In this paper, the problem of dual actuation in the atomic force microscope (AFM) is analyzed. The use of two actuators to balance the trade-off between bandwidth, range, and precision has been recently extended to nano-positioning systems. Despite existing demands, this concept undergoes fundamental limitations towards its extension to AFMs. This is attributed to the non-conventional requirement imposed on the control signal response, as it used to create the image of the characterized surface. / Singapore-MIT Alliance (SMA)

No description available.

The automotive industry has been in a marathon of advancement over the past decades. This is partly due to global environmental concerns about increasing amount of air pollutants such as NOx (oxides of nitrogen), CO (carbon monoxide) and particulate matters (PM) and decreasing fossil fuel resources. Recently due to stringent emission regulations such as US EPA (Environmental Protection Agency) and CARB (California Air Resource Board), improvement in fuel economy and reduction in the exhaust gas emissions have become the two major challenges for engine manufacturers. To fulfill the requirements of these regulations, the IC engines including gasoline and diesel engines have experienced significant modifications during the past decades. Incorporating the fully flexible valvetrains in production IC engines is one of the several ways to improve the performance of these engines. The ultimate goal of this PhD thesis is to conduct feasibility study on development of a reliable fully flexible hydraulic valvetrain for automotive engines. Camless valvetrains such as electro-hydraulic, electro-mechanical and electro-pneumatic valve actuators have been developed and extensively studied by several engine component manufacturers and researchers. Unlike conventional camshaft driven systems and cam-based variable valve timing (VVT) techniques, these systems offer valve timings and lift control that are fully independent of crankshaft position and engine speed. These systems are key technical enablers for HCCI, 2/4 stroke-switching gasoline and air hybrid technologies, each of which is a high fuel efficiency technology. Although the flexibility of the camless valvetrains is limitless, they are generally more complex and expensive than cam-based systems and require more study on areas of reliability, fail safety, durability, repeatability and robustness. On the contrary, the cam-based variable valve timing systems are more reliable, durable, repeatable and robust but much less flexible and much more complex in design. In this research work, a new hydraulic variable valve actuation system (VVA) is proposed, designed, prototyped and tested. The proposed system consists of a two rotary spool valves each of which actuated either by a combination of engine crankshaft and a phase shifter or by a variable speed servo-motor. The proposed actuation system offers the same level of flexibility as camless valvetrains while its reliability, repeatability and robustness are comparable with cam driven systems. In this system, the engine valve opening and closing events can be advanced or retarded without any constraint as well as the final valve lift. Transition from regenerative braking or air motor mode to conventional mode in air hybrid engines can be easily realized using the proposed valvetrain. The proposed VVA system, as a stand-alone unit, is modeled, designed, prototyped and successfully tested. The mathematical model of the system is verified by the experimental data and used as a numerical test bench for evaluating the performance of the designed control systems. The system test setup is equipped with valve timing and lift controllers and it is tested to measure repeatability, flexibility and control precision of the valve actuation system. For fast and accurate engine valve lift control, a simplified dynamic model of the system (average model) is derived based on the energy and mass conservation principles. A discrete time sliding mode controller is designed based on the system average model and it is implemented and tested on the experimental setup. To improve the energy efficiency and robustness of the proposed valve actuator, the system design parameters are subjected to an optimization using the genetic algorithm method. Finally, an energy recovery system is proposed, designed and tested to reduce the hydraulic valvetrain power consumption. The presented study is only a small portion of the growing research in this area, and it is hoped that the results obtained here will lead to the realization of a more reliable, repeatable, and flexible engine valve system.

