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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 37 records · Page 2
All sourcesNASA NTRSDOE OSTI
DOE OSTI2023

Soft Coiled Pneumatic Actuator with Integrated Length-Sensing Function for Feedback Control

SPIRA Coil actuators are formed from thin sheets of PET plastic laminated into a coil shape that unfurls like a “party horn” when inflated, while many soft actuators require large pressures to create only modest strains, SPIRA Coils can easily be designed and fabricated to extend over dramatic distances with relatively low working pressures. Internal metalized PET strips separate in the extended portion of the actuator, creating an electrical circuit with a resistance that corresponds to the actuator length. This paper presents and experimentally validates easy-to-use design models for the actuators’ self-retracting spring stiffness, its pneumatic extension force, and its internal length-sensing electrical resistance. Testing of the self-sensing capabilities demonstrates that the embedded sensor can be used to determine the actuator length with virtually no hysteresis. Feedback control with the resistance-based sensing resulted in length-control errors within 5% of the extended actuator length (i.e., 3 cm of 60 cm).

Greenwood, Jacob R. (ORCID:0000000310897854)↗
DOE OSTI2021

Solvent depression of transition temperature to selectively stimulate actuation of shape memory polymer foams

An embodiment of the invention is a shape memory polymer (SMP) foam designed to recover its original shape through exposure to a solvent. Thermo-responsive SMPs are polymers designed to maintain a programmed secondary shape until heated above their transition temperature, upon which the polymer recovers its original, or primary, shape. The thermo-responsive SMP foam is programmed to its secondary shape prior to use, typically compression of the foam to a small volume, and remains in this programmed shape until exposed to a selected solvent such as dimethyl sulfoxide or ethyl alcohol. Upon exposure to the solvent, the transition temperature of the SMP foam decreases below the temperature of the environment and the SMP foam actuates to its primary shape. The SMP foam is tailored to actuate upon exposure to specific solvents while minimizing or preventing actuation when exposed to water or other solvents. This selective solvent actuation can be used to increase working time of a SMP foam device, that is, the time allowed for use of a device without undesired actuation, while maintaining functional SMP actuation. Solvent actuated SMP foams can be used in various applications including, but not limited to, treatment of aneurysms and arterio-venous malformations, tissue engineering, and wound healing.

Boyle, Anthony↗
DOE OSTI2020

A High-Efficient Solution for Electro-Hydraulic Actuators with Energy Regeneration Capability

This paper proposes a cost-effective, robustly practical solution for a high-efficient electro-hydraulic actuator (EHA) for linear drives. The solution addresses the challenges of high costs and limited efficiency that limit the application of EHA for the electrification of many off-road vehicles. Based on a variable-speed electric motor and a low-cost technology for a fixed-displacement pump, the proposed solution is suitable for a compact implementation and it is capable of energy regeneration under overrunning load conditions. Two different architectures—an open circuit and a closed circuit one—are considered to determine the most practical and efficient configuration as well as the control features. Both architectures minimize throttling losses associated with the conventional regulation of hydraulic actuators. Actuator velocities below the minimum and beyond the maximum allowable pump flow rate are achieved in both architectures using a proportional valve that bypasses the pump flow. The paper describes the design methodology as well as the simulation and experimental activities performed to verify the control strategies as well as energy efficiency. Considering an EHA system of about 20 kW, a complete efficiency map of the system is determined for all the possible four quadrants of operation thus including both resistive and overrunning loads, where energy recuperation is implemented. Simulation and experimental results show that the energy efficiency of the hydraulic systems can reach 84.7% in resistive phases. In assistive phases, the hydraulic system can recover up to 81.8% of the actuator energy. Here, the comparison between open-circuit and closed-circuit structures shows the advantages of the former in terms of energy efficiency. The proposed solution is suitable for electrified hydraulic actuation systems, in both industrial and mobile applications. With the advantages of the low cost of the hydraulic unit and high energy efficiency, it is particularly suitable for mobile applications such as construction machines, that are recently experiencing a significant electrification trend.

