Snap-through and pull-in instabilities of an arch-shaped beam under an electrostatic loading

The snap-through and pull-in instabilities of the micromachined arch-shaped beams under an electrostatic loading are studied both theoretically and experimentally. The pull-in instability that results in a system collision with an electrode substrate may lead to a system failure and, thus, limits the system maximum displacement. The beam/plate structure with a flat initial configuration under an electrostatic loading can only experience the pull-in instability. With the different arch configurations, the structure may experience either only the pull-in instability or the snap-through and pull-in instabilities together. As shown in our computation and experiment, those arch-shaped beams with the snap-through instability have the larger maximum displacement compared with the arch-shaped beams with only the pull-in stability and those with the flat initial configuration. The snap-through occurs by exerting a fixed load, and the structure experiences a discontinuous displacement jump without consuming power. Furthermore, after the snap-through jump, the structures are demonstrated to have the capacity to withstand further electrostatic loading without pull-in. Those properties of consuming no power and increasing the structure deflection range without pull-in is very useful in microelectromechanical systems design, which can offer better sensitivity and tuning range.

Stability and bifurcation behaviour of electrostatic torsional NEMS varactor influenced by dispersion forces

The influences of Casimir and van der Waals forces on the nano-electromechanical systems (NEMS) electrostatic torsional varactor are studied. A one degree of freedom, the torsional angle, is adopted, and the bifurcation behaviour of the NEMS torsional varactor is investigated. There are two bifurcation points, one of which is a Hopf bifurcation point and the other is an unstable saddle point. The phase portraits are also drawn, in which periodic orbits are around the Hopf bifurcation point, but the periodic orbit will break into a homoclinic orbit when meeting the unstable saddle point.

采用分布式压电驱动器升力面的颤振主动抑制

对采用分布式压电驱动器升力面的颤振主动抑制进行了理论与试验研究。应用LQG最优控制法设计了主动控制律，在控制律降阶时提出了平衡实现与LK法结合使用的新途径，在对不定常气动力进行有理函数拟合时对LS法进行了改进。试验中利用激光测速仪非接触测量模型的速度响应并在地面共振试验中用压电驱动器激振模型。颤振风洞试验结果表明，理论计算合理并与试验结果吻合良好。

FTT-MA: A Flexible Time-Triggered Middleware Architecture for Time Sensitive, Resource-Aware AmI Systems

There is an increasing number of Ambient Intelligence (AmI) systems that are time-sensitive and resource-aware. From healthcare to building and even home/office automation, it is now common to find systems combining interactive and sensing multimedia traffic with relatively simple sensors and actuators (door locks, presence detectors, RFIDs, HVAC, information panels, etc.). Many of these are today known as Cyber-Physical Systems (CPS). Quite frequently, these systems must be capable of (1) prioritizing different traffic flows (process data, alarms, non-critical data, etc.), (2) synchronizing actions in several distributed devices and, to certain degree, (3) easing resource management (e.g., detecting faulty nodes, managing battery levels, handling overloads, etc.). This work presents FTT-MA, a high-level middleware architecture aimed at easing the design, deployment and operation of such AmI systems. FTT-MA ensures that both functional and non-functional aspects of the applications are met even during reconfiguration stages. The paper also proposes a methodology, together with a design tool, to create this kind of systems. Finally, a sample case study is presented that illustrates the use of the middleware and the methodology proposed in the paper.

Enabling Sensor* Interoperability, Portland, Maine, October 16-18 2006: workshop proceedings

The ACT workshop "Enabling Sensor Interoperability" addressed the need for protocols at the hardware, firmware, and higher levels in order to attain instrument interoperability within and between ocean observing systems. For the purpose of the workshop, participants spoke in tern of "instruments" rather than "sensors," defining an instrument as a device that contains one or more sensors or actuators and can convert signals from analog to digital. An increase in the abundance, variety, and complexity of instruments and observing systems suggests that effective standards would greatly improve "plug-and-work" capabilities. However, there are few standards or standards bodies that currently address instrument interoperability and configuration. Instrument interoperability issues span the length and breadth of these systems, from the measurement to the end user, including middleware services. There are three major components of instrument interoperability including physical, communication, and application/control layers. Participants identified the essential issues, current obstacles, and enabling technologies and standards, then came up with a series of short and long term solutions. The top three recommended actions, deemed achievable within 6 months of the release of this report are: A list of recommendations for enabling instrument interoperability should be put together and distributed to instrument developers. A recommendation for funding sources to achieve instrument interoperability should be drafted. Funding should be provided (for example through NOPP or an IOOS request for proposals) to develop and demonstrate instrument interoperability technologies involving instrument manufacturers, observing system operators, and cyberinfrastructure groups. Program managers should be identified and made to understand that milestones for achieving instrument interoperability include a) selection of a methodology for uniquely identifying an instrument, b) development of a common protocol for automatic instrument discovery, c) agreement on uniform methods for measurements, d) enablement of end user controlled power cycling, and e) implementation of a registry component for IDS and attributes. The top three recommended actions, deemed achievable within S years of the release of this report are: An ocean observing interoperability standards body should be established that addresses standards for a) metadata, b) commands, c) protocols, d) processes, e) exclusivity, and f) naming authorities.[PDF contains 48 pages]

