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An electrostatic actuator driven by conventional voltage control and charge control requires high actuation voltage and suffers from the pull-in phenomenon that limits its operation range, much less than its entire gap. To provide effective solutions to these problems, we present complete analytical and numerical models of various electrostatic actuators coupled with resonant drive circuits that are able to drive electrostatic actuators at much lower input voltage than that of conventional actuation methods and to extend their operation range beyond their conventional pull-in points in the presence of high parasitic capacitance. Moreover, in order to validate the analytical and numerical models of various electrostatic actuators coupled with the resonant drive circuits, we perform the experiment on the microplate and the micromirror coupled with the resonant drive circuit. For instance, using a high voltage amplifier, we manage to rotate the micromirror with sidewall electrodes by 6 ° at 180 V. However, using the resonant drive circuit, we are able to rotate the same micromirror by 6 ° at much lower input voltage, 8.5 V. In addition, the presented work also facilitates the stability analysis of electrostatic actuators coupled with the resonant drive circuits and provides how the effect of the parasitic capacitance can be minimized. For example, the resonant drive circuit placed within a positive feedback loop of a variable gain amplifier is able to extend the operation range much further even in the presence of very high parasitic capacitance. The resonant drive circuit with the proposed feedback controllers is also able to minimize the detrimental effects of the parasitic capacitance and to displace a parallel-plate actuator over its entire gap without the saddle-node bifurcation. Finally, we present a new displacement measurement method of electrostatic actuators coupled with the resonant drive circuits by sensing the phase delay of an actuation voltage with respect to an input voltage. This new measurement method allows us to easily implement feedback control into existent systems employing an electrostatic actuator without any modification or alteration to the electrostatic actuator itself. Hence, this research work presents the feasibility of electrostatic actuators coupled with the resonant drive circuit in various industrial and medical applications, in which the advantages of miniaturization, low supply voltage, and low power consumption are greatly appreciated.

An electrostatic actuator driven by conventional voltage control and charge control requires high actuation voltage and suffers from the pull-in phenomenon that limits its operation range, much less than its entire gap. To provide effective solutions to these problems, we present complete analytical and numerical models of various electrostatic actuators coupled with resonant drive circuits that are able to drive electrostatic actuators at much lower input voltage than that of conventional actuation methods and to extend their operation range beyond their conventional pull-in points in the presence of high parasitic capacitance. Moreover, in order to validate the analytical and numerical models of various electrostatic actuators coupled with the resonant drive circuits, we perform the experiment on the microplate and the micromirror coupled with the resonant drive circuit. For instance, using a high voltage amplifier, we manage to rotate the micromirror with sidewall electrodes by 6 ° at 180 V. However, using the resonant drive circuit, we are able to rotate the same micromirror by 6 ° at much lower input voltage, 8.5 V. In addition, the presented work also facilitates the stability analysis of electrostatic actuators coupled with the resonant drive circuits and provides how the effect of the parasitic capacitance can be minimized. For example, the resonant drive circuit placed within a positive feedback loop of a variable gain amplifier is able to extend the operation range much further even in the presence of very high parasitic capacitance. The resonant drive circuit with the proposed feedback controllers is also able to minimize the detrimental effects of the parasitic capacitance and to displace a parallel-plate actuator over its entire gap without the saddle-node bifurcation. Finally, we present a new displacement measurement method of electrostatic actuators coupled with the resonant drive circuits by sensing the phase delay of an actuation voltage with respect to an input voltage. This new measurement method allows us to easily implement feedback control into existent systems employing an electrostatic actuator without any modification or alteration to the electrostatic actuator itself. Hence, this research work presents the feasibility of electrostatic actuators coupled with the resonant drive circuit in various industrial and medical applications, in which the advantages of miniaturization, low supply voltage, and low power consumption are greatly appreciated.

