Energy-based trajectory tracking and vibration control for multilink highly flexible manipulators

In this paper, a discrete model is adopted, as proposed by Hencky for elastica based on rigid bars and lumped rotational springs, to design the control of a lightweight planar manipulator with multiple highly flexible links. This model is particularly suited to deal with nonlinear equations of motion as those associated with multilink robot arms, because it does not include any simplification due to linearization, as in the assumed modes method. The aim of the control is to track a trajectory of the end effector of the robot arm, without the onset of vibrations. To this end, an energy-based method is proposed. Numerical simulations show the effectiveness of the presented approach

DISTRIBUTED ELECTRO-MECHANICAL ACTUATION AND SENSING SYSTEM DESIGN FOR MORPHING STRUCTURES

Smart structures, able to sense changes of their own state or variations of the environment they’re in, and capable of intervening in order to improve their performance, find themselves in an ever-increasing use among numerous technology fields, opening new frontiers within advanced structural engineering and materials science. Smart structures represent of course a current challenge for the application on the aircrafts. A morphing structure can be considered as the result of the synergic integration of three main systems: the structural system, based on reliable kinematic mechanisms or on compliant elements enabling the shape modification, the actuation and control systems, characterized by embedded actuators and robust control strategies, and the sensing system, usually involving a network of sensors distributed along the structure to monitor its state parameters. Technologies with ever increasing maturity level are adopted to assure the consolidation of products in line with the aeronautical industry standards and fully compliant with the applicable airworthiness requirements. Until few years ago, morphing wing technology appeared an utopic solution. In the aeronautical field, airworthiness authorities demand a huge process of qualification, standardization, and verification. Essential components of an intelligent structure are sensors and actuators. The actual technological challenge, envisaged in the industrial scenario of “more electric aircraft”, will be to replace the heavy conventional hydraulic actuators with a distributed strategy comprising smaller electro-mechanical actuators. This will bring several benefit at the aircraft level: firstly, fuel savings. Additionally, a full electrical system reduces classical drawbacks of hydraulic systems and overall complexity, yielding also weight and maintenance benefits. At the same time, a morphing structure needs a real-time strain monitoring system: a nano-engineered polymer capable of densely distributed strain sensing can be a suitable solution for this kind of flying systems. Piezoresistive carbon nanotubes can be integrated as thin films coated and integrated with composite to form deformable self-sensing materials. The materials actually become sensors themselves without using external devices, embedded or attached. This doctoral thesis proposes a multi-disciplinary investigation of the most modern actuation and sensing technologies for variable-shaped devices mainly intended for large commercial aircraft. The personal involvement in several research projects with numerous international partners - during the last three years - allowed for exploiting engineering outcomes in view of potential certification and industrialization of the studied solutions. Moving from a conceptual survey of the smart systems that introduces the idea of adaptive aerodynamic surfaces and main research challenges, the thesis presents (Chapter 1) the current worldwide status of morphing technologies as well as industrial development expectations. The Ph.D. programme falls within the design of some of the most promising and potentially flyable solutions for performance improvement of green regional aircrafts. A camber-morphing aileron and a multi-modal flap are herein analysed and assessed as subcomponents involved for the realization of a morphing wing. An innovative camber-morphing aileron was proposed in CRIAQ MD0-505, a joint Canadian and Italian research project. Relying upon the experimental evidence within the present research, the issue appeared concerns the critical importance of considering the dynamic modelling of the actuators in the design phase of a smart device. The higher number of actuators involved makes de facto the morphing structure much more complex. In this context (Chapter 2), the action of the actuators has been modelled within the numerical model of the aileron: the comparison between the modal characteristics of numerical predictions and testing activities has shown a high level of correlation. Morphing structures are characterized by many more degrees of freedom and increased modal density, introducing new paradigms about modelling strategies and aeroelastic approaches. These aspects affect and modify many aspects of the traditional aeronautical engineering process, like simulation activity, design criteria assessment, and interpretation of the dynamic response (Chapter 3). With respect the aforementioned aileron, sensitivity studies were carried out in compliance with EASA airworthiness requirements to evaluate the aero-servo-elastic stability of global system with respect to single and combined failures of the actuators enabling morphing. Moreover, the jamming event, which is one of the main drawbacks associated with the use of electro-mechanical actuators, has been duly analyzed to observe any dynamic criticalities. Fault & Hazard Analysis (FHA) have been therefore performed as the basis for application of these devices to real aircraft. Nevertheless, the implementation of an electro-mechanical system implies several challenges related to the integration at aircraft system level: the practical need for real-time monitoring of morphing devices, power absorption levels and dynamic performance under aircraft operating conditions, suggest the use of a ground-based engineering tool, i.e. “iron bird”, for the physical integration of systems. Looking in this perspective, the Chapter 4 deals with the description of an innovative multi-modal flap idealized in the Clean Sky - Joint Technology Initiative research scenario. A distributed gear-drive electro-mechanical actuation has been fully studied and validated by an experimental campaign. Relying upon the experience gained, the encouraging outcomes led to the second stage of the project, Clean Sky 2 - Airgreen 2, encompassing the development of a more robotized flap for next regional aircraft. Numerical and experimental activities have been carried out to support the health management process in order to check the EMAs compatibility with other electrical systems too. A smart structure as a morphing wing needs an embedded sensing system in order to measure the actual deformation state as well as to “monitor” the structural conditions. A new possible approach in order to have a distributed light-weight system consists in the development of polymer-based materials filled with conductive smart fillers such as carbon nanotubes (CNTs). The thesis ends with a feasibility study about the incorporation of carbon nanomaterials into flexible coatings for composite structures (Chapter 5). Coupons made of MWCNTs embedded in typical aeronautic epoxy formulation were prepared and tested under different conditions in order to better characterize their sensing performance. Strain sensing properties were compared to commercially available strain gages and fiber optics. The results were obtained in the last training year following the involvement of the author in research activities at the University of Salerno and Materials and Structures Centre - University of Bath. One of the issues for the next developments is to consolidate these novel technologies in the current and future European projects where the smart structures topic is considered as one of the priorities for the new generation aircrafts. It is remarkable that scientists and aeronautical engineers community does not stop trying to create an intelligent machine that is increasingly inspired by nature. The spirit of research, the desire to overcome limits and a little bit of imagination are surely the elements that can guide in achieving such an ambitious goal

