Engineering topics

Bar-Cohen, Yoseph

Publications and source records attributed to Bar-Cohen, Yoseph.

At least 199 records · Page 11

NASA NTRS2001

Characterization of the electromechanical properties of EAP materials

Electroactive polymers (EAP) are an emerging class of actuation materials. Their large electrically induced strains (longitudinal or bending), low density, mechanical flexibility, and ease of processing offer advantages over traditional electroactive materials. However, before the capability of these materials can be exploited, their electrical and mechanical behavior must be properly quantified. Two general types of EAP can be identified. The first type is ionic EAP, which requires relatively low voltages (<10V) to achieve large bending deflections. This class usually needs to be hydrated and electrochemical reactions may occur. The second type is Electronic-EAP and it involves electrostrictive and/or Maxwell stresses. This type of materials requires large electric fields (>100MV/m) to achieve longitudinal deformations at the range from 4 - 360%. Some of the difficulties in characterizing EAP include: nonlinear properties, large compliance (large mismatch with metal electrodes), nonhomogeneity resulting from processing, etc. To support the need for reliable data, the authors are developing characterization techniques to quantify the electroactive responses and material properties of EAP materials. The emphasis of the current study is on addressing electromechanical issues related to the ion-exchange type EAP also known as IPMC. The analysis, experiments and test results are discussed in this paper.

actuators↗

NASA NTRS2001

Androids: application of EAP as artificial muscles to entertainment industry

The classic movie Metropolis (1926), which is nowadays considered a cinema milestone, has shown the possibility to build robots called androids that are science and fiction run together to realize a dream: the human-like robot. In that movie, Dr. Rotwang transforms a simple and cold calculating robot into the body of a beautiful woman. Robots have often been depicted as metal creatures with cold steel bodies, but there is no reason why metals should be the only kind of material for construction of robots. The authors examined the issues related to applying electroactive polymers materials (EAP) to the entertainment industry. EAP are offering attractive characteristics with the potential to produce more realistic models of living creatures at significantly lower cost. This paper seeks to elucidate how EAP might infiltrate and ultimately revolutionize entertainment, showing some applicative examples.

Animatronics↗

NASA NTRS2001

Virtual reality robotic telesurgery simulations using MEMICA haptic system

The authors conceived a haptic mechanism called MEMICA (Remote Mechanical Mirroring using Controlled stiffness and Actuators) that can enable the design of high dexterity, rapid response, and large workspace haptic system. The development of a novel MEMICA gloves and virtual reality models are being explored to allow simulation of telesurgery and other applications. The MEMICA gloves are being designed to provide intuitive mirroring of the conditions at a virtual site where a robot simulates the presence of a human operator. The key components of MEMICA are miniature electrically controlled stiffness (ECS) elements and electrically controlled force and stiffness (ECFS) actuators that are based on the use of Electro-Rheological Fluids (ERF. In this paper the design of the MEMICA system and initial experimental results are presented.

Haptic interfaces↗

NASA NTRS2001

Residue detection for real-time removal of paint from metallic surfaces

Paint stripping from large steel ships and other metallic surfaces is a major issue in the maintenance and refurbishing of structures, and environmental concerns are greatly limiting the possible options. As a result, waterjet with water recycling has become the leading form of paint stripping and robotic manipulators with scanning bridges were constructed by various manufacturers to address this need. The application of such scanning bridges is slow and their access is constrained by the complex shape of the ship hull and various features on the surface. To overcome these limitations, a robotic system that is called Ultrastrip (UltraStrip Systems, Inc., Stuart, FL) is developed. This system uses magnetic wheels to attach the stripper to the structure and travel on it while performing paint stripping. To assure efficient paint stripping feedback data is required to control the travel speed by monitoring the paint thickness before and during the stripping process. Efforts at JPL are currently underway to develop the required feedback capability to assure effective paint stripping. Various possible sensors were considered and issues that can affect the sensitivity, reliability and applicability of the sensors are being investigated with emphasis on measuring the initial conditions of the paint. Issues that affect the sensory data in dynamic conditions are addressed while providing real-time real feedback for the control of the paint stripper speed of travel.

