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.

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.

scholarly journals Rotor autocentering and speed control of hybrid bearingless SRM using single-neuron adaptive PID controller

2018 ◽  
Vol 7 (1.8) ◽  
pp. 103
Author(s):  
Polamraju V.S.Sobhan ◽  
G V. Nagesh Kumar ◽  
P V. Ramana Rao
Keyword(s):  
Pid Controller ◽  
High Speed ◽  
Single Neuron ◽  
Industrial Applications ◽  
Open Loop ◽  
Switched Reluctance ◽  
Control Approach ◽  
Compact Size ◽  
Attractive Option ◽  
Pole Structure

The bearingless switched reluctance motor (BLSRM) is emerging as an attractive option for modern industrial applications because of the features, such as compact size, lubrication and seal free performance, long lifeand ability to rotate at very high speed and high power. The control approach is extremely fundamental to a steady operation because of itshighly nonlinear, multi variable and open loop unstable nature. This paper presents a single neuron based rotor suspension control of a 12/14 Hybrid Pole BLSRM with autonomous rotation and suspension poles. This hybrid pole structure produces the suspension force linearly with respect to rotor position and independent of the torque characteristics. Implementation of a non model based Single neuron adaptive PID Controller by avoiding the modeling complexity is proposed. Experimental results demonstrate that the proposed controller maintains the rotor in the center position as well as the speed tracking and disturbance elimination performances independently.

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

scholarly journals A Review on LDH-Smart Functionalization of Anodic Films of Mg Alloys

Nanomaterials ◽  
2021 ◽  
Vol 11 (2) ◽  
pp. 536
Author(s):  
Mosab Kaseem ◽  
Karna Ramachandraiah ◽  
Shakhawat Hossain ◽  
Burak Dikici
Keyword(s):  
Industrial Applications ◽  
Mg Alloys ◽  
Anodic Films ◽  
Electrolytic Oxidation ◽  
Recent Developments ◽  
Plasma Electrolytic ◽  
Co Precipitation ◽  
Corrosive Environments ◽  
Double Hydroxide

This review presents an overview of the recent developments in the synthesis of layered double hydroxide (LDH) on the anodized films of Mg alloys prepared by either conventional anodizing or plasma electrolytic oxidation (PEO) and the applications of the formed composite ceramics as smart chloride traps in corrosive environments. In this work, the main fabrication approaches including co-precipitation, in situ hydrothermal, and an anion exchange reaction are outlined. The unique structure of LDH nanocontainers enables them to intercalate several corrosion inhibitors and release them when required under the action of corrosion-relevant triggers. The influences of different variables, such as type of cations, the concentration of salts, pH, and temperature, immersion time during the formation of LDH/anodic film composites, on the electrochemical response are also highlighted. The correlation between the dissolution rate of PEO coating and the growth rate of the LDH film was discussed. The challenges and future development strategies of LDH/anodic films are also highlighted in terms of industrial applications of these materials.

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 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.

scholarly journals Identification of abnormal tribological regimes using a microphone and semi-supervised machine-learning algorithm

Friction ◽  
2021 ◽  
Author(s):  
Vigneashwara Pandiyan ◽  
Josef Prost ◽  
Georg Vorlaufer ◽  
Markus Varga ◽  
Kilian Wasmer
Keyword(s):  
Machine Learning ◽  
Learning Algorithm ◽  
Industrial Applications ◽  
Supervised Machine Learning ◽  
Normal Operation ◽  
Promising Alternative ◽  
Wear And Tear ◽  
Validation Procedure ◽  
And Performance

AbstractFunctional surfaces in relative contact and motion are prone to wear and tear, resulting in loss of efficiency and performance of the workpieces/machines. Wear occurs in the form of adhesion, abrasion, scuffing, galling, and scoring between contacts. However, the rate of the wear phenomenon depends primarily on the physical properties and the surrounding environment. Monitoring the integrity of surfaces by offline inspections leads to significant wasted machine time. A potential alternate option to offline inspection currently practiced in industries is the analysis of sensors signatures capable of capturing the wear state and correlating it with the wear phenomenon, followed by in situ classification using a state-of-the-art machine learning (ML) algorithm. Though this technique is better than offline inspection, it possesses inherent disadvantages for training the ML models. Ideally, supervised training of ML models requires the datasets considered for the classification to be of equal weightage to avoid biasing. The collection of such a dataset is very cumbersome and expensive in practice, as in real industrial applications, the malfunction period is minimal compared to normal operation. Furthermore, classification models would not classify new wear phenomena from the normal regime if they are unfamiliar. As a promising alternative, in this work, we propose a methodology able to differentiate the abnormal regimes, i.e., wear phenomenon regimes, from the normal regime. This is carried out by familiarizing the ML algorithms only with the distribution of the acoustic emission (AE) signals captured using a microphone related to the normal regime. As a result, the ML algorithms would be able to detect whether some overlaps exist with the learnt distributions when a new, unseen signal arrives. To achieve this goal, a generative convolutional neural network (CNN) architecture based on variational auto encoder (VAE) is built and trained. During the validation procedure of the proposed CNN architectures, we were capable of identifying acoustics signals corresponding to the normal and abnormal wear regime with an accuracy of 97% and 80%. Hence, our approach shows very promising results for in situ and real-time condition monitoring or even wear prediction in tribological applications.

Identification of Bearing Coefficients of Flexible Rotor-Bearing Systems

2000 ◽  
Author(s):  
Tachung Yang ◽  
Wei-Ching Chaung
Keyword(s):  
Industrial Applications ◽  
Operating Conditions ◽  
Least Square ◽  
Flexible Rotor ◽  
Fem Modeling ◽  
Identification Method ◽  
Reaction Forces ◽  
Manufacturing Assembly ◽  
Stiffness And Damping

The accuracy of stiffness and damping coefficients of bearings is critical for the rotordynamic analysis of rotating machinery. However, the influence of bearings depends on the design, manufacturing, assembly, and operating conditions of the bearings. Uncertainties occur quite often in manufacturing and assembly, which causes the inaccuracy of bearing predictions. An accurate and reliable in-situ identification method for the bearing coefficients is valuable to both analyses and industrial applications. The identification method developed in this research used the receptance matrices of flexible shafts from FEM modeling and the unbalance forces of trial masses to derive the displacements and reaction forces at bearing locations. Eight bearing coefficients are identified through a Total Least Square (TLS) procedure, which can handle noise effectively. A special feature of this method is that it can identify bearing coefficients at a specific operating speed, which make it suitable for the measurement of speed-dependent bearings, like hydrodynamic bearings. Numerical validation of this method is presented. The configurations of unbalance mass arrangements are discussed.

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