Page 73 - ASME DSCC 2015 Program

Technical Program

an active-passive vehicle suspension system and an active-passive Tuned
InVITED SESSIon
2-7-1 fM1 flexible and Smart Structure Control Mass Damper (TMD) system are designed by the proposed integrated
George Bellows A 1:30pm–3:30pm design method. The improvement of the overall system performance due to
the integrated design is also presented in comparison with the conventional
Session Chair: Dumitru Caruntu, University of Texas Pan design methods.
Session Co-Chair: Amit Sanyal, New Mexico State University optimal feedback Control of a flexible needle under Anatomical
Motion uncertainty
casimir and van der Waals effects on Voltage response of
Contributed regular paper. DSCC2015-9976
Electrostatically Actuated MEMS/nEMS Plates
Contributed regular paper. DSCC2015-9775 Javad Sovizi, University at Buffalo, Buffalo, NY, United States, Suren Kumar,
Venkat Krovi, University at Buffalo (SUNY Buffalo), Buffalo, NY, United
Dumitru Caruntu, Reynaldo oyervides, Valeria Garcia, University of Texas States
Pan American, Edinburg, TX, United States
Bevel-tip flexible needles allow for reaching remote/inaccessible organs
This paper deals with electrostatically actuated MEMS plates. The model while avoiding the obstacles (sensitive organs, bones, etc.). Motion planning
consists of a flexible MEMS plate above a parallel ground plate. An AC and control of such systems is a challenging problem due to the uncertainty
voltage of frequency near natural frequency of the plate provides the induced by needle-tissue interactions, anatomical motions (respiratory and
electrostatic force that actuates the flexible MEMS plate. This leads to para- cardiac induced motions), imperfect actuation, etc. In this paper, we use an
metric resonance. The effect of Casimir and/or van der Waals forces on the analogy where steering the needle in a soft tissue subject to the uncer-
voltage-amplitude response of the plate is investigated. tain anatomical motions is compared to the Dubins vehicle traveling in the
RoM of Superharmonic Resonance of Second order of Electrostatically stochastic wind field. Achieving the optimal feedback control policy requires
Actuated MEMS Resonators solution of a dynamic programming problem that is often computationally
Contributed regular paper. DSCC2015-9777 demanding. Efficiency is not central to many optimal control algorithms that
often need to be computed only once for a given system/noise statistics.
Dumitru Caruntu, Christian Reyes, University of Texas Pan American,
Edinburg, TX, United States However, intraoperative policy updates may be required for adaptive or
patient-specific models. We use the method of approximating Markov chain
This paper deals with the voltage-amplitude response (or voltage response)
to approximate the continuous (and controlled) process with its discrete and
of superharmonic resonance of second order of MEMS resonator sensors
locally consistent counterpart. We examine the linear programming method
under electrostatic actuation. The system consists of a MEMS flexible
of solving the imposed dynamic programming problem that significantly
cantilever above a parallel ground plate. The AC frequency of actuation is
improves the computational efficiency in comparison to the state-of-the-art
near one fourth the natural frequency. The voltage response of the super-
approaches. In addition, the probability of success and failure are simply
harmonic resonance of second order of the structure is investigated using
the variables of the linear optimization problem and can be directly used for
the Reduced Order Model (ROM) method. Effects of voltage and damping
different objective definitions. A numerical example of the 2D needle steer-
voltage response are reported.
ing problem is considered to investigate the effectiveness of the proposed
Integrating Structure and Control Design to Mechanical Systems via method.
decentralized control Techniques
InVITED SESSIon
Contributed regular paper. DSCC2015-9886
1-8-1 fM2 Bio Engineering Applications
Yilun liu, lei Zuo, Virginia Tech, Blacksburg, VA, United States George Bellows B 1:30pm–3:30pm
The overall performance of the mechanical system can be significantly
improved by concurrently optimizing the plant and the controller. This Session Chair: jinyu xie, Pennsylvania State University
paper proposes a new integrated design method via decentralized control Session Co-Chair: Davide Piovesan, Gannon University
techniques to concurrently optimize the structure and the controller, which
aims at minimizing the system H_2 norm from the disturbance to the system Minimization of Muscle fatigue as the Criterion to Solve Muscle forces-
cost. The integrated design problems have been formulated in the cases of Sharing Problem
Contributed regular paper. DSCC2015-9678
a full state feedback controller and a full order output feedback controller
respectively. Inspired by noticing that the control techniques are capable Reza Sharif Razavian, Canada, John McPhee, University of Waterloo,
of optimizing both the parameters of passive springs and dampers and the Waterloo, ON, Canada
controller for the mechanical system, we extend the current LTI control sys- Minimization of Muscle Fatigue as the Criterion to Solve Muscle Fores-shar-
tem to a more general framework suitable for the integrated design needs, ing Problem
where the structure design is treated as the passive control optimization
tackled by decentralized control techniques with static output feedback,
while the active controller is optimized by solving the modified Riccati
equations. With the extended system framework, we transfer the original
non-convex integrated optimization problem to an unconstrained optimiza-
tion problem by introducing Lagrange multipliers and a Lagrange function.
The gradient-based optimization method is employed to effectively find the 73
optimal solution of the integrated design. Two design examples including