Development of a Shape Memory Alloy Actuated Catheter for Cardiovascular Procedures

2008 ◽  
Author(s):  
Arun S. Veeramani ◽  
John H. Crews ◽  
Gregory D. Buckner ◽  
Stephen B. Owen ◽  
Richard C. Cook ◽  
...  
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Pid Control ◽  
Experimental Validation ◽  
Imaging System ◽  
System A ◽  
Atrial Ablation ◽  
Simulation Results ◽  
Hysteretic Characteristics ◽  
Memory Characteristics

This research highlights the design, fabrication and experimental validation of a Shape Memory Alloy (SMA) actuated robotic catheter. The prototype consists of four SMA tendons that actuate a central tubular substructure in two orthogonal directions. The experimental shape memory characteristics are used to optimize the design. Joule heating is used to generate tip deflections and the experimental bending characteristics are obtained using a dual camera imaging system. These measurements reveal important nonlinearities and hysteretic characteristics of the system. A dynamic model of the system is developed to describe the SMA-effected bending mechanics, and simulation results are compared to experimental measurements for model validation. The applicability of this technology to cardiovascular procedures, like atrial ablation, is demonstrated through precise tracking of trajectories using PID control.

Sub-Structure Pseudo-Dynamic Response Test of a Pseudo-Elastic Bracing System Made of Shape Memory Alloy

2005 ◽  
Vol 297-300 ◽  
pp. 628-634 ◽  
Author(s):  
Kenichi Ohi ◽  
Jae Hyouk Choi
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Original Position ◽  
Small Displacement ◽  
Structural System ◽  
Dynamic Tests ◽  
System A ◽  
Hysteretic Damper ◽  
Bracing System ◽  
Fail Safe

This paper deals with shape memory alloy. As a first step to assess the applicability of this kind of alloy in a structural system, a tension bar made of this kind of alloy that exhibits pseudo-elasticity at room temperature is used herein as a passive bracing system. This paper describes sub-structure pseudo-dynamic tests on pseudo-elastic bracing system with hysteretic damper. A pseudo-elastic bracing system is better to be used with other hysteretic elements such as a hysteretic damper. A damper provides energy dissipation within small displacement levels, and a pseudo-elastic bracing system works in turn as a back-up/fail-safe system when an accidental failure of damper or damper interface occurs, and also it helps to pull back the structure to the original position by uninstalling the damper after earthquake.

Research on Walking Mechanism Base on Biological Metal Fibre

2013 ◽  
Vol 785-786 ◽  
pp. 1267-1272
Author(s):  
Shi Ju E ◽  
Xuan Zhong Ding
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Trajectory Planning ◽  
New Type ◽  
Simulation Results ◽  
Metal Fibre ◽  
Walking Mechanism

A new walking mechanism base on biological metal fibre is study in the paper. It used a new type of shape memory alloy (biological metal fibre, BMF) as actuator. The multilegged walking mechanism is employ and study. Its mobile mechanism and trajectory planning is analysed so as to achieve miniaturization goals. The simulation results showed that the multilegged walking mechanism could be effectively driven by the actuator base on BMF.

Modelling and simulation of a novel shape memory alloy actuated compliant parallel manipulator

2008 ◽  
Vol 222 (6) ◽  
pp. 1049-1059 ◽  
Author(s):  
M Sreekumar ◽  
T Nagarajan ◽  
M Singaperumal
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Compliant Mechanism ◽  
Linear Analysis ◽  
Structural Member ◽  
Maximum Displacement ◽  
Element Analysis ◽  
Complex Behaviour ◽  
Spatial Parallel Mechanism ◽  
Simulation Results

This paper presents the non-linear analysis of a shape memory alloy (SMA) actuated fully compliant spatial parallel mechanism. A compliant mechanism made of SMA wires as its actuators and SMA pipe as its structural member that exploits both the shape memory and superelastic effects is proposed and its static analysis using ANSYS is presented in this study. Finite element analysis in a multi-physics environment considering geometric and material non-linearities helps the user to analyse complex behaviour of a system. For the proposed mechanism, simulation results show: (a) 4 per cent strain for SMA actuation is optimal considering the geometric non-linearity of the proposed mechanism for obtaining maximum displacement; (b) buckling effect is less predominant while implementing the superelastic behaviour; and (c) the mechanism can be designed as a compliant device with one or more inflexion points by exploiting the superelasticity of the SMA pipe. The knowledge obtained from the simulation study could help in further miniaturization of the manipulator.

Fuzzy PID Control and Simulation of Wind Power Generation Yaw System

2014 ◽  
Vol 953-954 ◽  
pp. 353-356 ◽  
Author(s):  
Fan Yang ◽  
Tong Yang ◽  
Xiao Hong Yang
Keyword(s):  
Pid Control ◽  
Pid Controller ◽  
Fuzzy Pid ◽  
Fuzzy Pid Control ◽  
Fuzzy Pid Controller ◽  
Time Performance ◽  
System A ◽  
Self Tuning ◽  
Simulation Results ◽  
The Stability

Aimed at the high inertia and non-linear characteristics of yaw system, a parameter self –tuning fuzzy PID controller is designed. The controller can adjust the PID parameters based on the wind direction variation, and make the turbines track the coming wind timely to obtain maximum power output. Simulation results show that the controller has good real-time performance and robustness compared with the traditional PID control. It can lower the fluctuation and overshoot, and improve the stability of the yaw system significantly.

Fuzzy PWM-PID control of cocontracting antagonistic shape memory alloy muscle pairs in an artificial finger

Mechatronics ◽  
2011 ◽  
Vol 21 (7) ◽  
pp. 1190-1202 ◽  
Author(s):  
Junghyuk Ko ◽  
Martin B. Jun ◽  
Gabriele Gilardi ◽  
Edmund Haslam ◽  
Edward J. Park
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Pid Control
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