Singularity and controllability analysis of parallel manipulators and closed-loop mechanisms

This paper presents a study of kinematic and force singularities in parallel manipulators and closed-loop mechanisms and their relationship to accessibility and controllability of such manipulators and closed-loop mechanisms, Parallel manipulators and closed-loop mechanisms are classified according to their degrees of freedom, number of output Cartesian variables used to describe their motion and the number of actuated joint inputs. The singularities in the workspace are obtained by considering the force transformation matrix which maps the forces and torques in joint space to output forces and torques ill Cartesian space. The regions in the workspace which violate the small time local controllability (STLC) and small time local accessibility (STLA) condition are obtained by deriving the equations of motion in terms of Cartesian variables and by using techniques from Lie algebra.We show that for fully actuated manipulators when the number ofactuated joint inputs is equal to the number of output Cartesian variables, and the force transformation matrix loses rank, the parallel manipulator does not meet the STLC requirement. For the case where the number of joint inputs is less than the number of output Cartesian variables, if the constraint forces and torques (represented by the Lagrange multipliers) become infinite, the force transformation matrix loses rank. Finally, we show that the singular and non-STLC regions in the workspace of a parallel manipulator and closed-loop mechanism can be reduced by adding redundant joint actuators and links. The results are illustrated with the help of numerical examples where we plot the singular and non-STLC/non-STLA regions of parallel manipulators and closed-loop mechanisms belonging to the above mentioned classes. (C) 2000 Elsevier Science Ltd. All rights reserved.

A method of designing seamless connectivity algorithm in ubiquitous networks

The b-phase of polyvinylidene fluoride (PVDF) is well known for its piezoelectric properties. PVDF films have been developed using solvent cast method. The films thus produced are in a-phase. The a-phase is transformed to piezoelectric b-phase when the film is hotstretched with various different stretching factors at various different temperatures. The films are then characterized in terms of their mechanical properties and surface morphological changes during the transformation from a- to b-phases by using X-ray diffraction, differential scanning calorimeter, Raman spectra, Infrared spectra, tensile testing, and scanning electron microscopy. The films showed increased crystallinity with stretching at temperature up to 808C. The optimum conditions to achieve b-phase have been discussed in detail. The fabricated PVDF sensors have been tested for free vibration and impact on plate structure, and its response is compared with conventional piezoelectric wafer type sensor. The resonant and antiresonant peaks in the frequency response of PVDF sensor match well with that of lead zirconate titanate wafer sensors. Effective piezoelectric properties and the variations in the frequency response spectra due to free vibration and impact loading conditions are reported. POLYM. ENG. SCI., 00:000–000, 2012. ª2012 Society of Plastics Engineers

Carbon nanotube coated fiber Bragg grating for photomechanical optic modulator

We have demonstrated novel concept of utilizing the photomechanical actuation in carbon nanotubes (CNTs) to tune and reversibly switch the Bragg wavelength. When fiber Bragg grating coated with CNTs (CNT-FBG) is exposed externally to a wide range of optical wavelengths, e. g., ultraviolet to infrared (0.2-200 mu m), a strain is induced in the CNTs which alters the grating pitch and refractive index in the CNT-FBG system resulting in a shift in the Bragg wavelength. This novel approach will find applications in telecommunication, sensors and actuators, and also for real time monitoring of the photomechanical actuation in nanoscale materials. (C) 2013 AIP Publishing LLC.

Simultaneous tunability of the electronic and phononic gaps in SnS2 under normal compressive strain

Controlled variation of the electronic properties of. two-dimensional (2D) materials by applying strain has emerged as a promising way to design materials for customized applications. Using density functional theory (DFT) calculations, we show that while the electronic structure and indirect band gap of SnS2 do not change significantly with the number of layers, they can be reversibly tuned by applying biaxial tensile (BT), biaxial compressive (BC), and normal compressive (NC) strains. Mono to multilayered SnS2 exhibit a reversible semiconductor to metal (S-M) transition with applied strain. For bilayer (2L) SnS2, the S-Mtransition occurs at the strain values of 17%,-26%, and -24% under BT, BC, and NC strains, respectively. Due to weaker interlayer coupling, the critical strain value required to achieve the S-Mtransition in SnS2 under NC strain is much higher than for MoS2. From a stability viewpoint, SnS2 becomes unstable at very low strain values on applying BC (-6.5%) and BT strains (4.9%), while it is stable even up to the transition point (-24%) in the case of NC strain. In addition to the reversible tuning of the electronic properties of SnS2, we also show tunability in the phononic band gap of SnS2, which increases with applied NC strain. This gap increases three times faster than for MoS2. This simultaneous tunability of SnS2 at the electronic and phononic levels with strain, makes it a potential candidate in field effect transistors (FETs) and sensors as well as frequency filter applications.