NDT↗

NASA NTRS2001

Ultrasonic/sonic drilling/coring (USDC) for planetary applications

One of the major limitations of sampling on Mars and other low gravity environments is the need for high axial force when using conventional drilling. To address this limitation an ultrasonic/sonic drilling/coring (USDC) mechanism has been developed that employs an ultrasonic horn driven by a piezoelectric stack. The horn dnves a free mass that resonates between the horn and drill stein. Tests have shown that the USDC addresses some of the key challenges to the NASA sampling objectives. The USDC is lightweight (450 g), requires low preload (<5N) and can be driven at low power (5W), The device has been shown to drill rocks with various levels of hardness including granite, diorite, basalt and limestone. The hammering action involved with the coring process can produce cores of various shapes, which need not necessarily be round. Because it is driven by piezoelectric ceramics, the USDC is highly tolerant to changes in its operating environment. These actuation materials can be designed to operate at a wide range of temperatures including those expected on Mars and Venus. Although the drill is driven electrically at 20 kHz, a substantial sub-harmonic acoustic component is found that is crucial to drilling performance. An analytical model has been developed to explain this low frequency coupling in the horn, free mass, drill stem and rock.

Peterson, Thomas↗

NASA NTRS2001

Piezoelectrically actuated miniature peristaltic pump.

There is a range of NASA experiments, instruments and applications where miniature pumps are needed. To address such needs, a piezoelectrically actuated miniature pump is being developed. This pump employs a novel volume displacing mechanism using flexural traveling waves that acts peristaltically and eliminates the need for valves or physically moving parts. This pump is being developed for planetary instruments and space applications. Finite element model was developed using ANSYS for the purpose of prediction of the resonance frequency of the vibrating mode for the piezo-pump driving stator. The model allows determining simultaneously the mode shapes that are associated with the various resonance frequencies. This capability is essential for designing the pump size and geometry. To predict and optimize the pump efficiency that is determined by the volume of pumping chambers the model was modified to perform harmonic analysis.

Chang, Zensheu↗

NASA NTRS2001

Electroactive polymers as artificial muscles - reality and challenges

UNKNOWN

Bar-Cohen, Yoseph↗

NASA NTRS2000

Modeling of Horns for Sonic/Ultrasonic Applications

JPL has a requirement for telerobotic tools for planetary sample acquisition, which require low power and have the ability to work in harsh environments. We are currently investigating the possibility of using ultrasonic horns to develop a family of ultrasonic tools for these environments. In an effort to determine control parameters a one-dimensional Mason's model for a stepped ultrasonic horn assembly was developed which includes the effects of mechanical and electrical losses in the piezoelectric material and acoustic elements. The model is separated into three regions; the piezoelectric stack including stress bolt the backing layer and the horn. The model is found to predict the impedance data of the horn assembly very accurately up to the first coupled (radial) resonance. The model also allows for the calculation of the velocity and force and power delivered to each acoustic element. FEM modeling and accelerometer data from the horn tip were used to corroborate the model. The difficulties associated with modeling the load impedance of various devices will be discussed and current directions noted.

Sherrit, Stewart↗

NASA NTRS2000

Electroactive Polymers as Artificial Muscles: Capabilities, Potentials and Challenges

The low density and the relative ease of shaping made polymers highly attractive materials and they are increasingly being chosen for aerospace applications. Polymer matrix composite materials significantly impacted the construction of high performance aircraft components and structures. In recent years, the resilience characteristics of polymers made them attractive to the emerging field of inflatable structures. Balloons were used to cushion the deployment of the Mars Pathfinder lander on July 4, 1997, paving the way for the recent large number of related initiatives. Inflatable structures are now being used to construct a rover, aerial vehicles, telescopes, radar antennas, and others. Some of these applications have reached space flight experiments, whereas others are now at advanced stages of development.

Bar-Cohen, Yoseph↗

NASA NTRS2000

Modeling and Design of an Electro-Rheological Fluid Based Haptic System for Tele-Operation of Space Robots

For many years, the robotic community sought to develop robots that can eventually operate autonomously and eliminate the need for human operators. However, there is an increasing realization that there are some tasks that human can perform significantly better but, due to associated hazards, distance, physical limitations and other causes, only robot can be employed to perform these tasks. Remotely performing these types of tasks requires operating robots as human surrogates. While current "hand master" haptic systems are able to reproduce the feeling of rigid objects, they present great difficulties in emulating the feeling of remote/virtual stiffness. In addition, they tend to be heavy, cumbersome and usually they only allow limited operator workspace. In this paper a novel haptic interface is presented to enable human-operators to "feel" and intuitively mirror the stiffness/forces at remote/virtual sites enabling control of robots as human-surrogates. This haptic interface is intended to provide human operators intuitive feeling of the stiffness and forces at remote or virtual sites in support of space robots performing dexterous manipulation tasks (such as operating a wrench or a drill). Remote applications are referred to the control of actual robots whereas virtual applications are referred to simulated operations. The developed haptic interface will be applicable to IVA operated robotic EVA tasks to enhance human performance, extend crew capability and assure crew safety. The electrically controlled stiffness is obtained using constrained ElectroRheological Fluids (ERF), which changes its viscosity under electrical stimulation. Forces applied at the robot end-effector due to a compliant environment will be reflected to the user using this ERF device where a change in the system viscosity will occur proportionally to the force to be transmitted. In this paper, we will present the results of our modeling, simulation, and initial testing of such an electrorheological fluid (ERF) based haptic device.

