-time results using a tracked robot platform controlled through a wireless network under different network scenarios.
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Liu, Guojun, Zhiyong Qu, Xiaochu Liu y Junwei Han. "Tracking performance improvements of an electrohydraulic Gough-Stewart platform using a fuzzy incremental controller". Industrial Robot: An International Journal 41, n.º 2 (11 de marzo de 2014): 225–35. http://dx.doi.org/10.1108/ir-05-2013-355.
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Purpose – Sinusoidal signals are often used as the inputs of the six degree of freedom (DOF) motion simulator platforms. The purpose of this paper is to propose a fuzzy incremental controller (FIC) to improve sinusoidal signal tracking performances of an electrohydraulic Gough-Stewart platform (GSP). Design/methodology/approach – An FIC is proposed to control an electrohydraulic GSP without any model parameters. The FIC output can be self-organized by only using the hydraulic actuator position information. The control rules are determined by a systematic deterministic method. Findings – Experimental results show that the proposed FIC is valid and can achieve better tracking performances compared with classical PID controller and a decoupling controller (a model-based controller). Originality/value – An FIC using a systematic deterministic rule-base determination method is proposed to improve sinusoidal signal tracking performances of electrohydraulic GSP.
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He, Xiang-Dong, Sheng Liu y Haruhiko H. Asada. "Modeling of Vapor Compression Cycles for Multivariable Feedback Control of HVAC Systems". Journal of Dynamic Systems, Measurement, and Control 119, n.º 2 (1 de junio de 1997): 183–91. http://dx.doi.org/10.1115/1.2801231.
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This paper presents a new lumped-parameter model for describing the dynamics of vapor compression cycles. In particular, the dynamics associated with the two heat exchangers, i.e., the evaporator and the condenser, are modeled based on a moving-interface approach by which the position of the two-phase/single-phase interface inside the one-dimensional heat exchanger can be properly predicted. This interface information has never been included in previous lumped-parameter models developed for control design purpose, although it is essential in predicting the refrigerant superheat or subcool value. This model relates critical performance outputs, such as evaporating pressure, condensing pressure, and the refrigerant superheat, to actuating inputs including compressor speed, fan speed, and expansion valve opening. The dominating dynamic characteristics of the cycle around an operating point is studied based on the linearized model. From the resultant transfer function matrix, an interaction measure based on the Relative Gain Array reveals strong cross-couplings between various input-output pairs, and therefore indicates the inadequacy of independent SISO control techniques. In view of regulating multiple performance outputs in modern heat pumps and air-conditioning systems, this model is highly useful for design of multivariable feedback control.
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Cvok, Ivan, Igor Ratković y Joško Deur. "Optimisation of Control Input Allocation Maps for Electric Vehicle Heat Pump-based Cabin Heating Systems". Energies 13, n.º 19 (2 de octubre de 2020): 5131. http://dx.doi.org/10.3390/en13195131.
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The heating, ventilation and air conditioning (HVAC) system negatively affects the electric vehicle (EV) driving range, especially under cold ambient conditions. Modern HVAC systems based on the vapour-compression cycle can be rearranged to operate in the heat pump mode to improve the overall system efficiency compared to conventional electrical/resistive heaters. Since such an HVAC system is typically equipped with multiple actuators (compressor, pumps, fans, valves), with the majority of them being controlled in open loop, an optimisation-based control input allocation is necessary to achieve the highest efficiency. This paper presents a genetic algorithm optimisation-based HVAC control input allocation method, which utilises a multi-physical HVAC system model implemented in Dymola/Modelica. The considered control inputs include the cabin inlet air temperature reference, blower and radiator fan air mass flows and secondary coolant loop pumps’ speeds. The optimal allocation is subject to specified, target cabin air temperatures and heating power. Additional constraints include actuator hardware limits and safety functions, such as maintaining the superheat temperature at its reference level. The optimisation objective is to maximise the system efficiency defined by the coefficient of performance (COP). The optimised allocation maps are fitted by proper mathematical functions to facilitate the control strategy implementation and calibration. The overall control strategy consists of superimposed cabin air temperature controller that commands heating power, control input allocation functions, and low-level controllers that ensure cabin inlet air and superheat temperature regulation. The control system performance is verified through Dymola simulations for the heat pump mode in a heat-up scenario. Control input allocation map optimisation results are presented for air-conditioning (A/C) mode, as well.