Wind Turbine Adaptive Blade Integrated Design and Analysis

This project aims to develop efficient and robust tools for optimal design of wind turbine adaptive blades. In general, wind turbine adaptive blade design is an aero-structure coupled design process, in which, the evaluation of aerodynamic performance cannot be carried out precisely without structural deformation analysis of the adaptive blade. However, employing finite element analysis (FEA) based structural analysis commercial packages as part of the aerodynamic objective evaluation process has been proven time consuming and it results in inefficient and redundant design optimisation of adaptive blades caused by elastic-coupled (bend-twist or stretch-twist) iteration. In order to achieve the goal of wind turbine adaptive blade integrated design and analysis, this project is carried out from three aspects. Firstly, a general geometrically linear model for thin-walled composite beams with multi-cell, non-uniform cross-section and arbitrary lay-ups under various types of loadings is developed for implementing structural deformation analysis. After that, this model is validated by a simple box-beam, single- and multi-cell wind turbine blades. Through validation, it denotes that this thin-walled composite beam model is efficient and accurate for predicting the structural deformations compared to FEA based commercial packages (ANSYS). This developed beam model thus provides more probabilities for further investigations of dynamic performance of adaptive blades. Secondly in order to investigate the effects of aero elastic tailoring and implanting elastic coupling on aerodynamic performance of adaptive blades, auxiliary software tools with graphical interfaces are developed via MATLAB codes. Structural/material characteristics and configurations of adaptive blades (i.e. elastic coupling topology, layup configuration and material properties of blade) are defined by these auxiliary software tools. By interfacing these software tools to the structural analysers based on the developed thin-walled composite beam model to an aerodynamic performance evaluator, an integrated design environment is developed. Lastly, by using the developed thin-walled composite beam model as a search platform, the application of the decoupled design method, a method of design of smart aero-structures based on the concept of variable state design parameter, is also extended

