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SMA training in constant stress causes stabilized response. Since in engineering applications alloy stress isvariant,the aim of this study is to investigate SMAs response in some range of stresses.In this study, six SMA wires were trained in 30, 50, 100, 150, 200 and 250 MPa. At the next step, their recoverable strains were evaluated in 0-250 MPa.It was found that SMA wires that trained in 30, 150 and 200 MPa showedtow-way shape memory effect (TWSME). Also recoverable strains in stresses higher than 100 MPa are independent of training and in order to have better performance, stresses higher than 100 MPa are required. SMA wires trained in 180 and 200 MPa resulted in unstable behavior.

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In this study, the corrugated composite beam is actuated by shape memory alloy wire (SMAw). SMAw was placed on the surface of composite beam. Martensite to austenite transformation occurs by increasing of SMAw temperature. After transformation, SMAw length decrease and beam actuated. Beam displacement, force and current are measured and by A/D board transferred to computer. For evaluation of temperature in SMAw, the Heat transfer differential equation is used. Also Brinson’s model is used for modeling of SMA behavior. The results show that SMA behavior in Brinson’s model is good agreement whit experiments. But in lower temperatures than martensitic transformation state, the SMA stress is equal to zero in experiment unlike Brinson’s model. Also considering the SMA training and DSC test, for some temperatures in the experimental results, the start and end transformation temperatures are different to Brinson’s model. The results show as using SMAw in the corrugated composite, smart structures can be achieved that in corrugation direction is irritable, whereas in Perpendicular to the direction, corrugated composite bending strength is high that lead to using this structure in engineering application.

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In recent years many investigations have been performed on design and fabrication of micro mechanical manipulators. These manipulators have a wide application in industry specifically medical applications. A practical usage of this manipulator is endoscopy system. In the endoscopy system, we need a small manipulator with high maneuverability and flexible body to make the probe’s movement into a colon easier than classic manipulators. In this paper a basic flexible module is developed for use in this structure. Connecting three wires of shape memory alloy uniformly distributed in circumference of a compressive spring with angle of 120 degrees, it is possible to make an almost large displacement in the end planes with small strain of wires. In this paper, a model is developed to define the spring deformation which in the following is coupled with the model of SMA wire presented by Brinson to describe the module behavior definitely. Dynamic modeling and simulation is implemented in MATLAB-Simulink and module performance in addition to proper geometry for the considered application is extracted. Through the results of simulation verified by experiment, proper parameters of module for providing more deflection and rotation when activated by SMA are extracted.

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The scope of the current investigation incorporates the entire process involved in design and development of a Shape Memory Alloy (SMA) actuated wing intended to fulfill morphing missions. At the design step, a two Degree-of-Freedom (DOF) mechanism is designed that is appropriate for morphing wing applications. The mechanism is developed in such a way that it can undergo different two DOF, i.e. gull and sweep, so that the wing can have maneuvers that are more efficient. Smart materials commonly are selected as the actuators due to their suitable thermo-mechanical characteristics. Shape Memory Alloy (SMA) actuators are capable of providing more efficient mechanisms in comparison to the conventional actuators due to their large force/stroke generation, smaller size with high capabilities in limited spaces, and lower weight. As SMA wires have nonlinear hysteresis behavior, their modeling should be implemented in a meticulous way. In this work, after proposing a two DOF morphing wing, an aerodynamic analysis of the whole wing for unmorphed and morphed wings is presented. The results show that the performance of the morphed wing in special flight regimes is improved.

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The objective of this paper is to analyze the nonlinear vibrations of simply supported pseudoelastic shape memory alloy (SMA) cylindrical shell under harmonic internal pressure based on Donnell-type classical deformation shell theory. The pressure is a function of time and space. The behavior of pseudoelastic SMA is simulated via the Boyd–Lagoudas constitutive model numerically implemented by the Convex Cutting Plane Mapping algorithm. The Hamilton’s principle is employed to obtain the equations of motion. Differential Quadrature Method (DQM) and Newmark time integration scheme are applied to get the time and frequency responses of the cylinder. Also, the natural frequencies of the shell are obtained for the case of pure austenitic phase to compare the frequency response of the present nonlinear system (phase transformation –induced material nonlinearity) with the linear one around them. Results indicate that the strength of the material will decrease during the phase transformation. This fact is proved by the softening behavior observed in the frequency response of the system due to the phase transformation. Further, the pure austenitic phase shell is simulated in ABAQUS to verify the results. A good agreement is found between two outcomes.

