A Hybrid Nonlinear Adaptive Tracking Controller for a Resonating Fiber Microscanner

2009 ◽  
Vol 132 (1) ◽  
Author(s):  
Quinn Y. J. Smithwick ◽  
Juris Vagners ◽  
Richard S. Johnston ◽  
Eric J. Seibel
Keyword(s):  
High Speed ◽  
Hybrid Approach ◽  
Adaptive Controller ◽  
Open Loop ◽  
Adaptive Feedback ◽  
System Parameters ◽  
Tracking Controller ◽  
Loop Feedback ◽  
Spiral Scan

A robust hybrid tracking controller for a nonlinear resonating fiber microscanner is developed and implemented to remove scan distortions—toroid and swirl. Using offline batch feedback, a nonlinear search, and simulated regulation, an adaptive controller iteratively finds system parameters that cause an online open-loop feedback linearized plant-inversion controller to robustly and accurately track a spiral scan with a high-speed flyback region. This offline adaptive feedback/online open-loop hybrid approach removes the need for miniature sensors and high-speed real-time controllers in situ.

Inverted and vertical climbing of a quadrupedal microrobot using electroadhesion

2018 ◽  
Vol 3 (25) ◽  
pp. eaau3038 ◽  
Author(s):  
Sébastien D. de Rivaz ◽  
Benjamin Goldberg ◽  
Neel Doshi ◽  
Kaushik Jayaram ◽  
Jack Zhou ◽  
...  
Keyword(s):  
High Speed ◽  
Industrial Applications ◽  
Open Loop ◽  
Legged Robots ◽  
Jet Engine ◽  
Reachable Workspace ◽  
Passive Alignment ◽  
Vertical Climbing

The ability to climb greatly increases the reachable workspace of terrestrial robots, improving their utility for inspection and exploration tasks. This is particularly desirable for small (millimeter-scale) legged robots operating in confined environments. This paper presents a 1.48-gram and 4.5-centimeter-long tethered quadrupedal microrobot, the Harvard Ambulatory MicroRobot with Electroadhesion (HAMR-E). The design of HAMR-E enables precise leg motions and voltage-controlled electroadhesion for repeatable and reliable climbing of inverted and vertical surfaces. The innovations that enable this behavior are an integrated leg structure with electroadhesive pads and passive alignment ankles and a parametric tripedal crawling gait. At a relatively low adhesion voltage of 250 volts, HAMR-E achieves speeds up to 1.2 (4.6) millimeters per second and can ambulate for a maximum of 215 (162) steps during vertical (inverted) locomotion. Furthermore, HAMR-E still retains the ability for high-speed locomotion at 140 millimeters per second on horizontal surfaces. As a demonstration of its potential for industrial applications, such as in situ inspection of high-value assets, we show that HAMR-E is capable of achieving open-loop, inverted locomotion inside a curved portion of a commercial jet engine.

An atomic-resolution microscope study of Al contracts on GaAs

1986 ◽  
Vol 44 ◽  
pp. 726-727
Author(s):  
Z. Liliental-Weber ◽  
C. Nelson ◽  
R. Ludeke ◽  
R. Gronsky ◽  
J. Washburn
Keyword(s):  
High Speed ◽  
Schottky Contacts ◽  
Detailed Knowledge ◽  
The Past ◽  
Semiconductor Interfaces ◽  
Deposited Metal ◽  
Microwave Applications ◽  
Free Interfaces ◽  
Potential Use

The properties of metal/semiconductor interfaces have received considerable attention over the past few years, and the Al/GaAs system is of special interest because of its potential use in high-speed logic integrated optics, and microwave applications. For such materials a detailed knowledge of the geometric and electronic structure of the interface is fundamental to an understanding of the electrical properties of the contact. It is well known that the properties of Schottky contacts are established within a few atomic layers of the deposited metal. Therefore surface contamination can play a significant role. A method for fabricating contamination-free interfaces is absolutely necessary for reproducible properties, and molecularbeam epitaxy (MBE) offers such advantages for in-situ metal deposition under UHV conditions

Model-based control of the substrate concentration in an aeration basin using the wastewater level

