Detection of mechanical resonance of a single-electron transistor by direct current

We have suspended an Al based single-electron transistor whose island can resonate freely between the source and drain leads forming the clamps. In addition to the regular side gate, a bottom gate with a larger capacitance to the SET island is placed underneath to increase the SET coupling to mechanical motion. The device can be considered as a doubly clamped Al beam that can transduce mechanical vibrations into variations of the SET current. Our simulations based on the orthodox model, with the SET parameters estimated from the experiment, reproduce the observed transport characteristics in detail.Comment: 4 pages, 3 figure

Experimental Determination and Validation of sUAS Moments of Inertia

The rise in use of small unmanned aerial systems (sUAS) in industry and research has resulted in a need to develop modeling and testing procedures which are feasible and cost effective for small-scale airframes. Computer models of these vehicles are based on a description of the underlying physical and aerodynamic characteristics of these vehicles which are often only roughly approximated in the design stage. One difficult to accurately obtain, yet highly important, physical characteristic of an aircraft is its inertia tensor. The aircraft’s inertia tensor is directly related to the dynamic motion about the pitch, roll, and yaw axes. Understanding this dynamic motion is the first step in control system design and validation. Utilizing previous work in experimental moment of inertia (MOI) testing and small-scale flight testing, this project developed a bifilar torsional pendulum capable of accurately and affordably measuring the inertia tensor of sUAS. In order to validate the bifilar pendulum measurements, flight tests were developed to experimentally obtain the MOI of the sUAS for comparison. Due to changes in Ohio State University policy after the outbreak of COVID-19, the planned flight tests could not be completed at this time. Future work should focus on the validation of the bifilar pendulum measurements along with determination and validation of MOI for non-primary axes.No embargoAcademic Major: Aeronautical and Astronautical Engineerin

The creeping motion of a spherical particle normal to a deformable interface

Numerical results are presented for the approach of a rigid sphere normal to a deformable fluid-fluid interface in the velocity range for which inertial effects may be neglected. Both the case of a sphere moving with constant velocity, and that of a sphere moving under the action of a constant non-hydrodynamic body force are considered for several values of the viscosity ratio, density difference and interfacial tension between the two fluids. Two distinct modes of interface deformation are demonstrated: a film drainage mode in which fluid drains away in front of the sphere leaving an ever-thinning film, and a tailing mode where the sphere passes several radii beyond the plane of the initially undeformed interface, while remaining encapsulated by the original surrounding fluid which is connected with its main body by a thin thread-like tail behind the sphere. We consider the influence of the viscosity ratio, density difference, interfacial tension and starting position of the sphere in deter-mining which of these two modes of deformation will occur

Learning by observation through system identification

In our previous works, we present a new method to program mobile robots —“code identification by demonstration”— based on algorithmically transferring human behaviours to robot control code using transparent mathematical functions. Our approach has three stages: i) first extracting the trajectory of the desired behaviour by observing the human, ii) making the robot follow the human trajectory blindly to log the robot’s own perception perceived along that trajectory, and finally iii) linking the robot’s perception to the desired behaviour to obtain a generalised, sensor-based model. So far we used an external, camera based motion tracking system to log the trajectory of the human demonstrator during his initial demonstration of the desired motion. Because such tracking systems are complicated to set up and expensive, we propose an alternative method to obtain trajectory information, using the robot’s own sensor perception. In this method, we train a mathematical polynomial using the NARMAX system identification methodology which maps the position of the “red jacket” worn by the demonstrator in the image captured by the robot’s camera, to the relative position of the demonstrator in the real world according to the robot. We demonstrate the viability of this approach by teaching a Scitos G5 mobile robot to achieve door traversal behaviour

Robot training using system identification

This paper focuses on developing a formal, theory-based design methodology to generate transparent robot control programs using mathematical functions. The research finds its theoretical roots in robot training and system identification techniques such as Armax (Auto-Regressive Moving Average models with eXogenous inputs) and Narmax (Non-linear Armax). These techniques produce linear and non-linear polynomial functions that model the relationship between a robot’s sensor perception and motor response. The main benefits of the proposed design methodology, compared to the traditional robot programming techniques are: (i) It is a fast and efficient way of generating robot control code, (ii) The generated robot control programs are transparent mathematical functions that can be used to form hypotheses and theoretical analyses of robot behaviour, and (iii) It requires very little explicit knowledge of robot programming where end-users/programmers who do not have any specialised robot programming skills can nevertheless generate task-achieving sensor-motor couplings. The nature of this research is concerned with obtaining sensor-motor couplings, be it through human demonstration via the robot, direct human demonstration, or other means. The viability of our methodology has been demonstrated by teaching various mobile robots different sensor-motor tasks such as wall following, corridor passing, door traversal and route learning

Effect of contact angle hysteresis on thermocapillary droplet actuation

Open microfluidic devices based on actuation techniques such as electrowetting, dielectrophoresis, or thermocapillary stresses require controlled motion of small liquid droplets on the surface of glass or silicon substrates. In this article we explore the physical mechanisms affecting thermocapillary migration of droplets generated by surface temperature gradients on the supporting substrate. Using a combination of experiment and modeling, we investigate the behavior of the threshold force required for droplet mobilization and the speed after depinning as a function of the droplet size, the applied thermal gradient and the liquid material parameters. The experimental results are well described by a hydrodynamic model based on earlier work by Ford and Nadim. The model describes the steady motion of a two-dimensional droplet driven by thermocapillary stresses including contact angle hysteresis. The results of this study highlight the critical role of chemical or mechanical hysteresis and the need to reduce this retentive force for minimizing power requirements in microfluidic devices