Electromagnetic Position Sensing and Force Feedback for a Magnetic Stylus with an Interactive Display

This letter describes the design, implementation, validation, and demonstration of an electromagnetic system that can be incorporated into a graphical display to provide computer-controlled planar feedback forces on the tip of a stylus or fingertip-mounted magnet held near the display surface, according to the magnet position and virtual fixtures implemented in software. An array of magnetometer sensors is used to detect the position of the magnet, while a pair of box-shaped coils behind the display produces feedback forces on the stylus parallel to the plane of the display. Electromagnetic analysis for the system design is presented and system implementation is described. Validation results are given for force generation within a 100 mm × 100 mm area and force interaction with a virtual obstacle is demonstrated

Extended analytical charge modeling for permanent-magnet based devices : practical application to the interactions in a vibration isolation system

This thesis researches the analytical surface charge modeling technique which provides a fast, mesh-free and accurate description of complex unbound electromagnetic problems. To date, it has scarcely been used to design passive and active permanent-magnet devices, since ready-to-use equations were still limited to a few domain areas. Although publications available in the literature have demonstrated the surface-charge modeling potential, they have only scratched the surface of its application domain. The research that is presented in this thesis proposes ready-to-use novel analytical equations for force, stiffness and torque. The analytical force equations for cuboidal permanent magnets are now applicable to any magnetization vector combination and any relative position. Symbolically derived stiffness equations directly provide the analytical 3 £ 3 stiffness matrix solution. Furthermore, analytical torque equations are introduced that allow for an arbitrary reference point, hence a direct torque calculation on any assembly of cuboidal permanent magnets. Some topics, such as the analytical calculation of the force and torque for rotated magnets and extensions to the field description of unconventionally shaped magnets, are outside the scope of this thesis are recommended for further research. A worldwide first permanent-magnet-based, high-force and low-stiffness vibration isolation system has been researched and developed using this advanced modeling technique. This one-of-a-kind 6-DoF vibration isolation system consumes a minimal amount of energy (Ç 1W) and exploits its electromagnetic nature by maximizing the isolation bandwidth (> 700Hz). The resulting system has its resonance > 1Hz with a -2dB per decade acceleration slope. It behaves near-linear throughout its entire 6-DoF working range, which allows for uncomplicated control structures. Its position accuracy is around 4mum, which is in close proximity to the sensor’s theoretical noise level of 1mum. The extensively researched passive (no energy consumption) permanent-magnet based gravity compensator forms the magnetic heart of this vibration isolation system. It combines a 7.1kN vertical force with <10kN/m stiffness in all six degrees of freedom. These contradictory requirements are extremely challenging and require the extensive research into gravity compensator topologies that is presented in this thesis. The resulting cross-shaped topology with vertical airgaps has been filed as a European patent. Experiments have illustrated the influence of the ambient temperature on the magnetic behavior, 1.7h/K or 12N/K, respectively. The gravity compensator has two integrated voice coil actuators that are designed to exhibit a high force and low power consumption (a steepness of 625N2/W and a force constant of 31N/A) within the given current and voltage constraints. Three of these vibration isolators, each with a passive 6-DoF gravity compensator and integrated 2-DoF actuation, are able to stabilize the six degrees of freedom. The experimental results demonstrate the feasibility of passive magnet-based gravity compensation for an advanced, high-force vibration isolation system. Its modular topology enables an easy force and stiffness scaling. Overall, the research presented in this thesis shows the high potential of this new class of electromagnetic devices for vibration isolation purposes or other applications that are demanding in terms of force, stiffness and energy consumption. As for any new class of devices, there are still some topics that require further study before this design can be implemented in the next generation of vibration isolation systems. Examples of these topics are the tunability of the gravity compensator’s force and a reduction of magnetic flux leakage

Electromagnetic Position Sensing and Force Feedback for a Magnetic Stylus with an Interactive Display

This letter describes the design, implementation, validation, and demonstration of an electromagnetic system that can be incorporated into a graphical display to provide computer-controlled planar feedback forces on the tip of a stylus or fingertip-mounted magnet held near the display surface, according to the magnet position and virtual fixtures implemented in software. An array of magnetometer sensors is used to detect the position of the magnet, while a pair of box-shaped coils behind the display produces feedback forces on the stylus parallel to the plane of the display. Electromagnetic analysis for the system design is presented and system implementation is described. Validation results are given for force generation within a 100 mm × 100 mm area and force interaction with a virtual obstacle is demonstrated