24 POWER TRANSMISSION AND DISTRIBUTION↗
DOE OSTI2023

Review of the application piezoelectric actuators for SRF cavity tuners

Modern particle accelerators and high-energy physics experiments that deployed up to several hundred of accelerating superconducting RF cavities require accurate frequency control. This is achieved by using cavity tuners typically actuated with the piezoelectric ceramic actuators. Piezoelectric ceramic actuators have become “standard” components of the SRF cavity tuner and depending on the application could be operated in different environments: in air, at cryogenic temperature, in vacuum, and submerged in liquid helium. Different applications place different requirements on the piezo actuators, but the important parameters common to all applications are the lifetime and reliability of the actuators. Several programs targeting the development of reliable piezo actuators are presented in this contribution.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗
DOE OSTI2023

Review of the application piezoelectric actuators for SRF cavity tuners

Modern particle accelerators and high-energy physics experiments that deployed up to several hundred of accelerating superconducting RF cavities require accurate frequency control. This is achieved by using cavity tuners typically actuated with the piezoelectric ceramic actuators. Piezoelectric ceramic actuators have become "standard" components of the SRF cavity tuner and depending on the application could be operated in different environments: in air, at cryogenic temperature, in vacuum, and submerged in liquid helium. Different applications place different requirements on the piezo actuators, but the important parameters common to all applications are the lifetime and reliability of the actuators. Several programs targeting the development of reliable piezo actuators are presented in this contribution.

43 PARTICLE ACCELERATORS↗
DOE OSTI2024

Full time-dependent SOLPS-ITER simulation of the SPARC tokamak: actuator design for particle and divertor condition control *

Abstract This paper presents the application of full time-dependent SOLPS-ITER simulations for actuator design in the SPARC tokamak. This study employs both the EIRENE module, a neutral solver, and the B2.5 plasma module in a time-dependent mode. This is in contrast to most SOLPS simulations, which focus on steady-state solutions, where the neutral distribution is evolved without any time limit or for a time step of 1 ⋅ 10 − 3 second, which is several orders of magnitude larger than the fluid plasma time step. The time-dependent EIRENE was tested with a fixed B2.5 background and compared with a simple conductance based model in a simplified pump chamber geometry. This comparison aimed to verify the reliability of the neutral relaxation timescale derived from the time-dependent EIRENE. Subsequently, a full time-dependent simulation was performed in a realistic geometry, with the Monte-Carlo neutral time step synchronized with the plasma fluid time step. The numerical setup of the code, including relative time steps and the size of the census data used to store Monte-Carlo particle information is considered. The full-time dependent simulations are then applied to inform the design of the SPARC louver structure, which affects divertor plasma parameters by regulating the neutral conductance from the divertor to the pump. The response of the plasma and neutral parameters was captured on a timescale that enables the design of the actuator to consider time-dependent control capability. It was found that changing the louver opacity has an equivalent effect as varying the gas throughput via puff actuation. Therefore, equivalent divertor plasma conditions can be obtained from both actuators, while the neutral pressure distribution in the pump and divertor differs for each actuator.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗
DOE OSTI2022

In-Situ Sensing and Dynamics Predictions for Electrothermally-Actuated Soft Robot Limbs

Untethered soft robots that locomote using electrothermally-responsive materials like shape memory alloy (SMA) face challenging design constraints for sensing actuator states. At the same time, modeling of actuator behaviors faces steep challenges, even with available sensor data, due to complex electrical-thermal-mechanical interactions and hysteresis. This article proposes a framework for in-situ sensing and dynamics modeling of actuator states, particularly temperature of SMA wires, which is used to predict robot motions. A planar soft limb is developed, actuated by a pair of SMA coils, that includes compact and robust sensors for temperature and angular deflection. Data from these sensors are used to train a neural network-based on the long short-term memory (LSTM) architecture to model both unidirectional (single SMA) and bidirectional (both SMAs) motion. Predictions from the model demonstrate that data from the temperature sensor, combined with control inputs, allow for dynamics predictions over extraordinarily long open-loop timescales (10 min) with little drift. Prediction errors are on the order of the soft deflection sensor’s accuracy. This architecture allows for compact designs of electrothermally-actuated soft robots that include sensing sufficient for motion predictions, helping to bring these robots into practical application.

