Efficient Computational Model of Hysteresis

A recently developed mathematical model of the output (displacement) versus the input (applied voltage) of a piezoelectric transducer accounts for hysteresis. For the sake of computational speed, the model is kept simple by neglecting the dynamic behavior of the transducer. Hence, the model applies to static and quasistatic displacements only. A piezoelectric transducer of the type to which the model applies is used as an actuator in a computer-based control system to effect fine position adjustments. Because the response time of the rest of such a system is usually much greater than that of a piezoelectric transducer, the model remains an acceptably close approximation for the purpose of control computations, even though the dynamics are neglected. The model (see Figure 1) represents an electrically parallel, mechanically series combination of backlash elements, each having a unique deadband width and output gain. The zeroth element in the parallel combination has zero deadband width and, hence, represents a linear component of the input/output relationship. The other elements, which have nonzero deadband widths, are used to model the nonlinear components of the hysteresis loop. The deadband widths and output gains of the elements are computed from experimental displacement-versus-voltage data. The hysteresis curve calculated by use of this model is piecewise linear beyond deadband limits

Control Software for Piezo Stepping Actuators

A control system has been developed for the Space Interferometer Mission (SIM) piezo stepping actuator. Piezo stepping actuators are novel because they offer extreme dynamic range (centimeter stroke with nanometer resolution) with power, thermal, mass, and volume advantages over existing motorized actuation technology. These advantages come with the added benefit of greatly reduced complexity in the support electronics. The piezo stepping actuator consists of three fully redundant sets of piezoelectric transducers (PZTs), two sets of brake PZTs, and one set of extension PZTs. These PZTs are used to grasp and move a runner attached to the optic to be moved. By proper cycling of the two brake and extension PZTs, both forward and backward moves of the runner can be achieved. Each brake can be configured for either a power-on or power-off state. For SIM, the brakes and gate of the mechanism are configured in such a manner that, at the end of the step, the actuator is in a parked or power-off state. The control software uses asynchronous sampling of an optical encoder to monitor the position of the runner. These samples are timed to coincide with the end of the previous move, which may consist of a variable number of steps. This sampling technique linearizes the device by avoiding input saturation of the actuator and makes latencies of the plant vanish. The software also estimates, in real time, the scale factor of the device and a disturbance caused by cycling of the brakes. These estimates are used to actively cancel the brake disturbance. The control system also includes feedback and feedforward elements that regulate the position of the runner to a given reference position. Convergence time for smalland medium-sized reference positions (less than 200 microns) to within 10 nanometers can be achieved in under 10 seconds. Convergence times for large moves (greater than 1 millimeter) are limited by the step rate

Indoor Navigation using Direction Sensor and Beacons

A system for indoor navigation of a mobile robot includes (1) modulated infrared beacons at known positions on the walls and ceiling of a room and (2) a cameralike sensor, comprising a wide-angle lens with a position-sensitive photodetector at the focal plane, mounted in a known position and orientation on the robot. The system also includes a computer running special-purpose software that processes the sensor readings to obtain the position and orientation of the robot in all six degrees of freedom in a coordinate system embedded in the room

Optical Pointing Sensor

The optical pointing sensor provides a means of directly measuring the relative positions of JPL s Formation Control Testbed (FCT) vehicles without communication. This innovation is a steerable infrared (IR) rangefinder that gives measurements in terms of range and bearing to a passive retroreflector

Modeling of Piezoceramic Actuators for Control

In this chapter a full electromechanical model of piezoceramic actuators is presented. This model allows for easy integration of the piezo stack with a structural finite element model (FEM) and includes the flow of energy into and out of the piezo element, which is governed by the transducer constant of the piezo element. Modeling of the piezo stack capacitive hysteresis is achieved using backlash basis functions. The piezo model can also be used to predict the current usage of the PZT which depends on the slew rate of the voltage applied to the PZT. Data from laboratory experiments using a load frame and free response tests is used to estimate the PZT model parameters. In addition, a simplified model of a modulated full bridge strain gauge is derived based on test data which includes the effect of intrinsic bridge imbalance. Sensors of this type are often used with feedback control to linearize the behavior of the device. Taken together, the actuator and sensor model can be used for the development of piezo actuated control algorithms

Following the lead of Barack Obama, CNN, and Ashton Kutcher: Police departments’ use of Twitter

An increasing number of police departments are using Twitter to communicate with the public. As with any emerging communications technology, there is considerable variation in the usage of this medium. This study reports the results of a content analysis designed to determine how police departments are using Twitter

Measurement of Galactic Logarithmic Spiral Arm Pitch Angle Using Two-Dimensional Fast Fourier Transform Decomposition

A logarithmic spiral is a prominent feature appearing in a majority of observed galaxies. This feature has long been associated with the traditional Hubble classification scheme, but historical quotes of pitch angle of spiral galaxies have been almost exclusively qualitative. We have developed a methodology, utilizing two-dimensional fast Fourier transformations of images of spiral galaxies, in order to isolate and measure the pitch angles of their spiral arms. Our technique provides a quantitative way to measure this morphological feature. This will allow comparison of spiral galaxy pitch angle to other galactic parameters and test spiral arm genesis theories. In this work, we detail our image processing and analysis of spiral galaxy images and discuss the robustness of our analysis techniques.Comment: 23 pages, 22 figures, and 3 Tables; published in ApJS 199, 33 http://iopscience.iop.org/0067-0049/199/2/33/; software available for download at http://dafix.uark.edu/~ages/downloads.html and http://astro.host.ualr.edu/2DFFT