Mavroidis, Constantinos↗

NASA NTRS1999

Multifunction automated crawling system

The present invention is an automated crawling robot system including a platform, a first leg assembly, a second leg assembly, first and second rails attached to the platform, and an onboard electronic computer controller. The first leg assembly has an intermittent coupling device and the second leg assembly has an intermittent coupling device for intermittently coupling the respective first and second leg assemblies to a particular object. The first and second leg assemblies are slidably coupled to the rail assembly and are slidably driven by motors to thereby allow linear movement. In addition, the first leg assembly is rotary driven by a rotary motor to thereby provide rotary motion relative to the platform. To effectuate motion, the intermittent coupling devices of the first and second leg assemblies alternately couple the respective first and second leg assemblies to an object. This motion is done while simultaneously moving one of the leg assemblies linearly in the desired direction and preparing the next step. This arrangement allows the crawler of the present invention to traverse an object in a range of motion covering 360 degrees.

Bar-Cohen, Yoseph↗

NASA NTRS1999

Composite Materials NDE Using Enhanced Leaky Lamb Wave Dispersion Data Acquisition Method

The leaky Lamb wave (LLW) technique is approaching a maturity level that is making it an attractive quantitative NDE tool for composites and bonded joints. Since it was first observed in 1982, the phenomenon has been studied extensively, particularly in composite materials. The wave is induced by oblique insonification using a pitch-catch arrangement and the plate wave modes are detected by identifying minima in the reflected spectra to obtain the dispersion data. The wave behavior in multi-orientation laminates has been well documented and corroborated experimentally with high accuracy. The sensitivity of the wave to the elastic constants of the material and to the boundary conditions led to the capability to measure the elastic properties of bonded joints. Recently, the authors significantly enhanced the LLW method's capability by increasing the speed of the data acquisition, the number of modes that can be identified and the accuracy of the data inversion. In spite of the theoretical and experimental progress, methods that employ oblique insonification of composites are still not being applied as standard industrial NDE methods. The authors investigated the issues that are hampering the transition of the LLW to industrial applications and identified 4 key issues. The current capability of the method and the nature of these issues are described in this paper.

Bar-Cohen, Yoseph↗

NASA NTRS1999

Electrorheological Fluid Based Force Feedback Device

Parallel to the efforts to develop fully autonomous robots, it is increasingly being realized that there are applications where it is essential to have a fully controlled robot and "feel" its operating conditions, i.e. telepresence. This trend is a result of the increasing efforts to address tasks where humans can perform significantly better but, due to associated hazards, distance, physical limitations and other causes, only robots can be employed to perform these tasks. Such robots need to be assisted by a human that remotely controls the operation. To address the goal of operating robots as human surrogates, the authors launched a study of mechanisms that provide mechanical feedback. For this purpose, electrorheological fluids (ERF) are being investigated for the potential application as miniature haptic devices. This family of electroactive fluids has the property of changing the viscosity during electrical stimulation. Consequently, ERF can be used to produce force feedback haptic devices for tele-operated control of medical and space robotic systems. Forces applied at the robot end-effector due to a compliant environment are reflected to the user using an ERF device where a change in the system viscosity will occur proportionally to the transmitted force. Analytical model and control algorithms are being developed taking into account the non-linearities of these type of devices. This paper will describe the concept and the developed mechanism of ERF based force feedback. The test process and the physical properties of this device will be described and the results of preliminary tests will be presented.

Pfeiffer, Charles↗

NASA NTRS1999

Coal Thickness Gauging Using Elastic Waves

The efforts of a mining crew can be optimized, if the thickness of the coal layers to be excavated is known before excavation. Wave propagation techniques can be used to estimate the thickness of the layer based on the contrast in the wave velocity between coal and rock beyond it. Another advantage of repeated wave measurement is that the state of the stress within the mine can be estimated. The state of the stress can be used in many safety-related decisions made during the operation of the mine. Given these two advantages, a study was carried out to determine the feasibility of the methodology. The results are presented herein.