This research is to carry out an experimental study to examine and verify the effectiveness of the control algorithms and strategies developed at the Advanced Engineering Design Laboratory (AEDL). For this purpose, two objectives are set to be achieved in this research. The first objective is to develop a generic experiment environment (test bed) such that different control approaches and algorithms can be implemented on it. The second objective is to conduct an experimental study on the examined control algorithms, as applied to the above test bed. <p>To achieve the first objective, two main test beds, namely, the real-time controllable (RTC) mechanism and the hybrid machine, have been developed based on a two degree of freedom (DOF) closed-loop five-bar linkage. The 2-DOF closed-loop mechanism is employed in this study as it is the simplest of multi-DOF closed-loop mechanisms, and control approaches and conclusions based on a 2-DOF mechanism are generic and can be applied to a closed-loop mechanism with a higher number of degrees of freedom. The RTC mechanism test bed is driven by two servomotors and the hybrid machine is driven by one servomotor and a traditional CV motor. To achieve the second objective, an experimental study on different control algorithms has been conducted. The Proportional Derivative (PD) based control laws, i.e., traditional iii PD control, Nonlinear-PD (NPD) control, Evolutionary PD (EPD) control, non-linear PD learning control (NPD-LC) and Adaptive Evolutionary Switching-PD (AES-PD) are applied to the RTC mechanism; and as applied to the Hybrid Actuation System (HAS), the traditional PD control and the SMC control techniques are examined and compared. <p> In the case of the RTC mechanism, the experiments on the five PD-based control algorithms, i.e., PD control, NPD control, EPD, NPD-LC, and AES-PD, show that the NPD controller has better performance than the PD controller in terms of the reduction in position tracking errors. It is also illustrated by the experiments that iteration learning control (ILC) techniques can be used to improve the trajectory tracking performance. <p>However, AES-PD showed to have a faster convergence rate than the other ILC control laws. Experimental results also show that feedback ILC is more effective than the feedforward ILC and has a faster convergence rate. In addition, the results of the comparative study of the traditional PD and the Computed Torque Control (CTC) technique at both low and high speeds show that at lower speeds, both of these controllers provide similar results. However, with an increase in speed, the position tracking errors using the CTC control approach become larger than that of the traditional PD control. In the case of the hybrid machine, PD control and SMC control are applied to the mechanism. The results show that for the control of the hybrid machine and the range of speed used in this experimental study, PD control can result in satisfactory performance. However, SMC proved to be more effective than PD control.

A MEMS-based micro-electro-discharge machining technique that is enabled by the actuation of micromachined planar electrodes defined on the surfaces of the workpiece is developed that eliminates the need of numerical control machines. First, the planar electrodes actuated by hydrodynamic force is developed. The electrode structures are defined by patterning l8-µm-thick copper foil laminated on the stainless steel workpiece through an intermediate photoresist layer and released by sacrificial etching of the resist layer. The planer electrodes are constructed to be single layer structures without particular features underneath. All the patterning and sacrificial etching steps are performed using dry-film photoresists towards achieving high scalability of the machining technique to large-area applications. A DC voltage of 80-140 V is applied between the electrode and the workpiece through a resistance-capacitance circuit that controls the pulse energy and timing of spark discharges. The parasitic capacitance of the electrode structure is used to form a resistance capacitance circuit for the generation of pulsed spark discharge between the electrode and the workpiece. The suspended electrodes are actuated towards the workpiece using the downflow of dielectric machining fluid, initiating and sustaining the machining process. Micromachining of stainless steel is experimentally demonstrated with the machining voltage of 90V and continuous flow of the fluid at the velocity of 3.4-3.9 m/s, providing removal depth of 20 µm. The experimental results of the electrode actuation match well with the theoretical estimations. Second, the planar electrodes are electrostatically actuated towards workpiece for machining. In addition to the single-layer, this effort uses double-layer structures defined on the bottom surface of the electrode to create custom designed patterns on the workpiece material. The suspended electrode is electrostatically actuated towards the wafer based on the pull-in, resulting in a breakdown, or spark discharge. This instantly lowers the gap voltage, releasing the electrode, and the gap value recovers as the capacitor is charged up through the resistor. Sequential pulses are produced through the self-regulated discharging-charging cycle. Micromachining of the stainless-steel wafer is demonstrated using the electrodes with single-layer and double-layer structures. The experimental results of the dynamic built-capacitance and mechanical behavior of the electrode devices are also analyzed.