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Santos, Athila, Na Liu y Muhyiddine Jradi. "AUSTRET: An Automated Step Response Testing Tool for Building Automation and Control Systems". Energies 14, n.º 13 (2 de julio de 2021): 3972. http://dx.doi.org/10.3390/en14133972.
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Building energy consumption is still one of the main contributions to global carbon emissions. With the overall digitalization in the building sector, building automation and control systems (BACS) are to play a more important and key role in improving the building sector performance. A well-designed BACS at the building design phase with a high level of control functionalities is not a guarantee for efficient building operation and successful control and management strategies in the operational phase. Thus, a systematic automated initial and retro-commissioning process is key to test the performance of the automation system and the response of the integrated HVAC systems. This is an arduous and time-consuming task susceptible to human errors. As an alternative, the current study proposes a methodological framework to automate step response testing of BACS and to optimize the different steps of this process in a cost-effective way. In addition to newly built buildings, the framework can be applied in existing or retrofitted medium to large-sized buildings that have a building management system capable of receiving actuator commands and responsible to provide updates of several state variables. Based on the proposed framework, a first-of-its kind tool “AUSTRET” for building automated step response testing of BACS is designed and developed. The tool provides the necessary input configuring parameters, building system selection, and output results for each performed test. The framework aims to act upon ventilation, room heating and cooling, and water heating and cooling modules in a building. The implementation and demonstration of the AUSTRET in a medium-sized building case study for two different building systems are presented and evaluated: (1) Ventilation/fan, (2) Room heating. The results show the different dynamic responses on these two systems and how misleading input parameter configuration can invalidate step response tests. The preliminary results highlight the capability of using AUSTRET as a key component in both building initial and retro-commissioning applications.
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Anwar, Muddasar, Toufik Al Khawli, Irfan Hussain, Dongming Gan y Federico Renda. "Modeling and prototyping of a soft closed-chain modular gripper". Industrial Robot: the international journal of robotics research and application 46, n.º 1 (21 de enero de 2019): 135–45. http://dx.doi.org/10.1108/ir-09-2018-0180.
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Purpose This paper aims to present a soft closed-chain modular gripper for robotic pick-and-place applications. The proposed biomimetic gripper design is inspired by the Fin Ray effect, derived from fish fins physiology. It is composed of three axisymmetric fingers, actuated with a single actuator. Each finger has a modular under-actuated closed-chain structure. The finger structure is compliant in contact normal direction, with stiff crossbeams reorienting to help the finger structure conform around objects. Design/methodology/approach Starting with the design and development of the proposed gripper, a consequent mathematical representation consisting of closed-chain forward and inverse kinematics is detailed. The proposed mathematical framework is validated through the finite element modeling simulations. Additionally, a set of experiments was conducted to compare the simulated and prototype finger trajectories, as well as to assess qualitative grasping ability. Findings Key Findings are the presented mathematical model for closed-loop chain mechanisms, as well as design and optimization guidelines to develop controlled closed-chain grippers. Research limitations/implications The proposed methodology and mathematical model could be taken as a fundamental modular base block to explore similar distributed degrees of freedom (DOF) closed-chain manipulators and grippers. The enhanced kinematic model contributes to optimized dynamics and control of soft closed-chain grasping mechanisms. Practical implications The approach is aimed to improve the development of soft grippers that are required to grasp complex objects found in human–robot cooperation and collaborative robot (cobot) applications. Originality/value The proposed closed-chain mathematical framework is based on distributed DOFs instead of the conventional lumped joint approach. This is to better optimize and understand the kinematics of soft robotic mechanisms.
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Pinto, Raquel, André Cardoso, Sara Ribeiro, Carlos Brandão, João Gaspar, Rizwan Gill, Helder Fonseca y Margaret Costa. "Application of SU-8 photoresist as a multi-functional structural dielectric layer in FOWLP". Additional Conferences (Device Packaging, HiTEC, HiTEN, and CICMT) 2017, DPC (1 de enero de 2017): 1–19. http://dx.doi.org/10.4071/2017dpc-tp2_presentation3.