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In this paper, by applying a new programming mode, thermomechanical behavior of activated composite with shape memory alloy fiber is extracted subjected to cyclic off axis loading using a 3D analytical micromechanical model. Object-orientation and its applied principles are implemented on the micromechanical model and response of the composite is determined by Newton - Raphson nonlinear numerical solution method at different thermal interval. In order to achieve an optimal response, a factor as convergence coefficient in the Newton - Raphson nonlinear solution method is employed. Representative volume element of the composite consists of two-phases including shape memory alloy fiber and metal matrix. behavior of the metallic matrix is considered as viscoplastic while shape memory alloys is assumed nonlinear inelastic based on Lagoudas model which is able to model phase transformation and superelastic behavior of the shape memory alloys. Moreover, arrangement of fibers within the matrix is considered randomly. Thermomechanical responses of composite at different temperature ranges are investigated to display the shape memory effect and superelasticity properties of shape memory fiber. In this regard, at the first, the composite system is exposed to cyclic mechanical loading and unloading and then exposed to thermal loading. Shape memory effect property of shape memory wire and composite are compared and the effects of forces within the active composite induced via axially constraining of the composite are investigated. Furthermore, the effect of fiber orientation is illustrated. Comparison between the present research results and previous available researches shows good agreement.

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Today, due to ever-increasing demand for fast and precise movements and changes, along with small-scale actuations in many engineering fields, the use and efficiency of smart materials has increased in importance. Magnetic Shape Memory Alloy (MSMA) is one of the latest smart materials having both shape memory and magnetic properties. As a matter of fact, in normal room temperatures, it has magnetic field-induced strains far more than any other smart materials such as magnetostrictive, piezoelectric or electrostrictive materials and its frequency response is greater than thermal shape memory alloy. However, on the downside, asymmetric hysteresis is a property that constrains its widespread applications. Prandtl-Ishlinskii model is one of the powerful phenomenological models for simulating asymmetric, non-linear hysteresis used to simulate smart material behavior. In the present study, MSMA hysteresis behavior simulation has been investigated through a new approach using generalized Prandtl-Ishlinskii model. After identifying the model parameters, the study compares the predicted output with the experimental results. For validation the model, using different data, model accuracy has been checked and prediction error has been compared. The experimental results have approved the capability of the model in predicting the hysteresis behavior. Thanks to invertible and simplicity potential of the generalized Prandtl-Ishlinskii model, the inverse of model can be applied as a feedforward controller for compensating the hysteresis behavior. It should also be noted that all the experimental results have been yielded through using experimental set-up.

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Continuum and flexible manipulators have a special role in medical applications. One application is robotic manipulators use for surgery or endoscopic tool use for inspection of body parts like esophagus or colon. In addition to small size, better maneuverability increases the tool performance in real applications. One of the useful actuators in miniaturizing mechatronic systems is shape memory alloys. The material which is usually used as a linear actuator produce high forces in comparison to weight. In this paper, embedding three shape memory springs inside the structure of a flexible module, a two-DOF mechanism is provided. The module has a rigorous usage in modular robotic systems especially flexible manipulators. The developed module produces large deflection in addition to covering a large workspace. Modeling of the module is discussed in this paper for extracting module parameters in design and implementing the simulation. Through the complex behavior of SMA and uncertainty in model, control of SMA is a challenge. In this paper using a novel algorithm, a desired shape for the module is provided. Using the new non model based control approach, the final shape or position is realized. The adequacy of introduced controller is verified through experiments. Large workspace and controllability of module make it feasible for real applications.