Sabelhaus, Andrew P.↗
DOE OSTI2021

Pneumatic actuation circuit system and method

A system for controlling a rotation of one or more solar panels about an axis of rotation, comprising one or more solar panels defining a longitudinal axis, one or more bellows actuators coupled to the one or more solar panels and defining an axis of rotation parallel to the longitudinal axis of the panels, a fluid source, a first valve circuit coupled to the bellows actuators and the fluid source, a second valve circuit coupled to the bellows actuators and the fluid source, and a controller, wherein introduction or release of fluid from one or more of the bellows actuators is configured to cause rotation of the one or more actuators about the axis of rotation.

Basel, Louis Hong↗
DOE OSTI2024

Static actuator-sharing algorithm for concurrent control of multiple plasma properties

Simultaneous regulation of multiple properties in next-generation tokamaks like ITER and fusion pilot plant may require the integration of different plasma control algorithms. Such integration requires the conversion of individual controller commands into physical actuator requests while accounting for the coupling between different plasma properties. This work proposes a tokamak and scenario-agnostic actuator-sharing algorithm (ASA) to perform the above-mentioned command-request conversion and, hence, integrate multiple plasma controllers. The proposed algorithm implicitly solves a quadratic programming (QP) problem formulated to account for the saturation limits and the relation between the controller commands and physical actuator requests. Since the constraints arising in the QP program are linear, the proposed ASA is highly computationally efficient and can be implemented in the tokamak plasma control system in real time. Furthermore, the proposed algorithm is designed to handle real-time changes in the control objectives and actuators’ availability. Nonlinear simulations carried out using the Control Oriented Transport SIMulator illustrate the effectiveness of the proposed algorithm in achieving multiple control objectives simultaneously.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗
DOE OSTI2020

Fault diagnosis and fault tolerant control for T-S fuzzy stochastic distribution systems subject to sensor and actuator faults

The problem of fault diagnosis (FD) and fault tolerant control (FTC) for a class of Takagi-Sugeno (T-S) fuzzy stochastic distribution control (SDC) systems subject to sensor and actuator faults is discussed in this paper. First, fuzzy logic models are used to approximate the output probability density function (PDF). Next, an adaptive augmented state/fault diagnosis observer is proposed to estimate the system state, sensor and the actuator faults simultaneously. New expected weights based on the sensor fault estimation information and a PI-type fuzzy feedback fault tolerant (FT) controller are designed to compensate the effect of sensor fault and actuator fault simultaneously. When the sensor fault occurs, the expected objective is redesigned to compensate the sensor fault. Meanwhile, the PI controller can compensate the effect of actuator fault, and the output PDF of the system can still track the desired PDF after the fault occurs. Finally, an example of quality distribution control in chemical reaction process is given to confirm the effectiveness of the algorithm.

42 ENGINEERING↗
DOE OSTI2023

Millimeter-Thick Liquid Crystalline Elastomer Actuators Prepared by-Surface-Enforced Alignment

Here, liquid crystalline elastomers (LCE) are thermally cyclable, compliant actuators with compelling mechanical properties. The large and programmable deformation of LCE has led to numerous functional examinations spanning optics, medical devices, and robotics. A well-established method to prepare complex LCE actuators is to utilize surface-enforced photoalignment. Herein, a facile and scalable approach is reported to circumvent the physical limits of surface-enforced alignment (e.g., samples that are 50 µm or less) to amplify the achievable force output in LCE. Applying an approach termed direct layering, the thermomechanical response of LCE elements prepared with +1 disclination patterns in a range of compositions and thicknesses is contrasted. The design and preparation of +1 disclination patterns and arrays is explored to assess the contribution of sample geometry and overlap to deformation and force output. The methodology detailed in this contribution allows for the preparation of elements ≈1 mm in thickness that are capable of actuating large objects. Furthermore, the fabrication of these elements uniquely enables the realization of mechanical instabilities to hasten the actuation rate in response to thermal change and to enable leaping.

