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This paper presents an overview of the widely used conventional linear actuator technologies and existing electroactive polymer-based linear and rotary actuators. It also provides the conceptual, control, and driver design considerations for a new dielectric electroactive polymer (DEAP)-based incremental actuator. The DEAP incremental actuator consists of three independent DEAP actuators with a unique...
The performance of the power take-off (PTO) system for a wave energy converter (WEC) depends largely on its control algorithm. This paper presents an adaptive damping control algorithm which improves power capture across a range of sea states. The comparison between this control algorithm and other active control approaches such as linear damping is presented. Short term wave elevation forecasting...
In obstacle-dense environments and uneven terrain, tumbling and jumping are efficient modes of locomotion for small robots. A miniature robot with hybrid motion patterns of tumbling and jumping for these environments and terrain is presented in this paper. The robot is 15cm long, 12cm wide, 4cm high, and 260g in weight with two 10cm long arms. The jumping energy is stored by using a reduction gearbox-cable...
Wave energy converter research continues to advance and new developers are continuing to emerge, leading to the need for a general modeling methodology. This work attempts to outline the design methodology necessary to perform frequency domain analysis on a generic wave energy converter. A two-body point absorber representing a generic popular design was chosen and a general procedure is presented...
High-frequent base balance (HFBB) was applied for the test of the three-component aerodynamic force coefficients of one streamlined bridge deck section model. Frequency spectrum analysis and digital filtering was performed for removing the inertia force caused by the vibration of the model system, by which the measurement accuracy can be improved. The torsional center eccentricity resulting from eccentric...
Correct analysis of creep and shrinkage effects on stress and deflection is very important for normal use and safety of steel-concrete composite beams. Based on the age-adjusted effective modulus method, this paper presents a simplified finite element model to analyze the creep and shrinkage of steel-concrete composite beams with partial interaction. Effects of the slip of shear connectors on stiffness...
In this paper, a systematic procedure is presented to analyze and design a stable fuzzy controller for a class of nonlinear systems. Based on the Popov-Lyapunovpsilas method, the flight model is described with the expertpsilas linguistic information involved. The linguistic information for the flight model is represented as fuzzy sets. First, we transform a fuzzy control system into a flight control...
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