压电驱动器的气动弹性应用

随着压电智能材料与结构的发展,压电驱动器在气动弹性控制领域占据重要地位.使用压电驱动器控制翼面变形,利用而不是抵抗气动弹性效应可以控制升力、力矩以及它们的分布.采用基本相同的智能结构翼面控制系统,根据不同的控制目标需求,使用压电智能材料驱动器可以达到多种目的,包括静态的形状控制与动态的颤振抑制、抖振控制与阵风响应控制.静态控制方面例如改变翼面形状获得附加空气动力以增加升力、提供横滚力矩、改变升力分布以减小诱导阻力或减小翼根弯矩等;动态控制例如利用改变翼面形状产生的附加空气动力作为控制载荷,改变气动弹性系统的耦合程度,根据控制效果要求可作为气动阻尼、气动刚度或气动质量.这种控制方法可以减轻结构重量,提高操纵效率,扩大飞行包线,提高材料利用率,已成为可变形飞行器的重要研究内容.本文主要阐述压电驱动器气动弹性应用的动机与机理、发展与成就以及问题与展望.

Cloud computing services for seismic networks

This thesis describes a compositional framework for developing situation awareness applications: applications that provide ongoing information about a user's changing environment. The thesis describes how the framework is used to develop a situation awareness application for earthquakes. The applications are implemented as Cloud computing services connected to sensors and actuators. The architecture and design of the Cloud services are described and measurements of performance metrics are provided. The thesis includes results of experiments on earthquake monitoring conducted over a year. The applications developed by the framework are (1) the CSN --- the Community Seismic Network --- which uses relatively low-cost sensors deployed by members of the community, and (2) SAF --- the Situation Awareness Framework --- which integrates data from multiple sources, including the CSN, CISN --- the California Integrated Seismic Network, a network consisting of high-quality seismometers deployed carefully by professionals in the CISN organization and spread across Southern California --- and prototypes of multi-sensor platforms that include carbon monoxide, methane, dust and radiation sensors.

Probabilistic robust control : theory and applications

In this work, the development of a probabilistic approach to robust control is motivated by structural control applications in civil engineering. Often in civil structural applications, a system's performance is specified in terms of its reliability. In addition, the model and input uncertainty for the system may be described most appropriately using probabilistic or "soft" bounds on the model and input sets. The probabilistic robust control methodology contrasts with existing H∞/μ robust control methodologies that do not use probability information for the model and input uncertainty sets, yielding only the guaranteed (i.e., "worst-case") system performance, and no information about the system's probable performance which would be of interest to civil engineers.

The design objective for the probabilistic robust controller is to maximize the reliability of the uncertain structure/controller system for a probabilistically-described uncertain excitation. The robust performance is computed for a set of possible models by weighting the conditional performance probability for a particular model by the probability of that model, then integrating over the set of possible models. This integration is accomplished efficiently using an asymptotic approximation. The probable performance can be optimized numerically over the class of allowable controllers to find the optimal controller. Also, if structural response data becomes available from a controlled structure, its probable performance can easily be updated using Bayes's Theorem to update the probability distribution over the set of possible models. An updated optimal controller can then be produced, if desired, by following the original procedure. Thus, the probabilistic framework integrates system identification and robust control in a natural manner.

The probabilistic robust control methodology is applied to two systems in this thesis. The first is a high-fidelity computer model of a benchmark structural control laboratory experiment. For this application, uncertainty in the input model only is considered. The probabilistic control design minimizes the failure probability of the benchmark system while remaining robust with respect to the input model uncertainty. The performance of an optimal low-order controller compares favorably with higher-order controllers for the same benchmark system which are based on other approaches. The second application is to the Caltech Flexible Structure, which is a light-weight aluminum truss structure actuated by three voice coil actuators. A controller is designed to minimize the failure probability for a nominal model of this system. Furthermore, the method for updating the model-based performance calculation given new response data from the system is illustrated.

Desarrollo de software para la realización de ensayos dinámicos de mecanismos de cinemática paralela

[ES]El presente Trabajo de Fin de Grado tiene como objetivo contribuir al desarrollo de un proyecto de investigación mediante la programación y control del movimiento de mecanismos de cinemática paralela para la realización de ensayos dinámicos. Dicho proyecto está enmarcado dentro de una línea de investigación del grupo de investigación CompMech de la UPV-­‐EHU que gira en torno al desarrollo y estudio de este tipo de mecanismos. Esto es; este trabajo, más allá de la utilidad que pudiera tener por sí mismo, está pensado para formar parte de un proyecto de mayor envergadura, para cuyo éxito será imprescindible la colaboración con otros investigadores y la integración de este trabajo con los realizados por ellos. Consiste en la creación de un software para el control y movimiento de mecanismos, generando vibraciones para la realización de ensayos dinámicos. Para ello, se programarán sobre la plataforma LabVIEW la interfaz de usuario y el motor de cálculo. Una vez se compruebe que el programa funciona correctamente, se integrará dentro de un programa principal, un control articular que será el encargado de comunicarse con la máquina. Posteriormente, se procederá a la realización de ensayos experimentales sobre los propios robots, en taller. Se tomarán medidas mediante acelerómetros y otros dispositivos, determinando las medidas más adecuadas para su correcta validación. Finalmente, se generalizará el trabajo realizado para posibilitar su empleo futuro en diferentes mecanismos