Choosing suitable and safe valve with accessories depends on general specifications for plant. Using valve for on/off, throttling, back-flow prevention, etc., pressure drop is related with Kv value or leakages from piping systems are main factors for properly valve selection. Valve have to resist chemicals and substances that may change the state, temperature and its fluctuation, pressure, corrosion and erosion. This properties determine pressure class, temperature resistance, connection into pipe and sealing material as gland packing, seats, seal between flange etc. This and other specification, listed in this thesis, can help determine suitable type of valve. This thesis deals construction design of valve and accessories as well. The last chapters are focused on calculation of safety valve and selection safe and appropriate control valve with accessories.

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his thesis presents the design, fabrication, and testing of a robotic arm that is inherently safe, lightweight and affordable. The arm’s three joints are driven by novel hybrid vacuum-electric actuators that each combine origami-inspired soft pneumatic actuators (OSPAs) with a DC motor. The arm is a type of collaborative robot, or cobot, that is suitable for low payload, low speed applications. The OSPA was redesigned in the first stage of the research. In particular, the new endcaps are 59% shorter than the previous design. This made the actuators more compact and increased their stroke-to-length ratio. Next, the OSPA fabrication process was significantly changed. The heating of the heat shrink tubing was changed from immersion in boiling water to heating with a heat gun, and a motorized stand with several assisting parts was developed. These changes improved the consistency of the fabrication, reduced the skills required, and improved the safety. The joints of the arm and its structural components were designed next. The rotation of each joint is achieved by connecting multiple OSPAs to custom-made pulleys using cables and connecting a DC motor in parallel using a timing belt. Joint 2, the shoulder joint, had to produce the largest torque. This was accomplished by applying optimization methods to design a variable-radius pulley. The prototype arm utilized laser-cut acrylic and 3D printed components to keep its cost and weight low. Finally, after a simple pressure control system was developed, the prototype arm’s performance was extensively tested. The joints’ ranges of motion, velocities, accelerations, and blocked torques are tested at multiple pressures and motor currents, and the results discussed. The thesis concludes with a summary of the research’s achievements and limitations, and recommendations for future improvements to the robotic arm’s design. / Thesis / Master of Applied Science (MASc) / This thesis presents the design, fabrication, and testing of a robotic arm that is inherently safe, lightweight and affordable. The arm’s three joints are driven by novel actuators that each combine soft pneumatic actuators (powered by vacuum pressure) with a DC motor. The arm is suitable for low payload, low speed applications. First, the pneumatic actuators were redesigned to make them more compact. Next, their fabrication process was changed to improve the consistency of the results, reduce the skills required, and improve the safety. The joints of the arm and its structural components were then designed. To produce the torque required for the shoulder joint, optimization methods were used to create a variable-radius pulley. The prototype arm utilized laser-cut acrylic and 3D-printed components to keep its cost and weight low. Finally, after a simple pressure control system was developed, the prototype arm’s performance was extensively tested.