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Microelectromechanical Systems (MEMS) are a fast growing technology for sensor and actuator miniaturization finding more and more commercial opportunities by having an important role in the field of Internet of Things (IoT). On the same note, Fan-out Wafer Level Packaging (FOWLP), namely WLFO technology of NANIUM, which is based on Infineon/ Intel eWLB technology, is also finding further applications, not only due to its high performance, low cost, high flexibility, but also due to its versatility to allow the integration of different types of components in the same small form-factor package. Despite its great potential it is still off limits to the more sensitive components as micro-mechanical devices and some type of sensors, which are vulnerable to temperature and pressure. In the interest of increasing FOWLP versatility and enabling the integration of MEMS, new methods of assembling and processing are continuously searched for. Dielectrics currently used for redistribution layer construction need to be cured at temperatures above 200°C, making it one of the major boundary for low temperature processing. In addition, in order to accomplish a wide range of dielectric thicknesses in the same package it is often necessary to stack very different types of dielectrics with impact on bill of materials complexity and cost. In this work, done in cooperation with the International Iberian Nanotechnology Laboratory (INL), we describe the implementation of commercially available SU-8 photoresist as a structural material in FOWLP, allowing lower processing temperature and reduced internal package stress, thus enabling the integration of components such as MEMS/MOEMS, magneto-resistive devices and micro-batteries. While SU-8 photoresist was first designed for the microelectronics industry, it is currently highly used in the fabrication of microfluidics as well as microelectromechanical systems (MEMS) and BIO-MEMS due to its high biocompatibility and wide range of available thicknesses in the same product family. Its good thermal and chemical resistance and also mechanical and rheological properties, make it suitable to be used as a structural material, and moreover it cures at 150°C, which is key for the applications targeted. Unprecedentedly, SU-8 photoresist is tested in this work as a structural dielectric for the redistribution layers on 300mm fan-out wafers. Main concerns during the evaluation of the new WLFO dielectric focused on processability quality; adhesion to multi-material substrate and metals (copper, aluminium, gold, ¦); between layers of very different thicknesses; and overall reliability. During preliminary runs, processability on 300 mm fan-out wafers was evaluated by testing different coating and soft bake conditions, exposure settings, post-exposure parameters, up to developing setup. The outputs are not only on process conditions and results but also on WLFO design rules. For the first time, a set of conditions has been defined that allows processing SU-8 on WLFO, with thickness values ranging from 1 um to 150 um. The introduction of SU-8 in WLFO is a breakthrough in this fast-growing advanced packaging technology platform as it opens vast opportunities for sensor integration in WLP technology.
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Dzielski, John y Andrew Kurdila. "A Benchmark Control Problem for Supercavitating Vehicles and an Initial Investigation of Solutions". Journal of Vibration and Control 9, n.º 7 (julio de 2003): 791–804. http://dx.doi.org/10.1177/1077546303009007004.
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At very high speeds, underwater bodies develop cavitation bubbles at the trailing edges of sharp corners or from contours where adverse pressure gradients are sufficient to induce flow separation. Coupled with a properly designed cavitator at the nose of a vehicle, this natural cavitation can be augmented with gas to induce a cavity to cover nearly the entire body of the vehicle. The formation of the cavity results in a significant reduction in drag on the vehicle and these so-called high-speed supercavitating vehicles (HSSVs) naturally operate at speeds in excess of 75 m s-1. The first part of this paper presents a derivation of a benchmark problem for control of HSSVs. The benchmark problem focuses exclusively on the pitch-plane dynamics of the body which currently appear to present the most severe challenges. A vehicle model is parametrized in terms of generic parameters of body radius, body length, and body density relative to the surrounding fluid. The forebody shape is assumed to be a right cylindrical cone and the aft two-thirds is assumed to be cylindrical. This effectively parametrizes the inertia characteristics of the body. Assuming the cavitator is a flat plate, control surface lift curves are specified relative to the cavitator effectiveness. A force model for a planing afterbody is also presented. The resulting model is generally unstable whenever in contact with the cavity and stable otherwise, provided the fin effectiveness is large enough. If it is assumed that a cavity separation sensor is not available or that the entire weight of the body is not to be carried on control surfaces, limit cycle oscillations generally result. The weight of the body inevitably forces the vehicle into contact with the cavity and the unstable mode; the body effectively skips on the cavity wall. The general motion can be characterized by switching between two nominally linear models and an external constant forcing function. Because of the extremely short duration of the cavity contact, direct suppression of the oscillations and stable planing appear to present severe challenges to the actuator designer. These challenges are investigated in the second half of the paper, along with several approaches to the design of active control systems.