Nazarian, Soheil↗

NASA NTRS1999

Automatic Inspection of Aircraft Using Open-Architecture Robotic Platforms

Aging aircraft structures and composite materials are requiring rapid inspection of large areas. Removal from the aircraft for NDE at an inspection facility is not economical as compared to field inspection. Detection and characterization of defects are labor intensive, time consuming and when the process is manual the results are subjected to human error. These limitations of NDE created a need for portable, user friendly inspection systems that can rapidly scan large areas of complex structures and locate all the detrimental material conditions. Addressing this need has been an evolutionary process that followed the technology trend, and unique devices were developed to allow rapid field inspection. This development involves multi-disciplinary approaches to integrate NDE, telerobotics, neural networks, advanced materials science, imbedded computing and automated control. These efforts have led to the development of various portable inspection systems and the current trend is towards fully automatic systems that will operate autonomously.

Bar-Cohen, Yoseph↗

NASA NTRS1999

NDE and Advanced Actuators for Space Applications at JPL

Nondestructive Evaluation and Advanced Actuators (NDEAA) are presented. The focus areas are on mechanisms and devices that are driven by acoustic or elastic waves. The topics include: 1) Nondestructive Evaluation; 2) Advanced Actuators; 3) Ultrasonic Medical Diagnostics and Treatment; and 4) Telerobotics.

Bar-Cohen, Yoseph↗

NASA NTRS1999

Rotary Motors Actuated by Traveling Ultrasonic Flexural Waves

Efficient miniature actuators that are compact and consume low power are needed to drive space and planetary mechanisms in future NASA missions. Ultrasonic rotary motors have the potential to meet this NASA need and they are developed as actuators for miniature telerobotic applications. These motors have emerged in commercial products but they need to be adapted for operation at the harsh space environments that include cryogenic temperatures and vacuum and also require effective analytical tools for the design of efficient motors. A finite element analytical model was developed to examine the excitation of flexural plate wave traveling in a piezoelectrically actuated rotary motor. The model uses 3D finite element and equivalent circuit models that are applied to predict the excitation frequency and modal response of the stator. This model incorporates the details of the stator including the teeth, piezoelectric ceramic, geometry, bonding layer, etc. The theoretical predictions were corroborated experimentally for the stator. In parallel, efforts have been made to determine the thermal and vacuum performance of these motors. Experiments have shown that the motor can sustain at least 230 temperature cycles from 0 C to -90 C at 7 Torr pressure significant performance change. Also, in an earlier study the motor lasted over 334 hours at -150 C and vacuum. To explore telerobotic applications for USMs a robotic arm was constructed with such motors.

Bar-Cohen, Yoseph↗

NASA NTRS1999

Challenges to the Transition of IPMC Artificial Muscle Actuators to Practical Application

Ion-exchange membrane metallic composites (IPMC), which were first reported in 1992, are one of the electroactive materials (EAP) with potential applications as artificial muscle actuators. The recent introduction of perfluorocarboxylate-gold composite with tetra-n-butylammonium and Lithium cations instead of sodium made the most significant improvement of the material electroactivity. Under less than 3 volts, IPMC with the new constituents is capable of bending beyond a complete loop. Taking into account the fact that IMPC materials do not induce a significant force, the authors are extensively seeking applications for these bending EAP. Some of the applications that were demonstrated include dust-wiper, catheter guide, miniature motor, robotic-gripper, micro-manipulator, etc. Generally, space applications are the most demanding in terms of operating conditions, robustness and durability, and the co-authors of this paper are jointly addressing the associated challenges. Specifically, a dust-wiper is being developed for the Nanorover's infrared camera window of the MUSES-CN mission. This joint NASA and the Japanese space agency mission, is scheduled to be launch from Kagoshima, Japan, in January 2002, to explore the surface of a small near-Earth asteroid. Several issues that are critical to the operation of IPMC are addressed including the operation in vacuum, low temperatures, and the effect of the electromechanical characteristic of the IPMC on its actuation capability. Highly efficient IPMC materials, mechanical modeling, unique elements and protective coating were introduced by the authors and are making a high probability the success of the IPMC actuated dust-wiper.

Bar-Cohen, Yoseph↗