Reduction Approaches for Vibration Control of Repetitive Structures

The reduction approaches are presented for vibration control of symmetric, cyclic periodic and linking structures. The condensation of generalized coordinates, the locations of sensors and actuators, and the relation between system inputs and control forces are assumed to be set in a symmetric way so that the control system posses the same repetition as the structure considered. By employing proper transformations of condensed generalized coordinates and the system inputs, the vibration control of an entire system can be implemented by carrying out the control of a number of sub-structures, and thus the dimension of the control problem can be significantly reduced.

Enhanced transduction methods for electrostatically driven MEMS resonators

Electrically addressed silicon bulk acoustic wave microresonators offer high Q solutions for applications in sensing and signal processing. However, the electrically transduced motional signal is often swamped by parasitic feedthrough in hybrid technologies. With the aim of enhancing the ratio of the motional to feedthrough current at nominal operating voltages, this paper benchmarks a variety of drive and detection principles for electrostatically driven square-extensional mode resonators operating in air and in a foundry MEMS process utilizing 2μm gaps. A new detection technique, combining second harmonic capacitive actuation and piezoresistive detection, outperforms previously reported methods utilizing voltages as low as ± 3V in air providing a promising solution for low voltage CMOS-MEMS integration. ©2009 IEEE.

Enhancing parametric sensitivity using mode localization in electrically coupled mems resonators

We use vibration localization as a sensitive means of detecting small perturbations in stiffness in a pair of weakly coupled micromechanical resonators. For the first time, the variation in the eigenstates is studied by electrostatically coupling nearly identical resonators to allow for stronger localization of vibrational energy due to perturbations in stiffness. Eigenstate variations that are orders of magnitude greater than corresponding shifts in resonant frequency for an induced stiffness perturbation are experimentally demonstrated. Such high, voltagetunable parametric sensitivities together with the added advantage of intrinsic common mode rejection pave the way to a new paradigm of mechanical sensing. ©2009 IEEE.

Molecular Dynamics And Density Functional Studies Of A Body-Centered-Tetragonal Polymorph Of Zno

We report a previously unknown body-centered-tetragonal structure for ZnO. This structure results from a phase transformation from wurtzite in [0001]-oriented nanorods during uniaxial tensile loading and is the most stable phase for ZnO when stress is above 7 GPa. The stress-induced phase transformation has important implications for the electronic, piezoelectric, mechanical, and thermal responses of ZnO. The discovery of this polymorph brings about a more complete understanding of the extent and nature of polymorphism in ZnO. A crystalline structure-load triaxiality map is developed to summarize the relationship between structure and loading.

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]

A load simulation method of piezoelectric actuator in FEM for smart structures

More and more piezoelectric materials and structures have been used for structure control in aviation and aerospace industry. More efficient and convenient computation method for large complex structure with piezoelectric actuation devices is required. A load simulation method of piezoelectric actuation is presented in this paper. By this method, the freedom degree of finite element simulation is significantly reduced, the difficulty in defining in-plane voltage for multi-layers piezoelectric composite is overcome and the transfer computation between material main direction and the element main direction is simplified. The concept of simulation load is comprehensible and suitable for engineers of structure strength in shape and vibration control, thereby is valuable for promoting the application of piezoelectric material and structures in practical aviation and aerospace fields.

Sistema inteligente com entrada e saída remota sem fio.

Este trabalho avalia o desempenho de um controlador fuzzy (tipo Takagi-Sugeno-Kang) quando, utilizando tecnologia sem fio para conectar as entradas e a saída do controlador aos sensores/atuadores, sofre perda das informações destes canais, resultado de perdas de pacotes. Tipicamente são utilizados controladores PID nas malhas de controle. Assim, o estudo realizado compara os resultados obtidos com os controladores fuzzy com os resultados dos controladores PID. Além disso, o trabalho visa estudar o comportamento deste controlador implementado em uma arquitetura microprocessada utilizando números inteiros nos cálculos, interpolação com segmentos de reta para as funções de pertinência da entrada e singletons nas funções de pertinência da saída. Para esse estudo foi utilizado, num ambiente Matlab/Simulink, um controlador fuzzy e o aplicativo True Time para simular o ambiente sem fio. Desenvolvido pelo Departamento de Controle Automático da Universidade de Lund, o True Time é baseado no Matlab/Simulink e fornece todas as ferramentas necessárias para a criação de um ambiente de rede (com e sem fio) virtual. Dado o paradigma de que quanto maior for a utilização do canal, maior a degradação do mesmo, é avaliado o comportamento do sistema de controle e uma proposta para diminuir o impacto da perda de pacotes no controle do sistema, bem como o impacto da variação das características internas da planta e da arquitetura utilizada na rede. Inicialmente são realizados ensaios utilizando-se o controlador fuzzy virtual (Simulink) e, posteriormente, o controlador implementado com dsPIC. Ao final, é apresentado um resumo desses ensaios e a comprovação dos bons resultados obtidos com um controlador fuzzy numa malha de controle utilizando uma rede na entrada e na saída do controlador.