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Shape memory alloys (SMAs) are suitable candidates in various fields of engineering. One advantage of these alloys is their capabilities in developing high strain and force. In addition to these great features, lightweight and super-elastic behavior are other traits of these materials. These specifications are of such an importance that make SMAs to be suitably used in further engineering applications. However, their intrinsic hysteresis non-linear behavior make their usage as position actuators difficult. Despite this challenge, there are various methods proposed in the literatures to model the hysteresis behavior of such materials. In this paper, a generalized Prandtl- Ishlinskii model, because of its simplicity, efficiency and inverse analytical capability, has been used for modeling the SMA behavior. In addition, the hysteresis modeling has been validated via experimental data of one of the articles. In the control section, however, two control systems consisting PID and fuzzy sliding mode controllers have been used. Fuzzy sliding mode control system is a method that can be used in systems without mathematical model and leads to increase in their robustness. It is shown in this paper that by using this method, it is possible to apply a suitable control input to the system in order to vanish the error signal. However, by using PID controllers, the error signal is not acceptable due to the constant controller coefficients. The results indicate the more efficient performance of fuzzy sliding mode controller with respect to the classical PID controller.

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Shape Memory Alloy (SMA) wires are currently employed in robotics as actuators of prosthetic limbs and medical equipment due to advantages such as reducing the size in the application, high power-to-weight ratio and elimination of complex transmission systems. In this paper, a fuzzy control system has been designed and implemented for an artificial finger using the SMA actuators. This robotic finger has been designed and modeled with three revolute joints and three SMA wires as the tendon in order to adduction each phalange of the finger and torsional springs to restore them to their original positions. The dynamic model of the finger has been simulated in MATLAB/Simulation. Based on the simulation results, optimal choice of parameters and system features has been obtained and a prototype of finger has been built and tested. Gains of the controllers are set so that the current applied to SMA wires has minimum overshoot and the output of the system has minimal time to achieve stability. The comparison between the simulation results and the actual measured data show that the simulated model is accurate.

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The hysteresis nonlinearity of the Magnetic Shape Memory Alloy (MSMA) actuator limits its control applications. To tackle the problems, usually the hysteresis behavior of these materials is models. Prandtl-Ishlinskii (PI) model is more practical in this area, because of its simplicity and having analytical inverse. Two versions of this model, entitled: rate-independent model and rate-dependent model, have been developed. Experimental results show that with increasing input frequency, the shape of hysteresis loops is amplified. In this study, by using experimental test setup the input voltage is applied to the MSMA actuator at the frequencies 0.05- 0.4 Hz and the displacement output captured by proximity position sensor, also the MSMA is modeled by generalized rate-dependent Prandtl-Ishlinskii (GRDPI) model and modified generalized rate-dependent Prandtl-Ishlinskii (MGRDPI) model. The modified version of the model are presented by the authors to enhance the ability of the GRDPI model for describing the asymmetric and saturated hysteresis behavior in MSMAs by hyperbolic tangent function in the model output. For training of the mentioned models, the actuation frequencies 0.05 and 0.2 Hz are selected and the model parameters of each model are also obtained by using genetic algorithm (GA). For validation of the models the hysteresis loop at frequency 0.1, 0.3 and 0.4 Hz is selected. The result shows that, due to using hyperbolic tangent function in the model output, the modified version of the GRDPI model can describe the hysteresis behavior in MSMAs more accurately.

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In recent years, energy harvesting from ambient sources in order to use for low-powered electronics has been considered by many researchers. Wind energy, solar energy, water energy, mechanical energy from vibrations, etc are common sources of ambient energy. In this paper, optimization of energy harvesting from ambient vibration using magnetic shape memory alloy is presented. To this end, a clamped-clamped beam coupled with MSMA units is considered. A shock load is applied to a proof mass which is attached to the middle of the beam. As a result of beam vibration a longitudinal strain is produced in the MSMA. This strain changes magnetic flux inside the coil connected to MSMA and as a result, an AC voltage is induced in the coil. To have a reversible strain in MSMA, a bias magnetic field is applied in the transverse direction of MSMA units. The Euler-Bernoulli model with von Kármán theory and a thermodynamics-based constitutive model are used to predict the non-linear strain and magnetic response .Finally, Faraday's law of induction is used to predict the output voltage. After obtaining the governing equations, a design optimization is performed to find the optimal shape and configuration of the energy harvester together with the effects of proof mass and bias field.