L’objectif des travaux entrepris au cours de cette thèse concerne le développement d’un système haptique de téléopération contrôlé à l’aide d’actionneurs électropneumatiques. Pour réaliser le contrôle du débit de ce type de modulateur, deux solutions technologiques sont possibles : soit des servovalves soit des électrovannes. La première solution est utilisée pour contrôler précisément des systèmes de hautes performances, mais l’apparition d’électrovannes rapides compactes à faible coût offre la possibilité de les utiliser à la place des servovalves. Même si cela entraîne des défis dans la réalisation de la commande, à cause de l’augmentation des non-linéarités intrinsèques de l’actionneur pneumatique lorsqu’il est piloté par les électrovannes au lieu des servovalves. Le premier objectif a consisté à démontrer la possibilité de réaliser des interfaces maître-esclave à performance acceptable à l’aide d’électrovanne, afin de produire des systèmes à faible coût. La méthode la plus courante pour commander des électrovannes consiste à utiliser un signal modulé en largeur d’impulsion. Afin de contrôler de manière plus optimale les électrovannes, une nouvelle stratégie de la commande basée sur l’algorithme hybride a été développée. Cette commande a été implémentée et testée sur un système de maître-esclave à un degré de liberté développé au cours de ces travaux de recherche. Les résultats ont démontré de meilleures performances dans le cas de la commande hybride en termes de dynamique de pression, des performances de suivi en force/position. Afin de disposer des informations de transparence et de stabilité, la commande par mode glissant a été choisie. Une comparaison de la transparence a été réalisée parmi trois architectures pour un système de téléopération. Pour améliorer les performances dynamiques du système, une commande à cinq-mode a été développée. Le second point de recherche entrepris est passé par l’utilisation de servovalves dans un système de téléopération, permettant ainsi de réaliser une comparaison entre les deux technologies. Dans le cas d’une architecture de téléopération, les données expérimentales pour les deux types d’organes de commandes, ont donné des résultats satisfaisants en termes de suivi de force et de position pour le maître et l’esclave. Dans le cas de système de téléopération bilatérale, le capteur de force est souvent supprimé dans le but de réduire les coûts ainsi que le poids et le volume du système global. Les travaux se sont ainsi intéressés à la possibilité d’utiliser des observateurs, à la place de capteurs de force pour déterminer les forces d’interactions entre les interfaces et leurs environnements. Les données expérimentales montrent ainsi qu’il est possible d’obtenir des bonnes performances de transparence en utilisant un simple observateur de Nicosia. Finalement ces différents résultats démontrent le potentiel des actionneurs électropneumatiques pour la réalisation le système de téléopération. / The aim of this thesis is to investigate the development and control of electro-pneumatic actuators in a haptic teleoperation system. For controlling the mass flow rate of such actuators, two types of valve technology are sudied, i.e. solenoid (on/off) valve and proportional servovalve. The servovalves have found widespread applications in which high accuracy of force/position control are needed. They are however typically expensive due to the requirements of high-precision manufacturing. Therefore, the low-cost solenoid valves can be an alternative to the servovalves for achieving acceptable-performance pneumatic control. Generally, the highly nonlinear of the pneumatic actuator is heightened when it uses on/off solenoid valves instead of servovalves. In this case, precise control is challenging due to the discrete-input nature of the system. Our first objective is to demonstrate that it is possible to design an acceptable performance teleoperation system using master-slave robots that have pneumatic actuators equipped with only inexpensive on/off solenoid valves. To control efficiently the switching valves, several control approaches have been proposed, namely pulse width modulation (PWM), hybrid algorithm, and sliding mode control. A hybrid control theory, which includes more switching control modes, than PWM, allows to reduce the chattering problem and improve the energy consumption of the valves. Another strategy (i.e. a sliding mode control), which does not depend on the pneumatic model, is proposed. This control stratgy allows to perform not only the transparent analysis but also the stability analysis. In order to improve the dynamic performance and reduce the chattering problem in solenoid valve actuated pneumatic teleoperation systems, a five-mode sliding control scheme has been used, which can be considered as an extension of the three-mode sliding controller. Our study demonstrates that by increasing the number of possible control actions for the valves, we can reduce the valves’ switching activities, hence improving the valve’s life times at no cost to teleoperation transparency. The second objective of the thesis involves in implementing the proportional servovalves on the pneumatic teleoperation system. A comparison related to the teleoperation performance between an on/off valve and a servovalve is carried out. In experiments, it is observed that with the bilateral teleoperation architecture employing solenoid valves or servovalves, satisfactory force and position tracking between the master and the slave is obtained. In bilateral teleoperation control, force sensors are often omitted to save cost and to lessen weight and volume. Therefore, another aspect of our work consists in using observers for an estimation of operator and environment forces. Experimental results show that acceptable teleoperation transparency based on a simple Nicosia observer and a tangent linear control approach can be achieved.

