Due to actuator time delay existing in an adaptive control of the active balancing system for a fast speed-varying Jeffcott rotor, if an unsynchronized control force (correction imbalance) is applied to the system, it...Due to actuator time delay existing in an adaptive control of the active balancing system for a fast speed-varying Jeffcott rotor, if an unsynchronized control force (correction imbalance) is applied to the system, it may lead to degradation in control efficiency and instability of the control system. In order to avoid these shortcomings, a simple adaptive controller was designed for a strictly positive real rotor system with actuator time delay, then a Lyapunov-Krasovskii functional was constructed after an appropriate transform of this sys-tem model, the stability conditions of this adaptive control system with actuator time delay were derived. After adding a filter function, the active balancing system for the fast speed-varying Jeffcott rotor with actuator time delay can easily be converted to a strictly positive real system, and thus it can use the above adaptive controller satisfying the stability conditions. Finally, numerical simulations show that the adaptive controller proposed works very well to perform the active balancing for the fast speed-varying Jeffcott rotor with actuator time delay.展开更多
Theα-Ga2 O_(3)nanorod array is grown on FTO by hydrothermal and annealing processes.And a self-powered PEDOT:PSS/α-Ga_(2)O_(3)nanorod array/FTO(PGF)photodetector has been demonstrated by spin coating PEDOT:PSS on th...Theα-Ga2 O_(3)nanorod array is grown on FTO by hydrothermal and annealing processes.And a self-powered PEDOT:PSS/α-Ga_(2)O_(3)nanorod array/FTO(PGF)photodetector has been demonstrated by spin coating PEDOT:PSS on theα-Ga_(2)O_(3)nanorod array.Successfully,the PGF photodetector shows solar-blind UV/visible dual-band photodetection.Our device possesses comparable solar-blind UV responsivity(0.18 mA/W at 235 nm)and much faster response speed(0.102 s)than most of the reported self-poweredα-Ga_(2)O_(3)nanorod array solar-blind UV photodetectors.And it presents the featured and distinguished visible band photoresponse with a response speed of 0.136 s at 540 nm.The response time is also much faster than the other non-self-poweredβ-Ga_(2)O_(3)DUV/visible dual-band photodetectors due to the fast-speed separation of photogenerated carries by the built-in electric field in the depletion regions of PEDOT:PSS/α-Ga_(2)O_(3)heterojunction.The results herein may prove a promising way to realize fast-speed self-poweredα-Ga_(2)O_(3)photodetectors with solar-blind UV/visible dual-band photodetection by simple processes for the applications of multiple-target tracking,imaging,machine vision and communication.展开更多
Grasping of complicated objects is an active research area which is developing fast throughout the years. Soft grippers can be an effective solution, since they are capable of holding workpieces of various shapes and ...Grasping of complicated objects is an active research area which is developing fast throughout the years. Soft grippers can be an effective solution, since they are capable of holding workpieces of various shapes and interacting with unstructured environments effectively. Soft grippers generally consist of soft, flexible and compliant materials, which are able to conform to the shape of the object so that the gripper will not deform or bruise the soft object. Fast grasping of objects with various sizes and shapes remains a challenging task for soft grippers. In the present article, a soft gripper based on bi-stable dielectric elastomer actuator(DEA) inspired by the insect-catching ability of the Venus flytrap, is designed. This soft gripper can achieve good performances in grasping various objects by a simple actuation system. The gripper can switch from one stable state to another when subject to an impulse voltage of 0.04 s. The time duration for each grasping action is 0.17 s, and no continuous voltage is required for holding the gripped object. Thus, energy consumption can be achieved as low as 0.1386 J per grasping action. The mechanism of achieving bi-stable states is related to the duration of impulse voltage applied and the resonant frequency of the structure. The present study demonstrates that bi-stable dielectric elastomer actuators are capable of achieving fast speed for grasping with very low energy consumption, which is significant in the applications to soft grippers and biomimetic robots.展开更多