No description available.

This research is to carry out an experimental study to examine and verify the effectiveness of the control algorithms and strategies developed at the Advanced Engineering Design Laboratory (AEDL). For this purpose, two objectives are set to be achieved in this research. The first objective is to develop a generic experiment environment (test bed) such that different control approaches and algorithms can be implemented on it. The second objective is to conduct an experimental study on the examined control algorithms, as applied to the above test bed. <p>To achieve the first objective, two main test beds, namely, the real-time controllable (RTC) mechanism and the hybrid machine, have been developed based on a two degree of freedom (DOF) closed-loop five-bar linkage. The 2-DOF closed-loop mechanism is employed in this study as it is the simplest of multi-DOF closed-loop mechanisms, and control approaches and conclusions based on a 2-DOF mechanism are generic and can be applied to a closed-loop mechanism with a higher number of degrees of freedom. The RTC mechanism test bed is driven by two servomotors and the hybrid machine is driven by one servomotor and a traditional CV motor. To achieve the second objective, an experimental study on different control algorithms has been conducted. The Proportional Derivative (PD) based control laws, i.e., traditional iii PD control, Nonlinear-PD (NPD) control, Evolutionary PD (EPD) control, non-linear PD learning control (NPD-LC) and Adaptive Evolutionary Switching-PD (AES-PD) are applied to the RTC mechanism; and as applied to the Hybrid Actuation System (HAS), the traditional PD control and the SMC control techniques are examined and compared. <p> In the case of the RTC mechanism, the experiments on the five PD-based control algorithms, i.e., PD control, NPD control, EPD, NPD-LC, and AES-PD, show that the NPD controller has better performance than the PD controller in terms of the reduction in position tracking errors. It is also illustrated by the experiments that iteration learning control (ILC) techniques can be used to improve the trajectory tracking performance. <p>However, AES-PD showed to have a faster convergence rate than the other ILC control laws. Experimental results also show that feedback ILC is more effective than the feedforward ILC and has a faster convergence rate. In addition, the results of the comparative study of the traditional PD and the Computed Torque Control (CTC) technique at both low and high speeds show that at lower speeds, both of these controllers provide similar results. However, with an increase in speed, the position tracking errors using the CTC control approach become larger than that of the traditional PD control. In the case of the hybrid machine, PD control and SMC control are applied to the mechanism. The results show that for the control of the hybrid machine and the range of speed used in this experimental study, PD control can result in satisfactory performance. However, SMC proved to be more effective than PD control.

Gradient Enhanced Piezoelectric Actuators (GEPAC) are thin piezoelectric plates embedded between two composites layers having different thermal properties. Compared to standard unimorph bending actuators, GEPACs offer superior performances for operations at low frequencies. Potential applications are in the area of multifunctional aircraft skins. In practice, delaminations or debonding within the actuator itself can occur, and it is highly desirable to develop an ultrasonic nondestructive method to monitor the integrity of the actuator in real time. For this study, the composite material is unidirectional Kevlar-epoxy, with fibers oriented at 90 and 0 for the upper and lower layers to achieve different coefficient of thermal expansion. A thin PZT plate is inserted between the two layers, and extended copper foil is used for electrodes on the PZT. The first objective of the research is to demonstrate that, by using segmented electrodes, one can simultaneously launch an ultrasonic pulse (1 MHz) for NDE testing while the actuator is undergoing low frequency actuation (less than 100 Hz). The second objective is to show that the ultrasonic signal can be used to detect damage induced during fatigue testing of the actuator. The third objective is to use the technique to monitor the integrity of a composite plate containing several embedded GEPACs.

