Title:
Mathematical modeling and control of a piezoelectric cellular actuator exhibiting quantization and flexibility

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dc.contributor.advisor Ueda, Jun
dc.contributor.author Schultz, Joshua Andrew en_US
dc.contributor.committeeMember Bassiri-Gharb, Nazanin
dc.contributor.committeeMember Egerstedt, Magnus
dc.contributor.committeeMember Singhose, William
dc.contributor.committeeMember Wang, Yang
dc.contributor.department Mechanical Engineering en_US
dc.date.accessioned 2013-01-17T21:00:28Z
dc.date.available 2013-01-17T21:00:28Z
dc.date.issued 2012-08-21 en_US
dc.description.abstract This thesis presents mathematical modeling and control techniques that can be used to predict and specify performance of biologically inspired actuation systems called cellular actuators. Cellular actuators are modular units designed to be connected in bundles in manner similar to human muscle fibers. They are characterized by inherent compliance and large numbers of on-off discrete control inputs. In this thesis, mathematical tools are developed that connect the performance to the physical manifestation of the device. A camera positioner inspired by the human eye is designed to demonstrate how these tools can be used to create an actuator with a useful force-displacement characteristic. Finally, control architectures are presented that use discrete switching inputs to produce smooth motion of these systems despite an innate tendency toward oscillation. These are demonstrated in simulation and experiment. en_US
dc.description.degree PhD en_US
dc.identifier.uri http://hdl.handle.net/1853/45776
dc.publisher Georgia Institute of Technology en_US
dc.subject System dynamics and control en_US
dc.subject Piezoelectric ceramics en_US
dc.subject Flexible mechanisms en_US
dc.subject Robotics en_US
dc.subject.lcsh Piezoelectric devices
dc.subject.lcsh Actuators
dc.subject.lcsh Automatic control
dc.subject.lcsh Robotics Human factors
dc.subject.lcsh Automation
dc.title Mathematical modeling and control of a piezoelectric cellular actuator exhibiting quantization and flexibility en_US
dc.type Text
dc.type.genre Dissertation
dspace.entity.type Publication
local.contributor.advisor Ueda, Jun
local.contributor.corporatename George W. Woodruff School of Mechanical Engineering
local.contributor.corporatename College of Engineering
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relation.isOrgUnitOfPublication c01ff908-c25f-439b-bf10-a074ed886bb7
relation.isOrgUnitOfPublication 7c022d60-21d5-497c-b552-95e489a06569
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