1998 ◽  
Vol 37 (12) ◽  
pp. 335-342 ◽  
Author(s):  
Jacek Czeczot
Keyword(s):  
Substrate Concentration ◽  
Consumption Rate ◽  
Least Square Method ◽  
Estimation Procedure ◽  
Adaptive Controller ◽  
Open Loop ◽  
Least Square ◽  
Substrate Consumption ◽  
Model Based ◽  
Effluent Flow Rate

This paper deals with the minimal-cost control of the modified activated sludge process with varying level of wastewater in the aerator tank. The model-based adaptive controller of the effluent substrate concentration, basing on the substrate consumption rate and manipulating the effluent flow rate outcoming from the aerator tank, is proposed and its performance is compared with conventional PI controller and open loop behavior. Since the substrate consumption rate is not measurable on-line, the estimation procedure on the basis of the least-square method is suggested. Finally, it is proved that cooperation of the DO concentration controller with the adaptive controller of the effluent substrate concentration allows the process to be operated at minimum costs (low consumption of aeration energy).

scholarly journals Spatially Resolved Experimental Modal Analysis on High-Speed Composite Rotors Using a Non-Contact, Non-Rotating Sensor

Sensors ◽  
2021 ◽  
Vol 21 (14) ◽  
pp. 4705
Author(s):  
Julian Lich ◽  
Tino Wollmann ◽  
Angelos Filippatos ◽  
Maik Gude ◽  
Juergen Czarske ◽  
...  
Keyword(s):  
High Speed ◽  
Natural Frequencies ◽  
Mode Shapes ◽  
Fiber Reinforced ◽  
Structural Dynamic ◽  
Spatially Resolved ◽  
Glass Fiber Reinforced ◽  
Vibration Responses ◽  
And Performance

Due to their lightweight properties, fiber-reinforced composites are well suited for large and fast rotating structures, such as fan blades in turbomachines. To investigate rotor safety and performance, in situ measurements of the structural dynamic behaviour must be performed during rotating conditions. An approach to measuring spatially resolved vibration responses of a rotating structure with a non-contact, non-rotating sensor is investigated here. The resulting spectra can be assigned to specific locations on the structure and have similar properties to the spectra measured with co-rotating sensors, such as strain gauges. The sampling frequency is increased by performing consecutive measurements with a constant excitation function and varying time delays. The method allows for a paradigm shift to unambiguous identification of natural frequencies and mode shapes with arbitrary rotor shapes and excitation functions without the need for co-rotating sensors. Deflection measurements on a glass fiber-reinforced polymer disk were performed with a diffraction grating-based sensor system at 40 measurement points with an uncertainty below 15 μrad and a commercial triangulation sensor at 200 measurement points at surface speeds up to 300 m/s. A rotation-induced increase of two natural frequencies was measured, and their mode shapes were derived at the corresponding rotational speeds. A strain gauge was used for validation.

Enhanced Grain Refinement of W18Cr4V High‐Speed Steel using in situ TiN‐Nb‐Cr@Graphene/Fe Nanocomposite Inoculant

2021 ◽  
Author(s):  
Lina Bai ◽  
Chunxiang Cui ◽  
Jianjun Zhang ◽  
Lichen Zhao ◽  
Guixing Zheng ◽  
...  
Keyword(s):  
Grain Refinement ◽  
High Speed ◽  
High Speed Steel

scholarly journals Droplet impact onto a spring-supported plate: analysis and simulations

2021 ◽  
Vol 128 (1) ◽  
Author(s):  
Michael J. Negus ◽  
Matthew R. Moore ◽  
James M. Oliver ◽  
Radu Cimpeanu
Keyword(s):  
High Speed ◽  
Flexible Substrate ◽  
Practical Importance ◽  
Hybrid Approach ◽  
Hydrodynamic Pressure ◽  
Analytical Framework ◽  
Canonical System ◽  
Linear Process ◽  
Plate Motion ◽  
The Impact

