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This paper presents a method of modeling and subsequently characterizing stochastically controlled actuator arrays. The actuator arrays are built from cells, each containing six piezoelectric actuators and an amplification structure; however the results can be generalized to actuator arrays using solenoids, pneumatic cylinders, or any other fast acting linear actuators. The cells are controlled using...
This paper presents a broadcast feedback approach to the distributed stochastic control of an actuator system consisting of many cellular units. This control architecture was inspired by skeletal muscles comprising a vast number of tiny functional units, called sarcomeres. The output of the actuator system is an aggregate effect of numerous cellular units, each taking a bistable on-off state. A central...
In this paper, the concept of broadcast feedback for stochastic cellular control systems is expanded to a system with nonuniform cellular length and nonuniform transition probability. The cellular control architecture was originally inspired by skeletal muscles comprising a vast number of tiny functional units, called sarcomeres. The output of the actuator system is an aggregate effect of numerous...
This paper presents a control architecture for artificial muscle materials such as shape memory alloys and polymer actuators. The active material is broken up into many small independent cells that can be regulated in a binary fashion into ON and OFF states, so that the actuator displacement is determined by the number of ON cells. In order to control the number of cells that contract, a novel closed...
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