36 MATERIALS SCIENCE↗
DOE OSTI2024

Exchangeable Liquid Crystalline Elastomers: Enabling Rapid Processing and Enhanced Actuation Stability through On-Demand Deactivation

Exchangeable liquid crystalline elastomers (xLCEs) bearing dynamic covalent bonds are promising candidates for soft actuators due to their unique capability to adjust both network structure and liquid crystalline (LC) alignment after polymerization. While current xLCEs with low exchange temperatures are convenient for processing, they suffer from issues such as creep and loss of LC alignment during repeated thermal actuation. Herein, we present an effective solution using dynamic anhydride chemistry within a thiol-ene-based xLCE. This approach enables a catalyst-free, low-temperature bond exchange of the xLCE after polymerization, allowing for the adjustment of LC orientation under mild conditions. More importantly, it enables on-demand deactivation of the bond exchange via anhydride hydrolysis, effectively eliminating creep and enhancing actuation stability for over 100 cycles. Furthermore, the hydrolysis process results in the formation of carboxylic acid groups, which can be converted into carboxylates via alkali treatment, thereby providing the xLCE with humidity responsiveness. Finally, these findings highlight the use of dynamic anhydride bonds in the fabrication and optimization of xLCEs with enhanced durability and functionality, which is expected to facilitate significant advancements in their applications in soft actuators and robotics.

36 MATERIALS SCIENCE↗
DOE OSTI2021

A quantitative model for a nanoscale switch accurately predicts thermal actuation behavior

Manipulation of temperature can be used to actuate DNA origami nano-hinges containing gold nanoparticles. We develop a physical model of this system that uses partition function analysis of the interaction between the nano-hinge and nanoparticle to predict the probability that the nano-hinge is open at a given temperature. The model agrees well with experimental data and predicts experimental conditions that allow the actuation temperature of the nano-hinge to be tuned over a range of temperatures from 30 °C to 45 °C. Additionally, the model identifies microscopic interactions that are important to the macroscopic behavior of the system, revealing surprising features of the system. This combination of physical insight and predictive potential is likely to inform future designs that integrate nanoparticles into dynamic DNA origami structures or use strand binding interactions to control dynamic DNA origami behavior. Furthermore, our modeling approach could be expanded to consider the incorporation, stability, and actuation of other types of functional elements or actuation mechanisms integrated into nucleic acid devices.

36 MATERIALS SCIENCE↗
DOE OSTI2023

Design and Optimization of a Fast-Switching Electromagnetic Valve Actuator for Off-highway Vehicle Hydraulic Systems

Electrification of off-highway vehicles offers improved efficiency and reduction in greenhouse gas emissions. However, the extremely low power densities of electric machines relative to the hydraulics used in conventional off-highway vehicles makes electrification challenging. Although the recently proposed Hybrid Hydraulic Electric Architecture (HHEA) can overcome this limitation, it requires frequent switching between the pressure rails using switching valves resulting in losses. Fast switching minimizes the switching losses in these valves, which otherwise significantly reduce the overall efficiency of the system. The primary contribution of this paper is the design and optimization of a linear electromagnetic actuator for a fast-switching valve. This paper identifies the actuator requirements to enable fast switching and presents a design and optimization technique to realize actuators that meet the design objectives. In addition, a multi-physics approach is proposed to model the performance of the complete switching valve by considering the electromagnetic, fluidic, and mechanical physics. An optimal actuator design is obtained using the developed optimization framework, and the multi-physics model demonstrates that the selected design achieves a 30% reduction in throttling-related switching losses by switching 70 % faster than comparable commercial valve designs.

Linear actuators, off-highway vehicle electrificat↗
DOE OSTI2021

Theoretical Control-Centric Modeling for Precision Model-Based Sliding Mode Control of a Hydraulic Artificial Muscle Actuator