AbstractThe high-speed impact of a droplet onto a flexible substrate is a highly non-linear process of practical importance, which poses formidable modelling challenges in the context of fluid–structure interaction. We present two approaches aimed at investigating the canonical system of a droplet impacting onto a rigid plate supported by a spring and a dashpot: matched asymptotic expansions and direct numerical simulation (DNS). In the former, we derive a generalisation of inviscid Wagner theory to approximate the flow behaviour during the early stages of the impact. In the latter, we perform detailed DNS designed to validate the analytical framework, as well as provide insight into later times beyond the reach of the proposed analytical model. Drawing from both methods, we observe the strong influence that the mass of the plate, resistance of the dashpot, and stiffness of the spring have on the motion of the solid, which undergo forced damped oscillations. Furthermore, we examine how the plate motion affects the dynamics of the droplet, predominantly through altering its internal hydrodynamic pressure distribution. We build on the interplay between these techniques, demonstrating that a hybrid approach leads to improved model and computational development, as well as result interpretation, across multiple length and time scales.

scholarly journals Influence of Hydrogeochemistry on Tunnel Drainage in Evaporitic Formations: El Regajal Tunnel Case Study (Aranjuez, Spain)

2021 ◽  
Vol 13 (3) ◽  
pp. 1505
Author(s):  
Ignacio Menéndez Pidal ◽  
Jose Antonio Mancebo Piqueras ◽  
Eugenio Sanz Pérez ◽  
Clemente Sáenz Sanz
Keyword(s):  
High Speed ◽  
Civil Engineering ◽  
Saturation Index ◽  
The Subject ◽  
Under Construction ◽  
Underground Flow ◽  
Very High ◽  
Over Time

Many of the large number of underground works constructed or under construction in recent years are in unfavorable terrains facing unusual situations and construction conditions. This is the case of the subject under study in this paper: a tunnel excavated in evaporitic rocks that experienced significant karstification problems very quickly over time. As a result of this situation, the causes that may underlie this rapid karstification are investigated and a novel methodology is presented in civil engineering where the use of saturation indices for the different mineral specimens present has been crucial. The drainage of the rock massif of El Regajal (Madrid-Toledo, Spain, in the Madrid-Valencia high-speed train line) was studied and permitted the in-situ study of the hydrogeochemical evolution of water flow in the Miocene evaporitic materials of the Tajo Basin as a full-scale testing laboratory, that are conforms as a whole, a single aquifer. The work provides a novel methodology based on the calculation of activities through the hydrogeochemical study of water samples in different piezometers, estimating the saturation index of different saline materials and the dissolution capacity of the brine, which is surprisingly very high despite the high electrical conductivity. The circulating brine appears unsaturated with respect to thenardite, mirabilite, epsomite, glauberite, and halite. The alteration of the underground flow and the consequent renewal of the water of the aquifer by the infiltration water of rain and irrigation is the cause of the hydrogeochemical imbalance and the modification of the characteristics of the massif. These modifications include very important loss of material by dissolution, altering the resistance of the terrain and the increase of the porosity. Simultaneously, different expansive and recrystallization processes that decrease the porosity of the massif were identified in the present work. The hydrogeochemical study allows the evolution of these phenomena to be followed over time, and this, in turn, may facilitate the implementation of preventive works in civil engineering.

In Situ Observation Method for Quantitative Evaluation of Solidification Phenomena and Solidification Cracks during Welding

2014 ◽  
Vol 782 ◽  
pp. 3-7
Author(s):  
Kenji Shinozaki ◽  
Motomichi Yamamoto ◽  
Kohta Kadoi ◽  
Peng Wen
Keyword(s):  
High Speed ◽  
Video Camera ◽  
Solidification Cracking ◽  
In Situ Observation ◽  
High Speed Video Camera ◽  
Varestraint Test ◽  
Solidification Cracks ◽  
Observation Method ◽  
Solidification Crack

Solidification cracking during welding is very serious problem for practical use. Therefore, there are so many reports concerning solidification cracking. Normally, solidification cracking susceptibility of material is quantitatively evaluated using Trans-Varestraint test. On the other hand, local solidification cracking strain was tried to measure precisely using in-situ observation method, called MISO method about 30 years ago. Recently, digital high-speed video camera develops very fast and its image quality is very high. Therefore, we have started to observe solidification crack using in site observation method. In this paper, the local critical strain of a solidification crack was measured and the high temperature ductility curves of weld metals having different dilution ratios and different grain sizes to evaluate quantitatively the effects of dilution ratio and grain size on solidification cracking susceptibility by using an improved in situ observation method.

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