Hydraulic main stages for off highway machines have usually electromagnetic driven pilot valves. You rarely find stepper motor driven pilot systems that are directly positioning the main spool in the sectional control valve. The presented concept shows the development of an actuator in a unique setup to fulfill the requirements of most off- highway applications. Precise positioning, strength, speed and fail safe requirements were the main goals of the concept. The concept has a two phase BLDC transversal flux motor with a single gear stage transmission. The software and control unit are specially designed for this electric motor setup. On a test bench some results of the first samples reveal the technical potential of this concept. The development of the actuator was done in-house of Thomas Magnete GmbH (mechanical, electronical, and software development).

Most commercially available valves are able to produce a large flow rate or a fast response, but are incapable of producing both simultaneously. Commercially available valves that can achieve both are expensive as they require multiple stages of actuation and piloting pressures to deliver large flow rates quickly, preventing them from being broadly used in fluid power applications. This work investigates the design of an Energy Coupling Actuated Valve (ECAV) that is capable of solving this trade-off between large flow and fast switching times through the use of an innovative, high performance actuation system. The ECAV is a new development in valve technology in the area of hydraulic, high speed, proportional and digital on/off valves. High speed actuation is produced through the intermittent coupling of a kinetic energy source with a translational poppet or spool. This coupling process occurs through the use of magnetorheological fluid and a controlled magnetic flux through the fluid in the energy coupler. The ECAV has several design advantages including proportional force control and a large (7mm) stroke capability. Early results predict a nominal flow rate of 100 L/min at a 5 bar pressure drop can be achieved with a 3 ms on/off response time.

Redundantly actuated manipulators have only recently aroused significant scientific interest. Their advantages in terms of enlarged workspace, higher payload ratio and better manipulability with respect to non-redundantly actuated systems explain the appearance of numerous applications in various fields: high-precision machining, fault-tolerant manipulators, transport and outer-space applications, surgical operation assistance, etc. The present Ph.D. research proposes a unified approach for modeling and actuation of redundantly actuated parallel manipulators. The approach takes advantage of the actuator redundancy principles and thus allows for following trajectories that contain parallel (force) singularities, and for eliminating the negative effect of the latter. As a first step of the approach, parallel manipulator kinematic and dynamic models are generated and treated in such a way that they do not suffer from kinematic loop closure numeric problems. Using symbolic models based on the multibody formalism and a Newton-Euler recursive computation scheme, faster-than-real-time computer simulations can thus be achieved. Further, an original piecewise actuation strategy is applied to the manipulators in order to eliminate singularity effects during their motion. Depending on the manipulator and the trajectories to be followed, this strategy results in non-redundant or redundant actuation solutions that satisfy actuator performance limits and additional optimality criteria. Finally, a validation of the theoretical results and the redundant actuation benefits is performed on the basis of well-known control algorithms applied on two parallel manipulators of different complexity. This is done both by means of computer simulations and experimental runs on a prototype designed at the Center for Research in Mechatronics of the UCL. The advantages of the actuator redundancy of parallel manipulators with respect to the elimination of singularity effects during motion and the actuator load optimization are thus confirmed (virtually and experimentally) and highlighted thanks to the proposed approach for modeling, simulation and control.

Breast cancer is a major health problem across the globe. Many incidences in the underdeveloped nations go unreported, due to non-availability or lack of access to breast screening programs. Mammography, the current gold standard for breast screening, comes with several inherent limitations in terms of cost, radiation exposure, and associated discomfort. The cost of equipment and personnel alone puts mammography out of reach for most developing nations. Hence, there is a great and growing need for an adjunct breast screening modality, within reach of general masses, especially in the overpopulated, underdeveloped countries. Digital Image Elasto Tomography (DIET) is intended to be a low cost, radiation free, noninvasive and portable breast cancer screening modality that will be accessible to the general population and will encourage more women to undergo breast screening. The DIET imaging concept induces mechanical vibrations into a breast and its surface motion is captured with digital cameras and reconstructed in 3D, for elastic characterization of the breast tissues. Ex-vivo trials and limited in-vivo trials show promise in breast cancer diagnostic evaluation. The current DIET system is, as noted, functional, but not suitable for wide scale screening. There are significant development issues in hardware, software and algorithms required to improve its speed of testing and quality of diagnostic results. The main aim of this thesis is to overcome these issues taking the DIET system from the lab to a more directly useful and usable system. This thesis presents a complete design development and analysis of the DIET clinical system, developing a prototype suitable for large-scale in-vivo trials, to establish the sensitivity and specificity of this novel technology. The major components of this research are development, of the imaging array to capture surface motion, strobe illumination for reliable image capture, actuation system to vibrate the breast harmonically, remote positioning of the actuator, ergonomic design of the imaging device, and the development of a graphical interface for easy operation of the system. Moreover, anthropomorphic silicone breast phantoms suitable for diagnostic evaluation of elastographic imaging modalities, including DIET and MRE are also presented. A new approach in software based DIET diagnosis through separate modal analysis, focusing on the second natural frequency of the breast, is also presented. Finally, the new DIET technology developed is validated ex-vivo, using two different diagnostic techniques. The trials results are positive and demonstrate viability of this new technology for commercialization. All of these aspects have advanced the clinical and technological future of this overall DIET system concept. The overall thesis makes several technical advances necessary to advance the DIET concept from a purely research concept to clinical feasibility. These advances are coupled within an advanced design to create an all new clinical prototype system. The final, validated result shows the clinical potential, both ex-vivo and in-vivo, and clinical feasibility of the DIET concept and this research.

