Earlier research in the modeling and simulation of hybrid systems led to the development of a general hybrid systems modeling language (hsml). EEort is underway to implement this concept in software. The standard matlab model framework and integration algorithms have been extended to support state-event handling in continuous-time components and to handle embedded discrete-time components. In t...

The Series Elasic Actuator has been proposed as a method for providing safe force or torque based acutation for robots that interact with humans. In this paper we look at some outstanding issues in the implementaion and control of Series Elastic Actuators. The study addresses issues in making the Series Elastic Actuator respond effectively in the presence of physical difficulties such as sticti...

The growing demand for electro mobility together with advancing concepts for renewable energy as primary power sources requires sophisticated methods of energy storage. In this work, we present a Li ion battery based on Si nanowires, which can be produced reliable and cheaply and which shows superior properties, such as a largely increased capacity and cycle stability. Sophisticated methods bas...

We measure the adhesion energy of gold using a micromachined cantilever beam. Stress and stiffness of the beam are characterized by measuring the spectrum of mechanical vibrations and the deflection due to external force. We induce stiction between the beam and a nearby surface, employing capillary forces to determine the adhesion energy g . The obtained value g50.06 J/m is a factor of 6 smalle...

Resistive-type palladium structures for hydrogen sensing remains as a research focus for their simplicity in device construction. We demonstrate that a siloxane self-assembled monolayer placed between a substrate and an evaporated ultrathin Pd film promotes the formation of small Pd nanoclusters and reduces the stiction between the palladium and the substrate. The resulting Pd nanocluster film ...

This paper describes an approach for augmenting a linear controller design with a neural-network-based adaptive element. The basic approach involves formulating an architecture for which the associated error equations have a form suitable for applying existing results for adaptive output feedback control of nonlinear systems. The approach is applicable to non-affine, nonlinear systems with both...

Actuation by pushing has been studied as both an economic and flexible alternative to traditional pick-and-place part positioning. Pushing actuation reduces the need for specialized end effector tooling, and can simplify the underlying automation mechanism (e.g., a 2DOF rotational positioner in place of a 6-DOF robot). However, the interaction of the positioning command with the nonlinear behav...

We present a comprehensive study on a high reliability RF-MEMS switch with an active thermal recovery capability to counteract stiction. Applying finite element (FE) simulations we investigate the complete recovery process including mechanical, electrical, thermal and fluidic effects. The experimentally calibrated thermo-mechanical FE-model is used to extract key parameters of the recovery proc...

Earlier research in the modeling and simulation of hybrid systems led to the development of a general hybrid systems modeling language (hsml). Effort is underway to implement this concept in software. The standard matlab model framework and integration algorithms have been extended to support state-event handling in continuous-time components and to handle embedded discrete-time components. In ...

After testing each device on the old demonstration chip, new ways of improving it were explored. The previous test chip had several redundant devices which limited the opportunities to characterize the structural films. As a result, the next generation chip was laid out with new and redesigned devices that allow students to explore parameters and concepts significant to MEMS, i.e. stress, strai...