Design, development and control of a new generation high performance linear actuator for parallel robots and other applications

The main focus of this research is to design and develop a high performance linear actuator based on a four bar mechanism. The present work includes the detailed analysis (kinematics and dynamics), design, implementation and experimental validation of the newly designed actuator. High performance is characterized by the acceleration of the actuator end effector. The principle of the newly designed actuator is to network the four bar rhombus configuration (where some bars are extended to form an X shape) to attain high acceleration. Firstly, a detailed kinematic analysis of the actuator is presented and kinematic performance is evaluated through MATLAB simulations. A dynamic equation of the actuator is achieved by using the Lagrangian dynamic formulation. A SIMULINK control model of the actuator is developed using the dynamic equation. In addition, Bond Graph methodology is presented for the dynamic simulation. The Bond Graph model comprises individual component modeling of the actuator along with control. Required torque was simulated using the Bond Graph model. Results indicate that, high acceleration (around 20g) can be achieved with modest (3 N-m or less) torque input. A practical prototype of the actuator is designed using SOLIDWORKS and then produced to verify the proof of concept. The design goal was to achieve the peak acceleration of more than 10g at the middle point of the travel length, when the end effector travels the stroke length (around 1 m). The actuator is primarily designed to operate in standalone condition and later to use it in the 3RPR parallel robot. A DC motor is used to operate the actuator. A quadrature encoder is attached with the DC motor to control the end effector. The associated control scheme of the actuator is analyzed and integrated with the physical prototype. From standalone experimentation of the actuator, around 17g acceleration was achieved by the end effector (stroke length was 0.2m to 0.78m). Results indicate that the developed dynamic model results are in good agreement. Finally, a Design of Experiment (DOE) based statistical approach is also introduced to identify the parametric combination that yields the greatest performance. Data are collected by using the Bond Graph model. This approach is helpful in designing the actuator without much complexity.

A framework for better understanding drinking-water quality in Happy Valley-Goose Bay, Labrador: Implications for optimization and protection of municipally supplied water

This research project was driven by the recurring complaints and concerns voiced in the media by residents living in the Valley area of the community of Happy Valley-Goose Bay, Labrador. Drinking water in this town is supplied by two water treatment plants (a municipality treatment plant and a DND treatment plant), which use raw water from two different sources (groundwater from multiple wells versus surface water from Spring Gulch brook) and use two different processes of drinking-water treatment. In fact, the drinking water supplied in the Valley area has a unique distribution arrangement. To meet demand, the Valley area is served by a blend of treated waters from a storage reservoir (Sandhill reservoir), which is fed by both water treatment plants. Most of the time, treated water from the municipal treatment plant dominates in the mixture. As water travels through the distribution system and household plumbing, specific reactions can occur either in the water itself and/or at the solid–liquid interface at the pipe walls; this is strongly influenced by the physical and chemical characteristics of the water. These reactions can introduce undesirable chemical compounds and/or favor the growth of bacteria in the drinking water, causing the deterioration of the quality of water reaching the consumer taps. In the distribution system in general, these chemical constituents and bacteria may pose potential threats to health or the water’s aesthetic qualities (smell, taste or appearance). Drinking water should be not only safe, but also palatable.