Experimental results for nonlinear flexure control using Shape Memory Alloy actuators
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Bibliographic record
Abstract
This paper presents experimental results for a nonlinear control scheme for controlling the deflection of a flexible beam using Shape Memory Alloy (SMA) actuators. These actuators possess interesting properties in terms of force generation capacity, possibility of miniaturization, and power consumption. However, their use in precision applications is hampered by undesirable characteristics such as nonlinearities, hysteresis, extreme temperature dependencies, and slow response. By taking into account the nonlinear and thermal characteristics, a control scheme based on partial feedback linearization is developed in order to regulate the forces exerted by a differential SMA actuator pair attached to a flexible beam. The regulated force corresponds to a specific position of the flexible beam; hence regulating the force results in position regulation. Furthermore, performance of the developed control scheme is tested experimentally on a laboratory testbed.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.001 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.001 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it