Hybrid powertrains that use compressed air to help power a vehicle could dramatically improve the fuel economy, particularly in cities and urban areas where the traffic conditions involve a lot of starts and stops. In such conditions, a large amount of fuel is needed to accelerate the vehicle, and much of this is converted to heat in brake friction during decelerations. Capturing, storing and reusing this braking energy to produce additional power can therefore improve fuel efficiency. In this study, three approaches towards air hybrid powertrains are proposed and analyzed. In the first approach, an energy recovery valve or two shut-off valves connected to a convenient access hole on the engine cylinder is proposed to enable the cylinder to operate as a regenerative compressor and/or expander when required. In the second approach, one of the exhaust valves in an engine equipped with a Fully Variable Valve Actuation (FVVA) system is pneumatically or hydraulically operated as a dedicated gas transfer valve connected to an air reservoir. The third approach combines the advantages of the conventional valvetrain’s simplicity with emerging production technologies. In order to achieve this, two well established technologies are used in addition to valve deactivation; Variable Valve Timing (VVT) and/or Cam Profile Switching (CPS). Provided that a conventional, camshaft-operated variable valvetrain is used, the need of adopting fully variable valve actuation is eliminated and thus only minor modifications to the engine architecture are required. The aforementioned concepts are described in details. Some basic principles of their operation are also discussed in order to provide a better understanding on how fuel economy is achieved by means of engine hybridization and regenerative braking. Both experimental and computational results are presented and compared. Finally, a vehicle and driveline model, which simulates the operation of a typical passenger vehicle in urban driving conditions and predicts the efficiency of the energy regeneration, has been set up and used to study the effects of the application of each air hybrid concept on the vehicle’s energy usage throughout the New European Driving Cycle (NEDC) and the 10-15 driving cycle. The results have shown that each concept involves the optimization of valve timing for the best regenerative energy recovery and its subsequent usage. For the modelled vehicle, it has been shown that any of the three concept engines is capable of providing more braking power than needed during every deceleration and braking process, especially throughout the urban driving part of each cycle. The recovered braking energy in the form of compressed air has proved to be always sufficient to start the engine, if stop-and-start engine operation strategy is to be adopted.