The choice of technology for automotive actuators is driven by the need of high power to size ratio. In general, electro-pneumatic actuators are preferred for application around the engine as they are compact, powerful and require simple controlling devices. Specially, Variable Geometry Turbochargers (VGTs) are almost always controlled with electro-pneumatic actuators. This is a challenging application because the VGT is an important part of the engine air path and the latter is responsible for intake and exhaust air quality and exhaust emissions control. With government regulations on vehicle pollutant emissions getting stringent by the year, VGT control requirements have also increased. These regulations and requirements can only be fulfilled with precise dynamic control of the VGT through its actuator. The demands on actuator control include robustness against uncertainty in operating conditions, fast and smooth positioning without vibration, limited number of measurements. Added constraints such as nonlinear dynamic behavior of the actuator, friction and varying aerodynamic forces in the VGT render classical control methods ineffective. These are the main problems that form the core of this thesis.In this work, we have addressed the above mentioned problems, using model based control complemented with robust control methods to overcome operational uncertainties and parametric variations. In the first step, a detailed physical model of an electro-pneumatic actuator has been developed; taking into account the nonlinear characteristics originating from air compressibility and friction. Means to compensate for aerodynamic force have been studied and implemented in the next step. These include model parametric adaptation and one dimensional CFD (Computational Fluid Dynamics) modeling. The complete model has been experimentally validated and a sensitivity analysis has been conducted to identify the parameters which have the greatest impact upon the actuator's behavior. The detailed simulation model has then been simplified to make it suitable for control purposes while keeping its essential behavioral characteristics (i.e. transients and dynamics). Next, robust controllers have been developed around the model for the control objective of accurate actuator positioning in presence of operational uncertainty. An important constraint in commercial actuators is that they provide output feedback only, as they are only equipped with low-cost position sensors. This hurdle has been overcome by introducing observers in the control loop, which estimate other system states from the output feedback. The estimation and control algorithms have been validated in simulation and experimentally on diesel engine test benches.

This research focuses on the development of polymer microfabrication technologies for the realization of two major components of a pneumatic tactile display: a microactuator array and a complementary microvalve (control) array. The concept, fabrication, and characterization of a kinematically-stabilized polymeric microbubble actuator (¡°endoskeletal microbubble actuator¡±) were presented. A systematic design and modeling procedure was carried out to generate an optimized geometry of the corrugated diaphragm to satisfy membrane deflection, force, and stability requirements set forth by the tactile display goals. A refreshable Braille cell as a tactile display prototype has been developed based on a 2x3 endoskeletal microbubble array and an array of commercial valves. The prototype can provide both a static display (which meets the displacement and force requirement of a Braille display) and vibratory tactile sensations. Along with the above capabilities, the device was designed to meet the criteria of lightness and compactness to permit portable operation. The design is scalable with respect to the number of tactile actuators while still being simple to fabricate. In order to further reduce the size and cost of the tactile display, a microvalve array can be integrated into the tactile display system to control the pneumatic fluid that actuates the microbubble actuator. A piezoelectrically-driven and hydraulically-amplified polymer microvalve has been designed, fabricated, and tested. An incompressible elastomer was used as a solid hydraulic medium to convert the small axial displacement of a piezoelectric actuator into a large valve head stroke while maintaining a large blocking force. The function of the microvalve as an on-off switch for a pneumatic microbubble tactile actuator was demonstrated. To further reduce the cost of the microvalve, a laterally-stacked multilayer PZT actuator has been fabricated using diced PZT multilayer, high aspect ratio SU-8 photolithography, and molding of electrically conductive polymer composite electrodes.