Chip-based magnetic levitation of superconducting microparticles

Magnetically levitated superconductors are extremely isolated from the environment, their mechanical properties can be tuned magnetically, and can be coupled to quantum systems such as superconducting quantum circuits. As such, they are a promising experimental platform for the creation of massive spatial quantum states that would test quantum mechanics in a hitherto unexplored parameter regime. Furthermore, they could be used to build ultrasensitive detectors of accelerations and forces, which could find applications in seismology, navigation, geodesy, or dark matter detection.This thesis is about the development and demonstration of a chip-based magnetic levitation platform for um-sized superconducting particles. To this end, we have modeled, designed, and fabricated micrometer-scale superconducting particles as well as chip-based magnetic traps based on planar superconducting coils. We have detected the center-of-mass motion of the levitated particles magnetically, with integrated superconducting coils that transport the signal of the particle motion to a SQUID magnetometer. We demonstrated stable levitation of 50um diameter particles over several days at millikelvin temperatures. This high stability allowed us to thoroughly characterize the particle motion and show that our model of the magnetic trap and the detection scheme captures the nonlinear behavior of the center-of-mass motion. These nonlinearities are observed due to large motional amplitudes caused by the coupling between the particle motion and cryostat vibrations. We have devised a cryogenic vibration isolation system based on an elastic pendulum that mitigates this effect and has enabled ring-down measurements of the center-of-mass motion that give quality factors up to 10^5. Furthermore, we have shown that the mechanical properties of the levitated particle can be controlled. We have tuned the trap frequencies from 30Hz to 180Hz by changing the current in the trap coils, and we have also demonstrated control over the motional amplitude of the particle motion via feedback using feedback coils in the chip to exert an additional magnetic force on the particle. This thesis demonstrates magnetic levitation of superconducting microparticles on a chip as a novel platform for chip-based quantum experiments with um-sized particles and ultrasensitive force and acceleration sensors

Modeling And Analysis Of The Eds Maglev System With The Halbach Magnet Array

The magnetic field analysis based on the wavelet transform is performed. The Halbach array magnetic field analysis has been studied using many methods such as magnetic scalar potential, magnetic vector potential, Fourier analysis and Finite Element Methods. But these analyses cannot identify a transient oscillation at the beginning stage of levitation. The wavelet transform is used for analyzing the transient oscillatory response of an EDS Maglev system. The proposed scheme explains the under-damped dynamics that results from the cradle\u27s dynamic response to the irregular distribution of the magnetic field. It suggests this EDS Maglev system that responds to a vertical repulsive force could be subject to such instability at the beginning stage of a low levitation height. The proposed method is useful in analyzing instabilities at the beginning stage of levitation height. A controller for the EDS maglev system with the Halbach array magnet is designed for the beginning stage of levitation and after reaching the defined levitation height. To design a controller for the EDS system, two different stages are suggested. Before the object reaches a stable position and after it has reached a stable position. A stable position can be referred to as a nominal height. The former is the stage I and the latter is the stage II. At the stage I, to achieve a nominal height the robust controller is investigated. At the stage II, both translational and rotational motions are considered for the control design. To maintain system stability, damping control as well as LQR control are performed. The proposed method is helpful to understand system dynamics and achieve system stability

Novel active magnetic bearings for direct drive C-Gen linear generator

This document presents a novel active magnetic levitation system. In the pursued of this endeavour different topics related with wave energy were explore. Climate change and energy security are the main motivation to pursued new options for non-fossil fuels energy generation. An overview of renewable energy and specifically of wave energy was presented. The potential for wave energy in The United Kingdom turn out to be 75 TWh/year from wave energy, 3 times more of what wind energy has produced in 2013. This means a massive impact on the energy market and emission reduction. In order to achieve this, improvements on wave energy devices have to be done. An overview of wave energy converters was covered selecting the C-Gen as the generator topology this document will base its studies. Linear generator bearings are desired to have long lifespan with long maintenance intervals. The objective is to come with an active magnetic levitation design that can replace traditional bearings augmenting the reliability of the system. Therefore magnetic bearings option have been reviewed and simulation experimentations has resulted in a novel active magnetic levitation system using an air-cored coils Halbach array acting over a levitation track. The configuration would generate bi directional repulsion forces with respect of the levitating body. Different software were used to analyse the magnetic field and forces generation. Additionally a prototype was built and tested to corroborate the results. As part of the modelling a mathematical model was explored and robust control implementation was also realised. Finally a scalability study of the device as well as a reliability analysis was done. Although the reliability studies shows an increase of ten times of the mean time to failure, the concept is not able to endure the loads acting on the generator unless the magnetic bearings became bigger than the generator and therefore economically unfeasible