Vibration energy harvesters, or energy scavengers, recover mechanical energy from their surrounding environment and convert it into useable electricity as sustainable self-sufficient power sources to drive micro-to milli-Watt scale power electronics in small, autonomous, wireless devices and sensors. Using semiconducting, organic piezoelectric nanomaterials are attractive in low-cost, high resistance to fatigue, and environmentally friendly applications. Significantly, the deposition processes of sputtering ZnO (zinc oxide) thin films with high c-axis preferred orientation and electrospun PVDF (polyvinylidene fluoride) nanofibers with high piezoelectric £]-phase crystallisation are controlled at room temperature. Thus they don¡¦t have the necessity of post-annealed and electrical repoling process to obtain an excellent piezoelectricity, and are suitable for all flexible substrates such as PET (polyethylene terephthalate) and PI (polyimide). These works are divided into two parts. Part 1: Flexible piezoelectric harvesters based on ZnO thin films for self-powering and broad bandwidth applications. A new design of Al (aluminum)/PET-based flexible energy harvester was proposed. It consists of flexible Al/PET conductive substrate, piezoelectric ZnO thin film, selectively deposited UV (ultraviolet)-curable resin lump structures and Cu (copper) foil electrode. The design and simulation of a piezoelectric cantilever plate was described by using commercial software ANSYS FEA (finite element analysis) to determine the optimum thickness of PET substrate, internal stress distribution, operation frequency and electric potential. With the optimum thickness predicted by developed accurate analytical formula analysis, the one-way mechanical strain that is efficient to enhance the induced electric potential can be controlled within the piezoelectric ZnO layer. In addition, the relationship among the model solution of piezoelectric cantilever plate equation, vibration induced electric potential and electric power was realized. ZnO thin film of high (002) c-axis preferred orientation with an excellent piezoelectricity was deposited on the Al/PET by RF (radio-frequency) magnetron sputtering in room temperature. Al was sputtered on the PET substrate as the bottom electrode because of its low sheet resistance, superior adhesion with PET, and lattice constants matching with ZnO thin film. The selectively deposited UV-curable resin lump structures as proof mass were directly constructed on flexible piezoelectric plate using electrospinning with a stereolithography technique. One individual harvester achieves a maximum OCV (open-circuit voltage) up to 4V with power density of 1.247 £gW/cm2. This self-powered storage system can drive the warning signal of the LED (light emitting diode) module in both resonant and non-resonant conditions. We also succeeded in accomplishing a broad bandwidth harvesting system with operating frequency range within 100 Hz to 400 Hz to enhance powering efficiency. This system comprises four units of individual ZnO piezoelectric harvester in the form of a cantilever structure connected in parallel, and rectifying circuit with storage module. In addition, a modified design of a flexible piezoelectric energy-harvesting system with a serial bimorph of ZnO piezoelectric thin film was presented to enhance significantly higher power generation. This high-output system was examined at 15 Hz. The maximum DC (direct current) voltage output voltage with loading was 3.18 V, and the maximum DC power remained at 2.89 £gW/cm2. Furthermore, in order to examine the deformation between interfaces and the adhesion mechanism of multi-layer flexible electronics composites (e.g., ITO (indium tin oxide)/PET, Al/PET, ZnO/ITO/PET, and ZnO/Al/PET), nanoscratching and nano-indention testing (nanoindenter XP system) were conducted to analyze the adhesion before and after the vibration test. The plastic deformation between the ductile Al film and PET substrate is observed using SEM (scanning electron microscopy). Delamination between the ZnO and Al/PET substrate was not observed. This indicates that Al film provides excellent adhesion between the ZnO thin film and PET substrate. Part 2: Pre-strained piezoelectric PVDF nanofiber array fabricated by near-field electrospining on cylindrical process for flexible energy conversion. In various methodologies of energy harvesting from ambient sources, one-dimensional nanoharvesters have been gaining more attention recently. However, these nanofibers fabricated by micro-forming technologies may not easily control their structural diameter and length. This study originally presented the HCNFES (hollow cylindrical near-field electrospining) process to fabricate permanent piezoelectricity of PVDF piezoelectric nanofibers. Under high in-situ electric poling and strong mechanical stretching effect during HCNFES process, large PVDF nanofiber array with high piezoelectric £]-phase crystallisation was demonstrated. These pre-strained piezoelectric PVDF nanofibers fabricated by HCNFES with high process flexibility at low cost, availability in ultra-long lengths, various thicknesses and shapes can be applied at power scavenge, sensing and actuation. Firstly, PVDF nanofibers lay on a PET substrate, silver paste was applied at both ends of fibers to fix their two ends tightly on a Cu foil electrode pair. The entire structure was packaged inside a thin flexible polymer to maintain its physical stability. Repeatedly stretching and releasing the nanoharvester (NH 1) with a strain of 0.05% at 5 Hz vibration created a maximum peak voltage and current of -50 mV and -10 nA in forward connection, respectively. Secondly, a total of 44 parallel nanofibers have been fabricated and transferred onto an IDT (interdigital) electrode with 64 electrode pairs as a nanohavester (NH 2) to amplify current outputs under repeated mechanical vibration and impact tests. Under a repeated maximum strain of 0.14% at 6 Hz vibration, a peak current of 39 nA and peak voltage of 20.2 mV have been measured. Impact testing at 15 Hz, peak current of 130 nA has been collected with a voltage of 24.4 mV. Finally, the single PVDF fiber as nanoharvester (NH 3) with a strain of 0.05-0.1% at 5 Hz vibration created a maximum peak voltage and current of -45 mV and -3.9 nA, respectively. The maximum power remained at 18.45 pW/cm2 with a load resistor of 6.8 M£[. Based on the mechanism of converes piezoelectric effect, ANSYS software with coupled field analysis was used to realize piezoelectric actuation behavior of the PVDF fibers. From the observation of actuation property, a fixed-fixed single nanofiber was tested under different DC voltage supply. Comparing the polarized fiber with non-polarized fibers, the measurement of the center displacements as a function of electric field was conducted and characterized.

