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A portable air jet actuator device for mechanical system identification.

Bibliographic Details
Title: A portable air jet actuator device for mechanical system identification.
Authors: Belden, Jesse, Staats, Wayne L., Mazumdar, Anirban, Hunter, Ian W.
Source: Review of Scientific Instruments; Mar2011, Vol. 82 Issue 3, p035106, 9p, 2 Color Photographs, 4 Diagrams, 1 Chart, 6 Graphs
Subject Terms: Actuators, Air jets, System identification, Robot motion, Robot control systems, Robotics, Inertia (Mechanics)
Abstract: System identification of limb mechanics can help diagnose ailments and can aid in the optimization of robotic limb control parameters and designs. An interesting fluid phenomenon-the Coandă effect-is utilized in a portable actuator to provide a stochastic binary force disturbance to a limb system. The design of the actuator is approached with the goal of creating a portable device which could be deployed on human or robotic limbs for in situ mechanical system identification. The viability of the device is demonstrated by identifying the parameters of an underdamped elastic beam system with fixed inertia and stiffness and variable damping. The nonparametric compliance impulse response yielded from the system identification is modeled as a second-order system and the resultant parameters are found to be in excellent agreement with those found using more traditional system identification techniques. The current design could be further miniaturized and developed as a portable, wireless, unrestrained mechanical system identification instrument for less intrusive and more widespread use. [ABSTRACT FROM AUTHOR]
Copyright of Review of Scientific Instruments is the property of American Institute of Physics and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
Database: Complementary Index
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  Label: Title
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  Data: A portable air jet actuator device for mechanical system identification.
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  Data: <searchLink fieldCode="AR" term="%22Belden%2C+Jesse%22">Belden, Jesse</searchLink><br /><searchLink fieldCode="AR" term="%22Staats%2C+Wayne+L%2E%22">Staats, Wayne L.</searchLink><br /><searchLink fieldCode="AR" term="%22Mazumdar%2C+Anirban%22">Mazumdar, Anirban</searchLink><br /><searchLink fieldCode="AR" term="%22Hunter%2C+Ian+W%2E%22">Hunter, Ian W.</searchLink>
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  Data: Review of Scientific Instruments; Mar2011, Vol. 82 Issue 3, p035106, 9p, 2 Color Photographs, 4 Diagrams, 1 Chart, 6 Graphs
– Name: Subject
  Label: Subject Terms
  Group: Su
  Data: <searchLink fieldCode="DE" term="%22Actuators%22">Actuators</searchLink><br /><searchLink fieldCode="DE" term="%22Air+jets%22">Air jets</searchLink><br /><searchLink fieldCode="DE" term="%22System+identification%22">System identification</searchLink><br /><searchLink fieldCode="DE" term="%22Robot+motion%22">Robot motion</searchLink><br /><searchLink fieldCode="DE" term="%22Robot+control+systems%22">Robot control systems</searchLink><br /><searchLink fieldCode="DE" term="%22Robotics%22">Robotics</searchLink><br /><searchLink fieldCode="DE" term="%22Inertia+%28Mechanics%29%22">Inertia (Mechanics)</searchLink>
– Name: Abstract
  Label: Abstract
  Group: Ab
  Data: System identification of limb mechanics can help diagnose ailments and can aid in the optimization of robotic limb control parameters and designs. An interesting fluid phenomenon-the Coandă effect-is utilized in a portable actuator to provide a stochastic binary force disturbance to a limb system. The design of the actuator is approached with the goal of creating a portable device which could be deployed on human or robotic limbs for in situ mechanical system identification. The viability of the device is demonstrated by identifying the parameters of an underdamped elastic beam system with fixed inertia and stiffness and variable damping. The nonparametric compliance impulse response yielded from the system identification is modeled as a second-order system and the resultant parameters are found to be in excellent agreement with those found using more traditional system identification techniques. The current design could be further miniaturized and developed as a portable, wireless, unrestrained mechanical system identification instrument for less intrusive and more widespread use. [ABSTRACT FROM AUTHOR]
– Name: Abstract
  Label:
  Group: Ab
  Data: <i>Copyright of Review of Scientific Instruments is the property of American Institute of Physics and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
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RecordInfo BibRecord:
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    Identifiers:
      – Type: doi
        Value: 10.1063/1.3562894
    Languages:
      – Code: eng
        Text: English
    PhysicalDescription:
      Pagination:
        PageCount: 9
        StartPage: 035106
    Subjects:
      – SubjectFull: Actuators
        Type: general
      – SubjectFull: Air jets
        Type: general
      – SubjectFull: System identification
        Type: general
      – SubjectFull: Robot motion
        Type: general
      – SubjectFull: Robot control systems
        Type: general
      – SubjectFull: Robotics
        Type: general
      – SubjectFull: Inertia (Mechanics)
        Type: general
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      – TitleFull: A portable air jet actuator device for mechanical system identification.
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            NameFull: Belden, Jesse
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            NameFull: Staats, Wayne L.
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            NameFull: Mazumdar, Anirban
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            NameFull: Hunter, Ian W.
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          Dates:
            – D: 01
              M: 03
              Text: Mar2011
              Type: published
              Y: 2011
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              Value: 82
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            – TitleFull: Review of Scientific Instruments
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