1. Univ logo High-Redundancy Linear Electro- mechanical Actuator for Fault Tolerance Hasmawati Antong Dr. Roger Dixon and Dr. Christopher Ward Loughborough University UKACC PhD Presentation Showcase

2. Univ logo UKACC PhD Presentation Showcase Slide 2 Introduction  Drawbacks of over-actuation  Increase size and cost  Employs only parallel configuration Reduces efficiency Useless if lock-up fault present  High-Redundancy Actuator (HRA)  A new concept to fault tolerant actuator  Actuation elements connected in series and parallel to form a single actuator  Improves reliability and availability  Reduce over-sizing

3. Univ logo UKACC PhD Presentation Showcase Slide 3 Research Objective and Proposed Configuration  Research objective: To demonstrate the concept of high-redundancy actuator To demonstrate the concept of high-redundancy actuator (HRA) with 12 elements (HRA) with 12 elements 3x4 series in parallel HRA Actuation element (linear EMA) HRA test rig

4. Univ logo UKACC PhD Presentation Showcase Slide 4 Work To Date 1) Actuator modeling 2) Simulation Result Actuator displacement : Single actuator = 12.5cm; HRA = 37cm Output force : Single actuator = 0.4N; HRA = 1.2N

5. Univ logo UKACC PhD Presentation Showcase Slide 5 Conclusion and future works  Conclusion  Model of the single actuator and HRA has been obtained  The HRA increase both displacement and force  Future Works 1) Real-time experiment 1) Real-time experiment 2) Fault-tolerant controller design 2) Fault-tolerant controller design 3) Health monitoring algorithm design 3) Health monitoring algorithm design 4) Evaluate performance of the overall system 4) Evaluate performance of the overall system