Optimal actuator fault tolerance for static nonlinear systems based on minimum output velocity jump

Fault tolerance for a class of non linear systems is addressed based on the velocity of their output variables. This paper presents a mapping to minimize the possible jump of the velocity of the output, due to the actuator failure. The failure of the actuator is assumed as actuator lock. The mapping is derived and it provides the proper input commands for the healthy actuators of the system to tolerate the effect of the faulty actuator on the output of the system. The introduced mapping works as an optimal input reconfiguration for fault recovery, which provides a minimum velocity jump suitable for static nonlinear systems. The proposed mapping is validated through different case studies and a complementary simulation. In the case studies and the simulation, the mapping provides the commands to compensate the effect of different faults within the joints of a robotic manipulator. The new commands and the compare between the velocity of the output variables for the health and faulty system are presented.

Comparison of corticomotor excitability during visuomotor dynamic and static tasks

The human central nervous system (CNS) has the ability to modulate its activity during the performance of different movements. Recent evidence, however, suggests that the CNS can also modulate its activity in the same movement but with increased precision during a visuomotor static task. This study aimed to extend on these findings by using transcranial magnetic stimulation (TMS) to measure the CNS during the performance of two visuomotor dynamic tasks. Twelve volunteers participated in this study, performing two separate motor tasks. Study I (“Position Tracking”) involved participants to perform a visuomotor tracking task using a dial potentiometer and matching their response icon to the computer generated tracking icon whilst holding a pincer grip. Study II (“Force Tracking”) involved participants to perform a similar visuomotor tracking task by applying or releasing pressure against a fixed force transducer. Tasks were conducted at two speeds (“slow” being one tracking cycle in 10 s; and “fast” being two tracking cycles in 10 s) and compared to a visuomotor static task at a similar muscle contraction level. Results showed corticospinal changes with significant increases (p = 0.002) in excitability demonstrated during Study I (42.3 ± 16.8%) and Study II (56.3 ± 34.2%) slow speed tasks. Moreover, significant reduction in corticospinal inhibition was also observed during both tracking tasks at slow (59.3 ± 13.7%; p = 0.001) and fast speeds (31.9 ± 12.3%; p = 0.001). The findings may provide information on the underlying physiology during the early stages of motor skill acquisition.

On the characteristics of substructure development through dynamic recrystallization

Substructure development in an austenitic Ni-30%Fe model alloy was investigated within a dynamic recrystallization (DRX) regime. The substructure characteristics of the deformed matrix and DRX grains were markedly different regardless of the grain size and orientation. The former largely displayed 'organized', banded subgrain arrangements with alternating misorientations, resulting from a limited number of active slip systems. In contrast, the substructure of DRX grains was generally more 'random' and exhibited complex subgrain/cell arrangements characterized by local accumulation of misorientations, suggesting multiple slip. The proposed mechanism of the unique substructure development within DRX grains suggests that the DRX nuclei, forming along pre-existing grain boundaries and triple points, essentially represent grain boundary regions, which experience multiple slip to preserve the compatibility with neighbouring deformed grains. This results in the formation of a complex cell/subgrain structure, which progressively extends as the grain boundary regions expand outwards during DRX growth.

The role of strain on the recrystallization behaviour of hot worked and annealed magnesium alloy Mg-3Al-1Zn

The present work examines the microstructure that evolves during the hot deformation and subsequent annealing of magnesium alloy AZ31. In particular, the role of strain on the progression of dynamic recrystallization (DRX) and post-deformation recrystallization is investigated. It is found that the grain size developed after post-deformation recrystallization is larger when the deformation strain, and hence the degree of DRX, is low (for strains up to 0.4). Also, the kinetics of post-deformation recrystallization are found to be independent of strain for strain values of 0.4 and above. Whilst increasing strain alters the texture of the un-recrystallized microstructure (for the deformation mode examined), the texture does not change significantly during post-deformation recrystallization.

Study on the oriented recrystallization of carbon-coated polyethylene oriented ultrathin films

It is confirmed that a layer of vacuum-evaporated carbon on the surface of a preoriented ultrathin polymer film can lead to an oriented recrystallization of the polymer film. This has been attributed to a strong fixing effect of vacuum-evaporated carbon layer on the film surface of the polymer. To study the origin of the strong fixing effect of vacuum-evaporated carbon layer on the polymer films, the melting and recrystallization behaviors of the preoriented ultrathin PE film with a vacuum-evaporated carbon layer were studied by using atomic force microscopy, electron diffraction, Fourier transform infrared spectroscopy, and Raman spectroscopy. We found that there exists some extent of chain orientation of carbon-coated polyethylene (PE) preoriented ultrathin film above its melting temperature. These oriented PE chain sequences act as nucleation sites and induce the oriented recrystallization of preoriented PE film from melt. Raman spectroscopy results suggest that new carbon-carbon bonds between the carbon layer and the oriented PE film are created during the process of vacuum carbon evaporation. As a result, some of the PE chain stems are fixed to the coated carbon substrate via covalent bond. Such a bonding has retarded the relaxation of the PE chains at the spot and, therefore, preserves the original orientation of the PE stems at high temperature, which in turn derives the recrystallization of the PE chains in an oriented structure.

Multiple actuator fault tolerance for static nonlinear systems based on minimum velocity jump

Static nonlinear systems are common when the model of the kinematics of mechanical or civil structures is analyzed for instance kinematics of robotic manipulators. This paper addresses the maximum effort toward fault tolerance for any number of the locked actuators failures in static nonlinear systems. It optimally reconfigures the inputs via a mapping that maximally accommodates the failures. The mapping maps the failures to an extra action of healthy actuators that results to a minimum jump for the velocity of the output variables. Then from this mapping, the minimum jump of the velocity of the output is calculated. The conditions for a zero velocity jump of the output variables are discussed. This shows that, when the conditions of fault tolerance are maintained, the proposed framework is capable of fault recovery not only at fault instances but also at the whole output trajectory. The proposed mapping is validated by three case studies.

Microstructural characterization of the austenite behaviour during metadynamic recrystallization

The work discusses the recent findings obtained from the microstructural characterization of an austenitic Ni-30%Fe model alloy during metadynamic recrystallization (MDRX) using both EBSD and TEM techniques. The characterization of the grain structure, texture and dislocation substructure evolution of the fully dynamically recrystallized (DRX) microstructure during post deformation annealing revealed a novel softening mechanism occurring under the current experimental conditions. It is proposed that the initial softening stage involves rapid growth of the dynamically formed nuclei and migration of the mobile boundaries in correspondence with the well-established MDRX mechanism. However, the sub-boundaries within DRX grains progressively disintegrate through dislocation climb and dislocation annihilation, which ultimately leads to the formation of dislocation-free grains. Consequently, the DRX texture largely remains preserved throughout the annealing process.

On the characteristics of substructure development through dynamic recrystallization

This body of data is the result of an investigation into the effect of grain boundary movement on the characteristics of substructure development in an austenitic Ni-30%Fe model alloy within the DRX regime. Different thermo-mechanical processing routes were employed to produce a range of DRX grain sizes at a given deformation temperature. The development of dislocation substructure was investigated using electron back-scattered diffraction (EBSD) in conjunction with transmission electron microscopy (TEM).