Rotor Position Synchronization in Central-Converter Multi-Motor Electric Actuation Systems

The aerospace industry is increasingly transitioning from hydraulic and pneumatic drives to power-electronic based drive systems for reduced weight and maintenance. Electromechanical thrust reverse actuation systems (EM-TRAS) are currently being considered as a replacement for mechanical based TRAS for future aircraft. An EM-TRAS consists of one or more power-electronic drives, electrical motors, and gear-trains that extend/retract mechanical members to produce a drag force that decelerates the aircraft upon landing. The use of a single (“central”) power electronic converter to simultaneously control a set of parallel induction machines is a potentially inexpensive and robust method for implementing EM-TRAS. However, because the electrical motors may experience different shaft torques—arising from differences in wind forces and a flexible nacelle—a method to implement rotor position synchronization in central-converter multi-motor (CCMM) architectures is needed. This paper introduces a novel method for achieving position synchronization within CCMM architecture by using closed-loop feedback of variable stator resistances in parallel induction machines. The feasibility of the method is demonstrated in several case studies using electromagnetic transient simulation on a set of parallel induction machines experiencing different load torque conditions, with the central converter implementing both voltage-based and current-based primary control strategies. The key result of the paper is that the CCMM architecture with proposed feedback control strategy is shown in these case studies to dynamically drive the position synchronization error to zero. The initial findings indicate that the CCMM architecture with induction motors may be a viable option for implementing EM-TRAS in future aircraft.

A Review of Microrobot’s System: Towards System Integration for Autonomous Actuation In Vivo

Microrobots have received great attention due to their great potential in the biomedical field, and there has been extraordinary progress on them in many respects, making it possible to use them in vivo clinically. However, the most important question is how to get microrobots to a given position accurately. Therefore, autonomous actuation technology based on medical imaging has become the solution receiving the most attention considering its low precision and efficiency of manual control. This paper investigates key components of microrobot’s autonomous actuation systems, including actuation systems, medical imaging systems, and control systems, hoping to help realize system integration of them. The hardware integration has two situations according to sharing the transmitting equipment or not, with the consideration of interference, efficiency, microrobot’s material and structure. Furthermore, system integration of hybrid actuation and multimodal imaging can improve the navigation effect of the microrobot. The software integration needs to consider the characteristics and deficiencies of the existing actuation algorithms, imaging algorithms, and the complex 3D working environment in vivo. Additionally, considering the moving distance in the human body, the autonomous actuation system combined with rapid delivery methods can deliver microrobots to specify position rapidly and precisely.

Free manipulation system for nanorobot cluster based on complicated multi-coil electromagnetic actuator

Chemotherapy is an important method in the field of cancer treatment and often follows surgery and/or radiotherapy to remove as many tumor cells as possible. In particular, among the chemotherapy methods, treatment using electromagnetic-based actuation systems is considered an effective method owing to the remote control of nanorobots. The existing electromagnetic-based actuation systems, however, have certain disadvantages such as the lack of degrees of freedom and the difficulty of manipulating large numbers of nanorobots (i.e., nanorobot clusters). Herein, we report that nanorobot clusters can be manipulated with high degrees of freedom through a simple parameter alpha that easily controls the gradient of the magnetic field of a multi-coil electromagnetic actuation system. The simulation results show that the gradient of the magnetic field is controlled using an introduced parameter, alpha, and the corresponding velocity is also controlled. Not only the velocity of the nanorobot cluster but also the unrestricted spatial control is enabled in two- and three-dimensions. We believe this study highlights an efficient method of electromagnetic control for cluster-based drug delivery.

AUTOMATING THE ALERT RESPONSE OF THE NU TRANSIENT TELESCOPE AT ASSY-TURGEN ASTROPHYSICAL OBSERVATORY (NUTTELA-TAO)

Our project aims to identify the physical nature of gamma-ray burst (GRB) emission via measurement of the optical spectral shape of this emission during the prompt phase, usually lasting only 60 sec. These measurements require a fast-moving optical telescope and instrumentation to respond autonomously to real-time GRB alerts. The Nazarbayev University Transient Telescope at AssyTurgen Astrophysical Observatory (NUTTelA-TAO) has a 0.7 m aperture, and can point anywhere above the local horizon in 8 seconds. We receive GRB Alerts via internet socket connection to the Gamma Coordinates Network (GCN) at the telescope site. We measure the GRB prompt optical emission with the Burst Simultaneous Three-Channel Imager (BSTI), which incorporates 3 EMCCD cameras, at Sloan g', r', and i' bands, for simultaneous high time-resolution imaging as fast as a few hundred millisecond per frame. We describe our automated control system software, including the overall control algorithm, control of the telescope, control and actuation systems for the enclosure roof, control of the instrument, and inputs from weather and other sensors. The software system is based on the GNU data language (GDL) in a Linux environment, selected for ease of writing and de-bugging software, familiarity to the project scientists, and image analysis capabilities. We give system performance results obtained during the early commissioning period.

Design of a Flexible Capture Mechanism Inspired by Sea Anemone for Non-cooperative Targets

Robotic grippers have been used in industry as end-effectors but are usually limited to operations in pre-defined workspace. However, few devices can capture irregularly shaped dynamic targets in space, underwater and other unstructured environments. In this paper, a novel continuum arm group mechanism inspired by the morphology and motions of sea anemones is proposed. It is able to dissipate and absorb the kinetic energy of a fast moving target in omni-direction and utilize multiple arms to wrap and lock the target without accurate positioning control. Wire-driven actuation systems are implemented in the individual continuum arms, achieving both bending motion and stiffness regulation. Through finite element method, the influence of different configurations of the continuum arm group on the capture performance is analyzed. A robotic prototype is constructed and tested, showing the presented arm group mechanism has high adaptability to capture targets with different sizes, shapes, and incident angles.

A Review of Novel Architectures of Servovalves Driven by Piezoelectric Actuators

This paper is a thorough review of innovative architectures of electro-hydraulic servovalves that exploit actuation systems based on piezo-electric materials. The use of commercially available piezo-electric actuators, namely, piezo stacks, amplified piezo stacks, rectangular benders, and ring benders, is very promising for the actuation of the main stages and of the pilot stages of servovalves given the fast response and low weight of piezoelectric materials. The use of these actuators can also allow novel designs to be developed, thus helping manufacturers to overcome the typical drawbacks of commercial servovalves, such as the high complexity and the high internal leakage of the pilot stages of two-stage servovalves as well as the large size and weight of direct-drive servovalves. First, the piezoelectric actuators that can be used for driving servovalves are presented in the paper, and their characteristics are thoroughly discussed. The main novel architectures present in the literature are then explained and compared with the commercial ones, and their performance parameters are discussed to draw conclusions on the prospect that some of these architectures can be used by manufacturers as future designs.