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Magnetic shape memory alloys (MSMAs) are a new class of smart materials that exhibit characteristics of large recoverable strains and high frequency. These unique characteristics, make MSMAs interesting materials for applications such as actuators, sensors, and energy harvesters. This paper presents a two-dimensional phenomenological constitutive model for MSMAs, developed within the framework of irreversible continuum thermodynamics. To this end, a proper set of internal variables is introduced to reflect the microstructural consequences on the material macroscopic behavior. Moreover, a stress-dependent thermodynamic force threshold for variant reorientation is introduced which improves the model accuracy in multiaxial loadings. Preassumed kinetic equations for magnetic domain volume fractions, decoupled equations for magnetization unit vectors and appropriate presentation of the limit function for martensite variant reorientation lead to a simple formulation of the proposed constitutive model. To investigate the proposed model capability in predicting the behaviors of MSMAs, several numerical examples are solved and compared with available experimental data as well as constitutive models in the literature. Demonstrating good agreement with experimental data besides possessing computational advantages, the proposed constitutive model can be used for analysis of MSMA-based smart structures.

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In this study, design and analysis of a robotic mechanism, able to traverse low diameter pipes for inspection, maintenance or doing special tasks, has been addressed. Using a mechanism able to move properly along pipes with different diameter while having appropriate adaptability when passing complex routes or bends is so important. So, in this study, considering a simple mechanism based on utilizing shape memory alloy actuator, a micro-robot is designed for inspection of narrow pipes or channels. The robot has a suitable flexibility in addition to an appropriate adaptability for passing complex routes. The robot kinematics and dynamics is analyzed and dynamic equations of the robot are extracted and solved. The robot functionality in the simulation is verified through Adams and Matlab software. Finally, using a suitable controller the amount of robot traction force in addition to normal force between robot wheels and the inner surface of pipe has been measured and controlled. The simulation results predict the appropriate functionality and success of the robot in the inspection of pipes with varying diameter in horizontal, vertical or any other inclination state.

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In this paper, a thermodynamic based constitutive model used to model the behavior of magnetic shape memory alloy (MSMA) during applying strain in an energy harvester. In this type of energy harvester, applying strain changes the internal magnetization of MSMA and as a result changes the flux density around it. Using a coil the flux change can be converted to voltage. In order to study the effect of changing MSMA dimensions on the amount of harvested energy, the demagnetization factor for different dimensions derived from an analytic expression for ferromagnetic prisms and the results are validated by reference data. Increasing MSMA thickness results in increasing longitudinal demagnetization factor and decreasing transversal demagnetization factor. The constitutive model of MSMA is used in modeling an energy harvester using two different configurations; one a pickup coil turned around MSMA and second a system with ferromagnetic core to conduct magnetic flux and the pickup coil around core. Simulation of two models at different thicknesses shows that increasing thickness in system with coil around MSMA results in linear increase of voltage while this parameter in second configuration leads to a nonlinear increase of voltage. Furthermore, simulations show that increase of MSMA width, results in linear increase of output voltage in both configurations but with steepest rate for system with ferromagnetic core. Finally, increasing the length of MSMA specimen shows no changes in voltage for the system with coil around MSMA, while linear increase in voltage for the system with core is recorded.

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The fiber metal laminate composites a new generation of hybrid composites that have high strength to weight ratio. Good mechanical properties combining the properties of metals and fiber composites, led to the widespread use of composites in the industry, especially the aviation industry find. Add shape memory alloy to fiber metal laminate composite, due to super elasticity properties of alloy, makes the alloy formed during the impact hysteresis loop, will attract a lot of energy and impact properties of the fiber metal laminate composites increased. In this study, effects of different strains of nickel-titanium shape memory alloy wire high temperature, experimental in this type of composites against low speed impact using the impact falling, investigated. In metal part of fiber metal laminate composites, 2024-T3 aluminum alloy sheet and in composite part of glass fibers and epoxy resin is used. 6 wires with the pre strains 1, 2 and 3% in order to wrapping in the fibers metal laminate composites, was used. Increase the impact resistance of such composites by increasing pre strain as well as the energy absorbed by the shape memory alloy when impact, the results of this research was.