La présence d'eau sur la route affecte l'adhérence des pneumatiques. Un film d'eau s'interpose entre le pneumatique et la rugosité du sol routier entraînant d'abord une perte de l'adhérence par adhésion provenant du contact direct gomme-sol. Ensuite, la réduction de la déformation de la gomme induit une diminution de l'adhérence par indentation. C'est ce second aspect qui sera étudié. Le film d'eau génère une portance par un phénomène de lubrification qui diminue la déformation du pneumatique et ainsi son adhérence. Cette étude est basée sur une théorie prédisant la diminution de l'amplitude de la rugosité en fonction des propriétés des surfaces et des conditions de contact. L'équation de Reynolds est résolue par des techniques de calcul efficaces. La viscoélasticité est implémentée dans les calculs de contact sec et lubrifié. L'objectif de cette étude est de proposer un modèle de prédiction de la diminution de l'adhérence d'un pneumatique sur sol mouillé. La meilleure compréhension du contact permettra d'améliorer le choix du matériau composant les bandes de roulements des pneumatiques. / Water presence on road affects tyre friction. A water film interposed between tyre and road asperities results first in a loss of adhesion friction coming from the direct contact between rubber and road. Then, the rubber deformation reduction leads to a diminution of the hysteretic friction. This study focuses on this last topic. The water film generates a hydrodynamic force by a lubrication phenomenon which decreases rubber deformation and friction. This study is based on a theory which predicts roughness amplitude reduction as a function of surface properties and contact conditions. Reynolds equation is solved using efficient computing methods. Viscoelasticity is implemented in dry and lubricated calculations. The aim of this research is to suggest a predictive model of the tyre friction decrease on wet roads. A better understanding of the contact will enable to improve the tyre tread material design.

Les actionneurs électropneumatiques sont très utilisés dans l'industrie automobile car ils offrent de grands avantages, en termes d'encombrement, de puissance élevée et de simplicité de commande. Ces actionneurs sont utilisés plus particulièrement pour le contrôle des Turbocompresseurs à Géométrie Variable (TGV). Le TGV joue un rôle très important dans les performances de la boucle d'air du moteur, en particulier sur la qualité de l'air à l'admission et à l'échappement. Les nouvelles réglementations gouvernementales concernant les émissions polluantes des véhicules ont poussé les équipementiers automobiles à s'intéresser davantage au contrôle du Turbocompresseur à Géométrie Variable. Ces exigences ne peuvent pas être realisées à travers des techniques classiques de contrôle de type PID. En effet, le contrôle doit tenir compte de la complexité du modèle et de ses incertitudes ainsi que des exigences en termes de performances statiques et dynamiques et du nombre limité de mesures. De plus, il faut également tenir compte des conditions agressives dans lesquelles travaillent l'actionneur, notamment la température, les forces de frottement et les forces aérodynamiques à l'entrée du turbo. Dans le cadre de cette thèse, ce sont tous ces aspects qui ont motivé notre travail de modélisation et de commande robuste de l'actionneur électropneumatique du turbo. Dans un premier temps, nous avons établi un modèle de simulation de l'actionneur. Nous avons commencé par élaborer un modèle physique détaillé de l'actionneur, en prenant en compte les caractéristiques non linéaires provenant de la compressibilité de l'air et du frottement. Ensuite, deux modèles des forces aérodynamiques qui agissement sur l'actionneur ont été proposés. Le modèle global de l'actionneur a été validé expérimentalement et une analyse de sensibilité expérimentale a été menée sur plusieurs actionneurs afin d'identifier les paramètres ayant le plus d'impact sur les performances de l'actionneur. Dans un second temps, nous avons proposé une simplification du modèle obtenu dans le but de le rendre utilisable pour le contrôle, tout en préservant ses caractéristiques statiques et dynamiques. Enfin, nous nous sommes intéressés à la résolution du problème de commande robuste par retour de sortie de l'actionneur. Les algorithmes de contrôle et d'estimation élaborés ont été validés d'abord par des simulations, puis expérimentalement sur un banc d'essai moteur. / The choice of technology for automotive actuators is driven by the need of high power to size ratio. In general, electro-pneumatic actuators are preferred for application around the engine as they are compact, powerful and require simple controlling devices. Specially, Variable Geometry Turbochargers (VGTs) are almost always controlled with electro-pneumatic actuators. This is a challenging application because the VGT is an important part of the engine air path and the latter is responsible for intake and exhaust air quality