Artificial muscles (AMs) typically rely on pneumatic sources of fluid power. The use of hydraulics can increase the power and force to weight and volume ratios of AM actuators. This paper develops a control-centric third-order single-input single-output (SISO) lumped-parameter dynamic model and sliding mode position controller based on Filippov's principle of equivalent dynamics for a braided hydraulic artificial muscle (HAM) actuator. The model predicts the nonlinear behavior of the HAM free contraction and captures the fluid and actuator nonlinear dynamic interactions in addition to the braid deformation. Model simulations are compared to experimental results for quasi-static pressurization, isometric pressurization, and open-loop square wave commands at 0.25, 0.5, and 1 Hz. Experiments of sine wave tracking at 0.25, 0.5, and 1 Hz and continuous square wave tracking at 0.067 Hz are conducted using a sliding mode controller (SMC) derived from the model. The SMC achieves a steady-state error of 6 μm at multiple setpoints within the actuator's 17 mm stroke. Compared to a proportional-integral-derivative (PID) controller, the SMC root-mean-square (RMS) error, mean error, and absolute maximum error are reduced on average by 53%, 61%, and 44%, respectively, demonstrating the benefit of model-based approaches for controlling HAMs.

42 ENGINEERING↗
DOE OSTI2024

Geometry Optimization of Cable-Based Actuation for Small-Scale Model Testing of a Floating Marine Turbine: Preprint

This research aims to apply combined wave and tidal current loads to a small-scale floating marine current turbine in a wave tank, where an actuation system applies hydrodynamic and mooring forces on the hardware based on results from a simulation. We use a real-time hybrid test setup with physical wave forcing from the wave tank and simulated current and mooring forces implemented through a tensioned cable array. For this paper, we developed an optimization algorithm that adjusts the hardware geometry of the cable array to achieve more efficient tension allocation across the cables for the loads that need to be actuated. By adjusting the points where the cables are attached to the floating platform and the angles between the platform and the winches, an optimal cable geometry can be found to minimize tension variations in the lines, maintain the desired pretension, and prevent excessive tensions. We present the optimization problem formulation, the actuation system evaluation approach, and optimization results that show effective cable actuation setups that are being considered for implementation in the wave tank tests.

cable-based actuation↗
DOE OSTI2023

Experimental Verification of An Electro-Hydraulic Actuation System Driven by An Integrated Electro-Hydraulic Unit

This paper proposes an electro-hydraulic actuator (EHA) system, and a novel-designed electro-hydraulic unit (EHU) consisting of a fixed-displacement hydraulic gear machine and a variable-speed electric machine. The novel EHU design integrates an electric machine and a hydraulic machine in a single housing, targeting optimal compactness, power density, and component reduction. The EHA system features an open circuit design, where hydraulic hoses connect the EHU with a tank, a valve manifold, and the hydraulic cylinder. In this way, the proposed EHA technology can be used to implement distributed hydraulic actuation in a vehicle without requiring changes to the hydraulic actuators or at the overall layout of the hydraulic components with respect to the original vehicle design. A dedicated test rig is developed to verify the performance of the proposed EHA system. Here, the efficiency of the EHA is measured in a steady state and under a realistic duty cycle of a commercial compact loader. The efficiency of the EHA system based on the measurements on the test rig can reach 54% with up to 20 kN load and 6 kW power level. Furthermore, the EHU is implemented on the reference machine to drive the boom function. Preliminary results on the performance of the EHU show an efficiency of up to 68% under different loading conditions.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗
DOE OSTI2022

Design and Verification of An Open-Circuit Electro-Hydraulic Actuator System with An Integrated Electro-Hydraulic Unit

This paper proposes an electro-hydraulic actuator (EHA) system, and two novel-designed electro-hydraulic units (EHU) consisting of a fixed-displacement hydraulic pump and a variable-speed electric motor. Both the novel EHU designs integrate an electric machine and a hydraulic machine in a single unit, featuring compactness and power density. However, they differ for salient aspects such as power and electric machine cooling system. The EHA system features an open circuit design, where hydraulic hoses connect the EHU with a tank, a valve manifold, and the hydraulic cylinder. In this way, the proposed EHA technology can be used to implement distributed hydraulic actuation in a vehicle without requiring changes to the hydraulic actuators or at the overall layout of the hydraulic components with respect to the original vehicle design. A dedicated test rig is developed to verify the performance of the proposed EHA system. The efficiency of the EHA is measured in a steady state and under a realistic duty cycle of a commercial compact loader. The measured efficiency of the system can reach 54% with up to 20kN load and 6kW power level.

42 ENGINEERING↗