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Jung, Ho Sang, Hoa Phung, Jae Hyeong Park, Sang Yul Yang, Kihyeon Kim, Jeong U. Ko, Seong Tak Hwang y Hyouk Ryeol Choi. "Development of a Small and Lightweight Missile Fin Control Actuation System Driven by Novel Dielectric Elastomer Actuators". IEEE/ASME Transactions on Mechatronics, 2021, 1. http://dx.doi.org/10.1109/tmech.2020.3014969.
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Jayanth, G. R. y C. H. Menq. "Design and Modeling of an Active Five-Axis Compliant Micromanipulator". Journal of Mechanisms and Robotics 6, n.º 4 (16 de julio de 2014). http://dx.doi.org/10.1115/1.4027947.
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This paper presents the design and modeling of an active five-axis compliant micromanipulator whose tip orientation can be independently controlled by large angles about two axes and the tip-position can be controlled in three dimensions. These features enable precise control of the contact point of the tip and the tip–sample interaction forces with three-dimensional nanoscale objects, including those features that are conventionally inaccessible. Control of the tip-motion is realized by means of electromagnetic actuation combined with a novel kinematic and structural design of the micromanipulator, which, in addition, also ensures compatibility with existing high-resolution motion-measurement systems. The design and analysis of the manipulator structure and those of the actuation system are first presented. Quasi-static and dynamic lumped-parameter (LP) models are then derived for the five-axis compliant micromanipulator. Finite element (FE) analysis is employed to validate these models, which are subsequently used to study the effects of tip orientation on the mechanical characteristics of the five-axis micromanipulator. Finally, a prototype of the designed five-axis manipulator is fabricated by means of focused ion-beam milling (FIB).
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Pan, Min, Chenggang Yuan, Beichen Ding y Andrew Plummer. "Novel Integrated Active and Passive Control of Fluid-Borne Noise in Hydraulic Systems". Journal of Dynamic Systems, Measurement, and Control, 16 de enero de 2021. http://dx.doi.org/10.1115/1.4049734.
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Abstract Fluid-borne noise (FBN) is a major contributor to structure-borne noise (SBN) and air-borne noise (ABN) in hydraulic fluid power systems and could lead to increased fatigue in system components. FBN is caused by the unsteady flow generated by pumps and motors and propagates through the system resulting in SBN and ABN. New hydraulic technologies such as digital switched hydraulic converters also generate unavoidable FBN. This article reports on a novel integrated FBN attenuation approach, which employs a hybrid control system by integrating an active feed forward noise attenuator with passive tuned flexible hoses. The active system which consists of adaptive notch filters using a variable step-size filtered-X Least Mean Squares algorithm is used to control a newly designed high-force high-bandwidth piezoelectric actuator in order to attenuate the dominant narrowband pressure ripples. The passive hose is tuned in the frequency domain and used to cancel the high-frequency pressure ripples. A time-domain hose model considering coupling of longitudinal wall and fluid waves was used to model the flexible hose in the integrated control system. Very good FBN cancellation was achieved by using the integrated control approach in simulation and experiments. It is an effective, cost-efficient and practical solution for FBN attenuation. The problem of high noise levels generated by hydraulically powered machines has risen significantly in awareness within industry and amongst the general public, and this work constitutes an important contribution to the sustainable development of low noise hydraulic fluid power machines.
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Wang, Jiqiang, Georgi Dimirovski y Hong Yue. "Finite-Time Regulation of Two-Spool Turbofan Engines With One Shaft Speed Control". Journal of Dynamic Systems, Measurement, and Control 138, n.º 8 (25 de mayo de 2016). http://dx.doi.org/10.1115/1.4033310.
