The vibration control problem for flexible structures is examined within the context of overall controller performance and power reduction. First, the issue of optimal sensor and actuator placement is considered along with its associated control robustness aspects. Then the option of alternately activating subsets of the available devices is investigated. Such option is considered in order to better address the effects of spatiotemporally varying disturbances acting on a flexible structure while reducing the overall energy consumption. Towards the solution to the problem of optimal device placement, three different approaches are proposed. First, a computationally efficient scheme for the simultaneous placement of multiple devices is presented. The second approach proposes a strategy for the optimal placement of sensors and collocated sensor/actuator pairs, taking into account the influence of the spatial distribution of disturbances. The third approach provides a solution to the actuator location problem by incorporating considerations with respect to preferred spatial regions within the flexible structure. Then the second problem named above is considered. Activating a subset of the available and optimally placed actuators and sensors in a flexible structure provides enhanced performance with reduced energy consumption. Such approach of switching on and off different actuating devices, depending on their local-in-time authority, results in a hybrid system. Therefore the proposed work draws on existing results on hybrid systems and includes an additional degree of freedom, whereby both the actuating devices and the control signals allocated to them are switched in and out. To enable this switching an activation strategy, which insures also that stability-under-switching is guaranteed, is required. Three different strategies are considered for such actuators allocation: first a cost-to-go index is considered, then a cost function based on the mechanical energy of the flexible structure and finally a performance index based on the maximum deviation of the transverse displacement. A flexible aluminum plate was chosen to validate and test the proposed approaches. The set up utilized four pairs of collocated piezoceramic patches that serve to provide sensing and actuating capabilities. Extensive numerical simulations were performed for both the placement strategies and the switching policies proposed, in order to predict the behavior of the flexible plate and provide the optimal actuator and sensor locations that were to be affixed on the flexible structure. Finally, to complete the validation process a sequence of experimental tests were performed. The objective of these tests was to compare the performance of the proposed hybrid control system to traditional non switched control schemes. In order to provide a repeatable perturbation, four of the piezoceramic patches were allocated to simulate a spatiotemporally varying disturbance, while the remaining four patches were used as sensors and controlling actuators. The experimental results showed a significant performance improvement for the switched controller over the traditional controller. Moreover the switched controller exhibited improved robustness towards spatiotemporally varying disturbances while the traditional controller showed a significant loss of controller performance. The improvement achieved in vibration control problems could be extended to a wider range of applications. In particular, although this study was concentrated on a rectangular thin plate, the proposed strategies can be applied to emph{any} structure and more generally to any plant whose dynamics can be represented by a second order linear system. For example, by removing the restriction of spatially fixed actuators and sensors, the proposed theory can be applied to the problem of unmanned vehicles control.

No description available.

This thesis presents a surface micromachining process to fabricate scratch drive actuator (SDA). Besides, various parameters (plate length, plate width, plate shapes, support beam width, spring type, one-plate SDA/four-plate SDA, dimple number, bushing length and etching hole¡Ketc.) have been designed to find appropriate design parameters of the SDA and to reduce the driving-voltage. According to the results, we can demonstrate three points below: (i) Adding etching holes at the end of plate can reduce residual electric charge and increase life time of SDA. (ii) Changing normal wafer for low resistance wafer can reduce the driving-voltage of SDA about 35%. (iii) The life time of triangle SDA is longer than those of other plate shapes. Finally, discussions and suggestions for the design of SDA are presented in this thesis.

The majority of conjugated polymers are more stable as p-doped materials than n-doped materials. Stable n-doped polymers are still desirable and for all polymer OPVs, pLEDS, n-channel FETs, and other polymeric electronic devices. The use of donor-acceptor architectures has led to improvements in n-type polymer performance. The approach taken here has been to include a metal-coordination site within a donor-acceptor polymer backbone in order to explore the effect of redox matching between the conjugated polymer backbone and the transition metal center. Conducting polymers have shown promise as polymeric actuators for prosthetics, robotics, and dynamic braille displays. For the majority of conducting polymers, the actuation mechanism is a bulk phenomenon related to the uptake and expulsion of counterions. This performance may be improved by incorporating monomers which display geometry changes as a function of oxidation state into the polymer backbone. The molecular-level actuation should additively yield a macroscopic actuation that would surpass as well as compliment the bulk mechanism discussed above. We have synthesized a conjugated polymer which incorporates the sym-dibenzocyclooctatetraene moiety, which is known to undergo a change in geometry from a tub-shaped neutral structure to a planar radical anion, into the polymer backbone. The solution processability of conjugated polymers promises large-scale roll-to-roll processing for organic photovoltaics. However, the use of thin active layers in the majority of high efficiency devices reported to date prohibits this. The recently reported donor-acceptor copolymer KP115 shows high efficiencies in polymer-fullerene blend bulk heterojunction devices even with very thick active layers. This has been reported to be unrelated to the morphology of the blends. By further characterizing this material and preparing derivatives of this polymer, we aim to relate the unique performance of these devices to a structural feature of the polymer. It is proposed that the low recombination rates observed for these blends may be due to the presence of discrete donor and acceptor units in the polymer backbone. In order to further explore this idea, we have a prepared a derivative of KP115 in which a conjugation-breaking meta-phenyl linkage has been introduced between the silolodithiophene unit and the dithienylthiazolo[5,4-d]thiazole unit. / text