Propõe-se, com este trabalho, estudar numericamente se a redundância cinemática e a redundância de atuação podem ser boas alternativas para que manipuladores planares de cinemática paralela atinjam altas acelerações. Sabe-se que estes tipos de redundância promovem uma redução de singularidades do sistema robótico entre outros benefícios. No entanto, a avaliação comparativa do desempenho dinâmico de manipuladores redundantes ainda é pouco estudada. Este estudo não é trivial pois a redundância significa não somente o aumento do torque disponível, mas também que a inércia do sistema foi aumentada. A avaliação numérica deste trabalho se dará por meio do desenvolvimento de modelos cinemáticos e dinâmicos das possíveis configurações de manipuladores paralelos planares com redundância cinemática e redundância de atuação. Esta avaliação pode ser feita pela comparação entre os manipuladores redundantes e o não-redundante para desenvolver uma mesma trajetória do end-effector. Entretanto, esta avaliação é dependente da trajetória, logo esse trabalho também propõe uma avaliação através de um índice dinâmico em toda a área de trabalho dos manipuladores. / The aim of this work is to study numerically if the kinematic redundancy and the actuation redundancy can be good alternatives for parallel planar manipulators to achieve high accelerations. It is known that types of redundancy promote, among other benefits, a significant reduction in the singularities. However, the evaluation of the redundancy as a good solution to increase the dynamic performance was not studied. This study is not trivial because the redundancy means not only that there is more torque available, but also that the inertia of the system has been considerably increased. Different configurations of the redundant manipulator will be evaluated numerically through kinematic and dynamic models. This evaluation can be performed by the comparison among the non redundant manipulator and the redundant manipulators to execute the same task. This evaluation is task dependent, so this work proposes a dynamic index to desing dynamic maps over the workspace.

<div>Strict emissions regulations are mandated by the environmental protection agency (EPA) to reduce emission of greenhouse gases and criteria air pollutants from diesel engines, which are widely used in commercial vehicles. A ten-fold reduction in allowable heavy-duty on-road oxides of nitrogen (NOx) emissions are projected to be enforced by 2024. The need to meet these emission regulations, along with consumer demand for better fuel efficiency, has resulted in greater effort towards cleaner and more efficient diesel engines.</div><div><br></div><div><div>Diesel engine aftertreatment systems are effective in reducing engine-out emissions, but only at catalyst bed temperatures above 200°C. The aftertreatment system needs to be quickly warmed up to its efficient operating temperatures, and maintain elevated temperatures in a fuel-efficient manner, which is a challenge using conventional engine strategies. This study details the use of advanced gas-exchange management, via variable valve actuation, to improve both `warm-up' and `stay-warm' aftertreatment thermal management.</div></div><div><br></div><div><div>Fast initial warm-up of the aftertreatment system, following a cold engine start, is enabled by strategies such as early exhaust valve opening (EEVO), internal exhaust gas recirculation (iEGR) and late intake valve closure (LIVC). Steady state and drive cycle results of a combination of EEVO and iEGR at idle operation, and a combination of EEVO and LIVC at off-idle conditions below 7.6 bar BMEP, are presented. It is demonstrated that ~ 150°C higher steady state temperatures are achieved at idle, and up to 10.1% reduction in predicted tailpipe-out NOx is achieved at 3.1% fuel penalty over the heavy-duty federal test procedure (HD-FTP) drive cycle.</div></div><div><br></div><div><div>Fuel-efficient `stay-warm' aftertreatment thermal management is demonstrated to be effectively achieved via cylinder deactivation (CDA), to reduce fuel consumption, elevate engine-outlet temperatures and reduce exhaust flow rates at idle and low load engine operation. Implementation of CDA at idle and low loads below 3 bar BMEP is demonstrated to achieve fuel savings of 4% over the HD-FTP drive cycle, while maintaining similar levels of tailpipe-out NOx emissions. It is demonstrated that lower air flow during CDA at, and near, idle operation does not compromise the transient torque/power capabilities of the engine- a key nding in enabling the practical implementation of CDA in diesel engines.</div></div><div><br></div><div><div>Some of the practical challenges expected with CDA are studied in detail, and alternate strategies addressing the challenges are introduced. Dynamic cylinder activation (DCA) is introduced as a means to enable greater control over the torsional vibration characteristics of the engine, via selection of appropriate ring patterns, while maintaining similar performance and emissions as xed CDA. A generic strategy to use CDA and an appropriate DCA strategy to operate away from driveline resonant frequencies at different engine speeds is described. Ventilated cylinder cutout (VCC) is introduced as a means to potentially mitigate oil accumulation concerns during CDA, by ventilating the non-ring cylinders to the intake/exhaust manifold(s) by opening the intake/exhaust valves during all the four strokes of the engine cycle. The fuel efficiency and thermal management performance of VCC is assessed for different ventilation congurations and compared with CDA and baseline engine operation.</div></div>