Piezoresistor-Embedded Multifunctional Magnetic Microactuators for Implantable Self-Clearing Catheter

Indwelling catheters are used widely in medicine to treat various chronic medical conditions. However, chronic implantation of catheters often leads to a premature failure due to biofilm accumulation. Previously we reported on the development of a self-clearing catheter by integrating polymer-based microscale magnetic actuators. The microactuator provides an active anti-biofouling mechanism to disrupt and remove adsorbed biofilm on demand using an externally applied stimulus. During an in vivo evaluation of self-clearing catheter, we realized that it is important to periodically monitor the performance of implanted microactuators. Here we integrate gold-based piezoresistive strain-gauge on our magnetic microactuators to directly monitor the device deflection with good sensitivity (0.035%/Deg) and linear range (±30°). With the integrated strain-gauge, we demonstrate the multi-functional capabilities of our magnetic microactuators that enable device alignment, flow-rate measurement, and obstruction detection and removal towards the development of chronically implantable self-clearing smart catheter

Compliance Strategies For Robotic Ground Servicing Of The Shuttle

In contrast to manufacturing robotic applications, many Kennedy Space Center robotic applications require a combination of heavy lift capacity, real-time vision for course positioning of the robot arm and real-time compliance for the final precise positioning of the robot end-effector. Moreover, for some applications, this must be accomplished in a dynamic environment. The design requirements for launch pad robotic applications are more stringent than the requirements for robots operating in a microgravity environment because the lack of gravity relaxes the heavy load and dynamic constraints to a large degree. The compliance of a robotic system is the ability of the robot to adjust the position when external forces are applied to the robot end effector. That is, the robot arm alters its motion in response to the external forces such that the insertion forces are minimized and the probability of the robot harming itself or mating components is minimized. This paper reviews the various compliance strategies that are available to KSC engineers with an emphasis on those techniques currently under evaluation at the KSC/RADL. The compliant strategies are divided into passive and active approaches. Passive compliance is purely a mechanical technique, whereas active requires the interpretation of the output of transducers and interaction with the robot controller

Dynamic behavior of Sandwich Beam with Piezoelectric layers

Sandwich beams with composite faces sheets and foam core are widely used as lightweight components in many of the industries such as automotive, marine and aerospace applications due to its high bending stiffness and strength combined with low weight. Thus, it is important to gain knowledge of their flexural behavior under static as well as dynamic loads. Although extensive research has been devoted to the flexural behavior of composite laminates in general, the flexural behavior of sandwich structures is quite and obviously different. Several works treating the dynamic flexural behavior of sandwich beams have also confirmed the marked susceptibility of sandwich structures to damage caused by the low velocity impact of foreign objects. Impacts can damage the face sheets, the core material, and the core face interface. The type of damage usually found in the faces is similar to that observed after impacts on monolithic composites. However, the damage initiation thresholds and damage area depend on the properties of the core material and the relationship between the properties of the core and those of the face sheets.The modelling is done for sandwich beam with create volume option with dimensions known in the software

Piezo-electromechanical smart materials with distributed arrays of piezoelectric transducers: Current and upcoming applications

This review paper intends to gather and organize a series of works which discuss the possibility of exploiting the mechanical properties of distributed arrays of piezoelectric transducers. The concept can be described as follows: on every structural member one can uniformly distribute an array of piezoelectric transducers whose electric terminals are to be connected to a suitably optimized electric waveguide. If the aim of such a modification is identified to be the suppression of mechanical vibrations then the optimal electric waveguide is identified to be the 'electric analog' of the considered structural member. The obtained electromechanical systems were called PEM (PiezoElectroMechanical) structures. The authors especially focus on the role played by Lagrange methods in the design of these analog circuits and in the study of PEM structures and we suggest some possible research developments in the conception of new devices, in their study and in their technological application. Other potential uses of PEMs, such as Structural Health Monitoring and Energy Harvesting, are described as well. PEM structures can be regarded as a particular kind of smart materials, i.e. materials especially designed and engineered to show a specific andwell-defined response to external excitations: for this reason, the authors try to find connection between PEM beams and plates and some micromorphic materials whose properties as carriers of waves have been studied recently. Finally, this paper aims to establish some links among some concepts which are used in different cultural groups, as smart structure, metamaterial and functional structural modifications, showing how appropriate would be to avoid the use of different names for similar concepts. © 2015 - IOS Press and the authors

Workshop on "Control issues in the micro / nano - world".