A testing method was developed to cycle quickly and repeatably Ni60Ti40 (wt. %) SMA specimens through temperature-induced transformation while under constant stress until failure. Previous works have shown fatigue cracks to initiate in or around Ni3Ti precipitates during repeated thermal cycling in this highly Ni-rich alloy. Actuation fatigue tests were conducted on specimens produced from material from different material suppliers and direction relative to cold-rolling. The specimens were placed under a constant applied stress of 200 MPa and thermally cycled through complete transformation. Some of the specimens were homogenized for 1 hour in a vacuum furnace and the rest were homogenized for 2 hours in a nitrogen furnace, and were all aged for 20 hours. It was seen during actuation fatigue testing that specimens homogenized for two hours had higher actuation strain, accumulated more irrecoverable strain and had longer actuation fatigue lives compared to specimens homogenized for one hour. Another trend observed was that specimens with the greatest amount of accumulated irrecoverable strain, which was caused predominately by transformation induced plasticity, had the longest actuation fatigue lives. Postmortem analysis showed a change in cracking behavior with precipitate orientation. Cracks initiated inside the Ni3Ti precipitates oriented parallel to the loading direction and at the interface between the precipitate and matrix when perpendicular. Two dimensional plane stress finite element simulations of a linear elastic ellipsoidal precipitate inside a non-linear transforming SMA matrix were conducted to explain further the change in cracking behavior by analyzing the stress fields in and around the precipitates. The results showed the stress inside the precipitate was greater when oriented parallel than perpendicular to the loading direction, which explains the observed change in cracking behavior. Another objective of actuation fatigue testing is to generate useful data to create predictive tools for future SMA actuator designs. A work-based method has been developed using actuation fatigue results found in literature. The method is shown to fit accurately data found in literature to a curve with only two material parameters. The results of this method show promise to predict accurately the actuation fatigue life of SMA components, however more testing is necessary to validate completely the method.