Second International Symposium on Magnetic Suspension Technology, part 2

In order to examine the state of technology of all areas of magnetic suspension and to review related recent developments in sensors and controls approaches, superconducting magnet technology, and design/implementation practices, the 2nd International Symposium on Magnetic Suspension Technology was held at the Westin Hotel in Seattle, WA, on 11-13 Aug. 1993. The symposium included 18 technical sessions in which 44 papers were presented. The technical sessions covered the areas of bearings, bearing modelling, controls, vibration isolation, micromachines, superconductivity, wind tunnel magnetic suspension systems, magnetically levitated trains (MAGLEV), rotating machinery and energy storage, and applications. A list of attendees appears at the end of the document

Third International Symposium on Magnetic Suspension Technology

In order to examine the state of technology of all areas of magnetic suspension and to review recent developments in sensors, controls, superconducting magnet technology, and design/implementation practices, the Third International Symposium on Magnetic Suspension Technology was held at the Holiday Inn Capital Plaza in Tallahassee, Florida on 13-15 Dec. 1995. The symposium included 19 sessions in which a total of 55 papers were presented. The technical sessions covered the areas of bearings, superconductivity, vibration isolation, maglev, controls, space applications, general applications, bearing/actuator design, modeling, precision applications, electromagnetic launch and hypersonic maglev, applications of superconductivity, and sensors

Estudo comparativo de geradores eletromagnéticos para prótese de anca

Mestrado em Engenharia MecânicaA necessidade de substituir os tradicionais métodos de alimentação de dispositivos médicos instrumentados implantáveis, baseados em baterias, por sistemas alternativos de durabilidade superior conduziu à crescente investigação nesta área. Após a verificação precedente desta dissertação do melhor desempenho da indução eletromagnética relativamente a outros sistemas de geração de energia, partindo do movimento humano, este trabalho descreve a conceção e avaliação comparativa de geradores eletromagnéticos, focado na implementação destes em próteses de anca em pacientes. Estes foram criados com o objetivo de operar sob movimento análogo ao da anca humana, tanto em regime de repetibilidade, recorrendo a um manipulador robótico, como em regime empírico, acoplando-o à zona da anca de um indivíduo. Uma análise comparativa foi efetuada entre diversas configurações de geradores com o intuito de, no futuro, uma otimização recorrente a modelos matemáticos não lineares seja validada e aplicada. Os resultados revelaram que a extrapolação dos dados obtidos pelos ensaios realizados no manipulador para o ciclo de marcha humano contínuo apresentou um grau considerável de discrepância para com o teste empírico. O melhor ensaio do manipulador, obtido ao longo de um período de marcha, quando multiplicado por ciclos perfaz um total de , enquanto o ensaio empírico gerou durante os mesmos ciclos de marcha. Considerando que o ensaio de marcha executado empiricamente apresenta movimento aproximadamente equivalente ao do interior de uma prótese de anca, verificou-se a geração de energia considerável para alimentar um implante inteligente, ainda que as dimensões do gerador testado sejam ainda relativamente elevadas.The need of replacing traditional methods of feeding implantable instrumented medical devices, based on batteries, by alternative systems of superior lifetime led to an increasing investigation in this area. After the verification, preceding this dissertation, of the electromagnetic induction better performance relatively to other energy harvesting systems using human motion, this work describes the conception and comparative evaluation of electromagnetic generators, focused on their implementation in hip prostheses on patients. A comparative analysis was performed between different generator configurations, with the goal of, in the future, validating and applying an optimization resorting to non linear mathematical models. These were created with the goal of operating under motion analogous to the human hip, in either a state of repeatability, resorting to a robotic manipulator, as in empiric state, attaching it to one’s hip. The results revealed that the extrapolation of the obtained data from the trials obtained from the manipulator into a continuous human gait cycle presented a considerable degree of discrepancy with the empiric test. The best manipulator trial, obtained from one gait cycle period, when multiplied by cycles totals a harvested energy of , whilst the empiric rehearsal generated over the same gait cycle periods. Considering that the walking rehearse tested empirically presents motion approximately equivalent to the interior of a hip prosthesis, considerable energy harvesting to feed an intelligent implant was verified, although the tested generator’s dimensions are still relatively large