International audienceDuring the last decade, the need of systems with micro/nanometers accuracy and fast dynamics has been growing rapidly. Such systems occur in applications including 1) micromanipulation of biological cells, 2) micrassembly of MEMS/MOEMS, 3) micro/nanosensors for environmental monitoring, 4) nanometer resolution imaging and metrology (AFM and SEM). The scale and requirement of such systems present a number of challenges to the control system design that will be addressed in this workshop. Working in the micro/nano-world involves displacements from nanometers to tens of microns. Because of this precision requirement, environmental conditions such as temperature, humidity, vibration, could generate noise and disturbance that are in the same range as the displacements of interest. The so-called smart materials, e.g., piezoceramics, magnetostrictive, shape memory, electroactive polymer, have been used for actuation or sensing in the micro/nano-world. They allow high resolution positioning as compared to hinges based systems. However, these materials exhibit hysteresis nonlinearity, and in the case of piezoelectric materials, drifts (called creep) in response to constant inputs In the case of oscillating micro/nano-structures (cantilever, tube), these nonlinearities and vibrations strongly decrease their performances. Many MEMS and NEMS applications involve gripping, feeding, or sorting, operations, where sensor feedback is necessary for their execution. Sensors that are readily available, e.g., interferometer, triangulation laser, and machine vision, are bulky and expensive. Sensors that are compact in size and convenient for packaging, e.g., strain gage, piezoceramic charge sensor, etc., have limited performance or robustness. To account for these difficulties, new control oriented techniques are emerging, such as[d the combination of two or more ‘packageable' sensors , the use of feedforward control technique which does not require sensors, and the use of robust controllers which account the sensor characteristics. The aim of this workshop is to provide a forum for specialists to present and overview the different approaches of control system design for the micro/nano-world and to initiate collaborations and joint projects

Control oriented modelling of an integrated attitude and vibration suppression architecture for large space structures

This thesis is divided into two parts. The main focus of the research, namely active vibration control for large flexible spacecraft, is exposed in Part I and, in parallel, the topic of machine learning techniques for modern space applications is described in Part II. In particular, this thesis aims at proposing an end-to-end general architecture for an integrated attitude-vibration control system, starting from the design of structural models to the synthesis of the control laws. To this purpose, large space structures based on realistic missions are investigated as study cases, in accordance with the tendency of increasing the size of the scientific instruments to improve their sensitivity, being the drawback an increase of its overall flexibility. An active control method is therefore investigated to guarantee satisfactory pointing and maximum deformation by avoiding classical stiffening methods. Therefore, the instrument is designed to be supported by an active deployable frame hosting an optimal minimum set of collocated smart actuators and sensors. Different spatial configurations for the placement of the distributed network of active devices are investigated, both at closed-loop and open-loop levels. Concerning closed-loop techniques, a method to optimally place the poles of the system via a Direct Velocity Feedback (DVF) controller is proposed to identify simultaneously the location and number of active devices for vibration control with an in-cascade optimization technique. Then, two general and computationally efficient open-loop placement techniques, namely Gramian and Modal Strain Energy (MSE)-based methods, are adopted as opposed to heuristic algorithms, which imply high computational costs and are generally not suitable for high-dimensional systems, to propose a placement architecture for generically shaped tridimensional space structures. Then, an integrated robust control architecture for the spacecraft is presented as composed of both an attitude control scheme and a vibration control system. To conclude the study, attitude manoeuvres are performed to excite main flexible modes and prove the efficacy of both attitude and vibration control architectures. Moreover, Part II is dedicated to address the problem of improving autonomy and self-awareness of modern spacecraft, by using machine-learning based techniques to carry out Failure Identification for large space structures and improving the pointing performance of spacecraft (both flexible satellite with sloshing models and small rigid platforms) when performing repetitive Earth Observation manoeuvres

MIT Space Engineering Research Center

The Space Engineering Research Center (SERC) at MIT, started in Jul. 1988, has completed two years of research. The Center is approaching the operational phase of its first testbed, is midway through the construction of a second testbed, and is in the design phase of a third. We presently have seven participating faculty, four participating staff members, ten graduate students, and numerous undergraduates. This report reviews the testbed programs, individual graduate research, other SERC activities not funded by the Center, interaction with non-MIT organizations, and SERC milestones. Published papers made possible by SERC funding are included at the end of the report

The NASA SBIR product catalog

The purpose of this catalog is to assist small business firms in making the community aware of products emerging from their efforts in the Small Business Innovation Research (SBIR) program. It contains descriptions of some products that have advanced into Phase 3 and others that are identified as prospective products. Both lists of products in this catalog are based on information supplied by NASA SBIR contractors in responding to an invitation to be represented in this document. Generally, all products suggested by the small firms were included in order to meet the goals of information exchange for SBIR results. Of the 444 SBIR contractors NASA queried, 137 provided information on 219 products. The catalog presents the product information in the technology areas listed in the table of contents. Within each area, the products are listed in alphabetical order by product name and are given identifying numbers. Also included is an alphabetical listing of the companies that have products described. This listing cross-references the product list and provides information on the business activity of each firm. In addition, there are three indexes: one a list of firms by states, one that lists the products according to NASA Centers that managed the SBIR projects, and one that lists the products by the relevant Technical Topics utilized in NASA's annual program solicitation under which each SBIR project was selected