This thesis has been motivated by the growing needs for multi-degree of freedom (M-DOF) electromagnetic actuators capable of smooth and accurate multi-dimensional driving motions. Because high coercive rare-earth permanent-magnets (PMs) are widely available at low cost, their uses for developing compact, energy-efficient M-DOF actuators have been widely researched. To facilitate design analysis and optimization, this thesis research seeks to develop a general method based on distributed source models to characterize M-DOF PM-based actuators and optimize their designs to achieve high torque-to-weight performance with compact structures To achieve the above stated objective, a new method that is referred to here as distributed multi-level current (DMC) utilizes geometrically defined point sources has been developed to model electromagnetic components and phenomena, which include PMs, electromagnets (EMs), iron paths and induced eddy current. Unlike existing numerical methods (such as FEM, FDM, or MLM) which solve for the magnetic fields from Maxwell’s equations and boundary conditions, the DMC-based method develops closed-form solutions to the magnetic field and force problems on the basis of electromagnetic point currents in a multi-level structure while allowing trade-off between computational speed and accuracy. Since the multi-level currents can be directly defined at the geometrically decomposed volumes and surfaces of the components (such as electric conductors and magnetic materials) that make up of the electromagnetic system, the DMC model has been effectively incorporated in topology optimization to maximize the torque-to-weight ratio of an electromechanical actuator. To demonstrate the above advantages, the DMC optimization has been employed to optimize the several designs ranging from conventional single-axis actuators, 2-DOF linear-rotary motors to 3-DOF spherical motors. The DMC modeling method has been experimentally validated and compared against published data. While the DMC model offers an efficient means for the design analysis and optimization of electromechanical systems with improved computational accuracy and speed, it can be extended to a broad spectrum of emerging and creative applications involving electromagnetic systems.

Electromechanical position actuation systems typically consist of an electric motor, driven by a set of power electronics, effecting output through a mechanical transmission. Whilst an optimal fully integrated actuator design from first principles could be considered, this is often not a cost-effective option. It is common to construct designs utilising commercially available subcomponents – the Cummins variable geometry turbocharging application detailed in this thesis provides a typical example. The design problem studied in this work is therefore one of meeting requirements through careful subcomponent selection. Electromagnetic, mechanical and thermal equations are developed to model actuator performance. These may be parameterised based on datasheet values or sample component test data. A set of tests is proposed to extract the required information from example motors; this is demonstrated using five different sample motors. Validation is performed to assess the accuracy of the parameterised models for the sample motors. A process is then developed to use the validated models to assess actuator design performance against a set of requirements. A key contribution of this work is the derivation of a computationally efficient motor model, which may be used with an integrated low-order lumped-parameter thermal model to investigate actuator performance at elevated temperatures – since this is often the limiting factor in machine rating. This allows a user to select the appropriate modelling fidelity, allowing accuracy to be traded against simulation performance. The overall process is demonstrated through the assessment of a full actuator design. The models and design process developed in this work allow a candidate actuator design to be appraised through calculations and simulations at a range of different fidelities, and using only a minimal set of subcomponent parameters. This allows designs that cannot meet the performance requirements to be quickly identified and excluded. Satisfactory designs may then be modelled and evaluated in detail to optimise other requirements, such as cost or volume.

No description available.

No description available.

Pneumatic actuators are low-cost, safe, clean, and exhibit a high power to weight ratio. In this thesis a novel servo pneumatic system based on miniature cylinders is presented. The first cylinder investigated has a 9.5 mm bore size. Four low-cost 2-way proportional valves are incorporated to provide greater design flexibility than the traditional single 4-way servo valve solution. A nonlinear system model is developed and validated using open-loop experiments. The use of bipolynomial functions to model the valve flow rates is shown to provide a more accurate solution than the commonly used nozzle flow equations. Two multiple-input single-output nonlinear position controllers are designed using the inverse dynamics and backstepping method respectively. In addition to position control, the control designs allow a second control objective to be implemented. In the inverse dynamics controller, the chamber pressures are controlled in inner loops and the position is controlled in an outer loop. In the backstepping controller, the stability analysis includes the effects of friction modeling error and valve modeling error. In experiments with a 1.5 kg moving mass, the inverse dynamics controller produced SSE within ±0.08mm and the backstepping controller ±0.05mm. The two control laws produced maximum tracking errors of ±0.5 mm and ±0.3mm for a 1 Hz sine wave trajectory respectively. The tracking errors are shown to be 85% less than those produced by a linear controller. Experiments demonstrate that the two controllers are robust to the system operating in horizontal and vertical orientations. They are also robust to an increase of payload but not to a decrease of payload. This problem can be overcome by tuning the controller parameters for the smallest payload. The two controllers are further tested with miniature cylinders with different bore diameters and stroke lengths. The smallest cylinder tested has a 4 mm bore diameter. / Thesis / Master of Applied Science (MASc)

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.