and exhaust emissions control. With government regulations on vehicle pollutant emissions getting stringent by the year, VGT control requirements have also increased. These regulations and requirements can only be fulfilled with precise dynamic control of the VGT through its actuator. The demands on actuator control include robustness against uncertainty in operating conditions, fast and smooth positioning without vibration, limited number of measurements. Added constraints such as nonlinear dynamic behavior of the actuator, friction and varying aerodynamic forces in the VGT render classical control methods ineffective. These are the main problems that form the core of this thesis.In this work, we have addressed the above mentioned problems, using model based control complemented with robust control methods to overcome operational uncertainties and parametric variations. In the first step, a detailed physical model of an electro-pneumatic actuator has been developed; taking into account the nonlinear characteristics originating from air compressibility and friction. Means to compensate for aerodynamic force have been studied and implemented in the next step. These include model parametric adaptation and one dimensional CFD (Computational Fluid Dynamics) modeling. The complete model has been experimentally validated and a sensitivity analysis has been conducted to identify the parameters which have the greatest impact upon the actuator's behavior. The detailed simulation model has then been simplified to make it suitable for control purposes while keeping its essential behavioral characteristics (i.e. transients and dynamics). Next, robust controllers have been developed around the model for the control objective of accurate actuator positioning in presence of operational uncertainty. An important constraint in commercial actuators is that they provide output feedback only, as they are only equipped with low-cost position sensors. This hurdle has been overcome by introducing observers in the control loop, which estimate other system states from the output feedback. The estimation and control algorithms have been validated in simulation and experimentally on diesel engine test benches.

Ideal prostheses are defined as artificial limbs that would permit physically impaired individuals freedom of movement and independence rather than a life of disability and dependence. Current lower limb prostheses range from a single mechanical revolute joint to advanced microprocessor controlled mechanisms. Despite the advancement in technology and medicine, current lower limb prostheses are still lacking an actuation element, which prohibits patients from regaining their original mobility and improving their quality of life. This thesis aims to design and test a Pneumatic Artificial Muscle that would actuate lower limb prostheses. This would offer patients the ability to ascend and descend stairs as well as standing up from a sitting position. A comprehensive study of knee biomechanics is first accomplished to characterize the actuation requirement, and subsequently a Pneumatic Artificial Muscle design is proposed. A novel design of muscle end fixtures is presented which would allow the muscle to operate at a gage pressure surpassing 2.76 MPa (i.e. 400 psi) and yield a muscle force that is at least 3 times greater than that produced by any existing equivalent Pneumatic Artificial Muscle. Finally, the proposed Pneumatic Artificial Muscle is tested and validated to verify that it meets the size, weight, kinetic and kinematic requirements of human knee articulation.

Ideal prostheses are defined as artificial limbs that would permit physically impaired individuals freedom of movement and independence rather than a life of disability and dependence. Current lower limb prostheses range from a single mechanical revolute joint to advanced microprocessor controlled mechanisms. Despite the advancement in technology and medicine, current lower limb prostheses are still lacking an actuation element, which prohibits patients from regaining their original mobility and improving their quality of life. This thesis aims to design and test a Pneumatic Artificial Muscle that would actuate lower limb prostheses. This would offer patients the ability to ascend and descend stairs as well as standing up from a sitting position. A comprehensive study of knee biomechanics is first accomplished to characterize the actuation requirement, and subsequently a Pneumatic Artificial Muscle design is proposed. A novel design of muscle end fixtures is presented which would allow the muscle to operate at a gage pressure surpassing 2.76 MPa (i.e. 400 psi) and yield a muscle force that is at least 3 times greater than that produced by any existing equivalent Pneumatic Artificial Muscle. Finally, the proposed Pneumatic Artificial Muscle is tested and validated to verify that it meets the size, weight, kinetic and kinematic requirements of human knee articulation.