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Nonlinear control of aircraft engines has attracted much attention in consideration of the inherent nonlinearity of the engine dynamics. Most of the nonlinear design techniques, however, require the information from the rotational speeds of both high-pressure compressor and fan. This is not desirable from engine health management perspective, and this paper proposes a single sensor measurement and single actuator control approach. The proposed method can provide fast regulation of engine speed in a finite-time in comparison with conventional infinite time stability. Important results are obtained on both controller design and disturbance tolerance. Numerical examples are provided for validation of the proposed finite-time controller, demonstrating fast regulation property and remarkable disturbance tolerance capability.
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van Rooyen, J. A. y D. G. Kröger. "Performance Trends of an Air-Cooled Steam Condenser Under Windy Conditions". Journal of Engineering for Gas Turbines and Power 130, n.º 2 (29 de febrero de 2008). http://dx.doi.org/10.1115/1.2771567.
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Air-cooled steam condensers (ACSCs) are increasingly employed to reject heat in modern power plants. Unfortunately, these cooling systems become less effective under windy conditions and when ambient temperatures are high. A better understanding of the fundamental air flow patterns about and through such ACSCs is essential if their performance is to be improved under these conditions. The present numerical study models the air flow field about and through a particular ACSC. The performance of the fans is modeled with the aid of a novel numerical approach known as the “actuator disc model.” Distorted air flow patterns that significantly reduce fan performance in certain areas and recirculatory flows that entrain hot plume air are found to be the reasons for poor ACSC performance. It is found that the reduction in fan performance is the main reason for the poor ACSC performance while recirculation of hot plume air only reduces performance by a small amount.
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Papadimitriou, Andreas, George Andrikopoulos y George Nikolakopoulos. "On the Optimal Adhesion Control of a Vortex Climbing Robot". Journal of Intelligent & Robotic Systems 102, n.º 3 (3 de junio de 2021). http://dx.doi.org/10.1007/s10846-021-01420-3.
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AbstractThis article tackles the challenge of negative pressure adhesion control of a Vortex Robotic (VR) platform, which utilizes a modified Electric Ducted Fan (EDF)-based design for successfully adhering to surfaces of variable curvature. The resulting Vortex Actuation (VA) system is estimated through a switching Autoregressive-Moving-Average with eXternal input (ARMAX) identification, for accurately capturing the throttle to adhesion force relationship throughout its operating range. For safe attachment of the robot on a surface, the critical adhesion is modeled based on the geometrical properties of the robotic platform for providing the required reference forces. Within this work, an explicit controller via the use of a Constraint Finite Time Optimal Control (CFTOC) approach is designed in an offline manner, which results in a lookup table realization that ensures overall system stability in all state transitions. In an effort to further improve the tracking response for arbitrary setup orientations, the adhesion control scheme is extended through a switching EMPC framework. The resulting frameworks are tested through both dynamic simulation and experimental sequences involving: a) adhesion control on a rotating test curved surface and, b) adhesion and locomotion sequences on a water pipe.
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Chuang, Wen-Hsien, Thomas Luger, Rainer K. Fettig y Reza Ghodssi. "Characterization of Mechanical Properties of Silicon Nitride Thin Films for Space Applications". MRS Proceedings 782 (2003). http://dx.doi.org/10.1557/proc-782-a5.21.
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ABSTRACTMechanical properties of micro-electro-mechanical systems (MEMS) materials at cryogenic temperatures are investigated to extend MEMS devices into space applications. A helium-cooled measurement setup mimicking the outer space environment is developed and installed inside a focused-ion-beam (FIB) system. T-shape, low-stress LPCVD silicon nitride cantilevers suspended on a silicon substrate are fabricated as the test structures using bulk micromachining technique. A lead-zirconate-titanate (PZT) translator and a silicon diode are utilized as an actuator and a temperature sensor in the measurement setup, respectively. The resonant frequencies of an identical cantilever with different “milling masses” are measured to obtain the thickness and the Young's modulus. Additionally, a bending test is performed to determine the fracture strength. From the experiments, the Young's modulus of LPCVD silicon nitride thin films varies from 260.5 GPa ± 5.4 GPa at room temperature (298 K) to 266.6 GPa ± 4.1 GPa at 30 K, while the fracture strength ranges from 6.9 GPa ± 0.6 GPa at room temperature to 7.9 GPa ± 0.7 GPa at 30 K.