Sheathing Braced Design of Wall Studs

This report was prepared as part of the American Iron and Steel Institute sponsored project: Sheathing Braced Design of Wall Studs. The project also received supplementary support and funding from the Steel Stud Manufacturers Association. Additional project information and documentation is available at www.ce.jhu.edu/bschafer/sheathedwalls. Any opinions, findings, and conclusions or recommendations expressed in this publication are those of the author and do not necessarily reflect the views of the American Iron and Steel Institute, nor the Steel Stud Manufacturers Association

The dynamic response of a flexible three-link robot using strain gages, Lagrange polynomials, Fourier series, and the finite element analysis

This thesis presents theoretical and experimental methods for determining the static and dynamic response, in three dimensional space, of a flexible three-link robotic manipulator. The Links are designed to deform elastically under static and dynamic loads. Lagrange polynomials are derived to determine the defected shape of the robotic links. All coefficients of the Lagrange polynomials are functions of the elastic strain at three specific locations on each link. Strains are converted to voltage differentials and are read into a micro-computer through an A-to-D board system, where they are converted to digital strain values. Coefficients defining the damped response of the robot are determined experimentally. The dynamic response of the robotic manipulator is also studied using the finite element method. Given the readings of the angular encoders, a FORTRAN code is presented that prepares complete source files for the robot. (Abstract shortened with permission of author.)

New Frontiers on Seismic Modeling of Masonry Structures

An accurate evaluation of the non-linear behavior of masonry structural elements in existing buildings still represents a complex issue that rigorously requires non-linear finite element strategies difficult to apply to real large structures. Nevertheless, for the static and seismic assessment of existing structures, involving the contribution of masonry materials, engineers need reliable and efficient numerical tools, whose complexity and computational demand should be suitable for practical purposes. For these reasons, the formulation and the validation of simplified numerical strategies represent a very important issue in masonry computational research. In this paper, an innovative macroelement approach, developed by the authors in the last decade, is presented. The proposed macroelement formulation is based on different, plane and spatial, macroelements for the simulation of both the in-plane and out-of-plane behavior of masonry structures also in presence of masonry elements with curved geometry. The mechanical response of the adopted macroelement is governed by non-linear zero-thickness interfaces, whose calibration follows a straightforward fiber discretization, and the non-linear internal shear deformability is ruled by equivalence with a corresponding geometrically consistent homogenized medium. The approach can be considered as "parsimonious" since the kinematics of the adopted elements is controlled by very few degrees of freedom, if compared to a corresponding discretization performed by using non-linear finite element method strategies. This innovative discrete element strategy has been implemented in two user-oriented software codes 3DMacro (Caliò et al., 2012b) and HiStrA (Historical Structures Analysis) (Caliò et al., 2015), which simplify the modeling of buildings and historical structures by means of several wizard generation tools and input/output facilities. The proposed approach, that represents a powerful tool for the structural assessment of structures in which the masonry plays a key role, is here validated against experimental results involving typical masonry monumental substructural elements and numerical results involving real-scale structures

Non-linear shear model for R/C piers

The work presented has been developed within the Prenormative Research in support of EuroCode 8 (PREC8) programme of the European Commission. The EuroCode 8 (EC8) are the provisional European standards for the design of civil engineering structures in seismic prone areas. This programme included experimental test on a series of bridge structures that have been tested under Pseudo-Dynamic conditions. Experimental tests were carried out to study the behaviour of bridge piers under cyclic loading. The results from these tests underlined the need to improve an existing fiber model to represent the non-linear behaviour of structures where the influence of the shear forces is not negligible. Thus, a strut-and-tie formulation coupled with the classic fibre model for flexural forces was developed. This formulation is based on the analogy of a R/C structure damaged with diagonal cracking with a truss made of concrete diagonals and steel ties. The model is applied to a set of bridge piers tested at the ELSA laboratory and the results are compared with the experimental response.JRC.DG.G.5-European laboratory for structural assessmen