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Nowadays wobble motors are widely utilized as actuators with high torque rotary motion producing capability without the need for external gearbox. This study contains theoretical, numerical and experimental analysis of a planar wobble motor with compliant mechanism driven by shape memory alloy (SMA) wires. The cyclic expansion and contraction of SMA wires is converted to the plane curvilinear motion with circular path and then to the continuous unlimited rotary motion by means of a compliant mechanism and a gear system consisting of an internal and an external gear. After gear system designing based on achievable motion range caused by SMA wires length change, the relations between output torque, geometrical properties of motor and stress in SMA wire were derived. Also compliant mechanism parameters consisting of length, height, thickness and number of flexures were analyzed with the aim of mechanism stiffness calculating. Then the frequency analysis with finite element method is performed to investigate structural robustness and operational stability of designed mechanism. The designed motor is fabricated as a prototype to investigate its operational feasibility and working performances. The experimental results demonstrate motor capability in producing unlimited continuous rotary motion and repeatability of maximum output torque. The Maximum output torque was measured as 29.9, 32.7 and 34. 3mN.m for 1.6, 1.8 and 2v applied voltages respectively. With consideration of motor characteristics, it is appropriate for high torque and low speed applications with limited work space.

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Shape memory alloys are a category of smart materials which exhibit large deformations under temperature or magnetic stimuli due to micromechanical changes. These alloys offer a good potential in design of control systems, sensors and actuators due to two main effects called shape memory effect and superelastic effect. Main advantages of these systems are their small scale, low weight, low activation power, long life and high power to weight ratio. On the other hand, the main disadvantage of thermal ones is their low actuation frequency. In this work, inspired by human arm muscles, a new actuator is designed and its actuation time is minimized utilizing the thermoelectric effect. The process requires simultaneous analysis of heat transfer, constitutive equations, phase transformation and also the dynamic equations of the actuator. The dynamic response of the designed actuator is compared with the similar experimental data available in the literature and finally it is shown that, the actuation time of the proposed actuator can be reduced at least 50% thanks to the Peltier effect.

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Today fiber metal laminates (FMLs) by having good mechanical properties and low weight have been attention. The use of shape memory alloy (SMA) in the FMLs causes these alloys, under mechanical cyclic loading, by creation reversible hysteresis loop, can absorb or waste mechanical energy and causes amelioration of resistance against buckling instabilities of FMLs. In this study, the effect of increasing pre-strain and embedment SMA wire in far and near layers to neutral axis of FML, under static buckling were investigated. FMLs were contained epoxy resin and glass fibers and 2024-T3 Aluminum alloy. To investigate effect of pre-strain of SMA, the pre-strain of 1, 2 and 3 percent with fixed quantity 6 wires in these FMLs were tested. Due to investigate the position of embedment, the quantity of 4 wires with fixed 3% pre-strain, in far and near layers to neutral axis, are used. The results showed that the increase of pre-strain due to creation more tension of SMA during the fabrication of the specimens and the tendency of wires to return to its original shape during the test makes the structure more resistant against pressure loading. Also, the wires were placed in layers far from the neutral axis of the specimen as compared to near the neutral axis due to the greater effect of the bending resistance of the specimen during the buckling and the effect of the better return properties of SMA wires, causes to increasing resistance against instability and load tolerance limit in FMLs.

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In this study a novel solution method for dynamic analysis of clamped-free shape memory alloy beams is presented. It is assumed that the beam is entirely made of shape memory alloy. Based on Euler-Bernoulli beam theory the governing equations of motion and corresponding boundary conditions are derived by using extended Hamilton principle. In the derived PDEs the transformation strain is behaved as external force that changes with time and position. The Galrkin approach is employed to convert PDEs to ODE system equations of motion. The derived equations of motion are solved by using Newmark integration method. The shape memory alloy constitutive model that presented by Souza is applied for specifying the phase of material all over beam. The transformation strain as internal variable that is coupled with states of equations of motion is identified in every time and every position of beam by using return map algorithm. A parametric study on the control variables has been adopted and the results of parametric study are discussed. The results show that the hysteresis damping is increased by increasing the operating temperature. Moreover the damping of system is faster by increasing the initial displacement in free vibration.