A fast-speed pulse detector based on n-type Si-Sehottky diode mounted in the waveguide is investigated. The relation of the fast-speed pulse detector between response time and 3 dB bandwidth is analyzed. By adopting t...A fast-speed pulse detector based on n-type Si-Sehottky diode mounted in the waveguide is investigated. The relation of the fast-speed pulse detector between response time and 3 dB bandwidth is analyzed. By adopting the tunable circuit, the matched bandwidth is achieved as wide as possible. Experi- mental results show that the pulse response time of the detector is less than 150 ps within random carrier signal 500 MHz bandwidth range between 35 GHz to 39 GHz via tuning circuit. The detector is very easy to operate because it does not need bias current or synch-pulse source.展开更多
In this paper,a fast-speed and real-time online rail inspection method based on half-cycle orthogonal power demodulation algorithm is proposed.For this method,the power characters of de-tection signal which represent ...In this paper,a fast-speed and real-time online rail inspection method based on half-cycle orthogonal power demodulation algorithm is proposed.For this method,the power characters of de-tection signal which represent the degree of rail track can be calculated using only half-cycle detec-tion signal because of the symmetry characteristic of detected sine signal and reference signal.The theoretical analysis,simulation results and experiment results show that the demodulation preci-sion of proposed method is almost equal to fast Fourier transform(FFT)demodulation method and orthogonal demodulation method,but has high demodulation efficiency and less FPGA resources cost.A high-speed experiment system based on three coils structured sensor is built for rail inspec-tion experiment at a moving speed of 200 km/h.The experiment results show that proposed meth-od is more effective for rail inspection and the time resolution of proposed method is double of clas-sic method that based on FFT and orthogonal.展开更多
文摘Due to actuator time delay existing in an adaptive control of the active balancing system for a fast speed-varying Jeffcott rotor, if an unsynchronized control force (correction imbalance) is applied to the system, it may lead to degradation in control efficiency and instability of the control system. In order to avoid these shortcomings, a simple adaptive controller was designed for a strictly positive real rotor system with actuator time delay, then a Lyapunov-Krasovskii functional was constructed after an appropriate transform of this sys-tem model, the stability conditions of this adaptive control system with actuator time delay were derived. After adding a filter function, the active balancing system for the fast speed-varying Jeffcott rotor with actuator time delay can easily be converted to a strictly positive real system, and thus it can use the above adaptive controller satisfying the stability conditions. Finally, numerical simulations show that the adaptive controller proposed works very well to perform the active balancing for the fast speed-varying Jeffcott rotor with actuator time delay.
基金Project supported by the National Natural Science Foundation of China(Grant No.61705155)。
文摘Theα-Ga2 O_(3)nanorod array is grown on FTO by hydrothermal and annealing processes.And a self-powered PEDOT:PSS/α-Ga_(2)O_(3)nanorod array/FTO(PGF)photodetector has been demonstrated by spin coating PEDOT:PSS on theα-Ga_(2)O_(3)nanorod array.Successfully,the PGF photodetector shows solar-blind UV/visible dual-band photodetection.Our device possesses comparable solar-blind UV responsivity(0.18 mA/W at 235 nm)and much faster response speed(0.102 s)than most of the reported self-poweredα-Ga_(2)O_(3)nanorod array solar-blind UV photodetectors.And it presents the featured and distinguished visible band photoresponse with a response speed of 0.136 s at 540 nm.The response time is also much faster than the other non-self-poweredβ-Ga_(2)O_(3)DUV/visible dual-band photodetectors due to the fast-speed separation of photogenerated carries by the built-in electric field in the depletion regions of PEDOT:PSS/α-Ga_(2)O_(3)heterojunction.The results herein may prove a promising way to realize fast-speed self-poweredα-Ga_(2)O_(3)photodetectors with solar-blind UV/visible dual-band photodetection by simple processes for the applications of multiple-target tracking,imaging,machine vision and communication.
基金supported by MOE Tier 1,Singapore(Grant No.R-265-000-609-114)the ASTAR,Singapore(Grant No.R-265-000-629-305)
文摘Grasping of complicated objects is an active research area which is developing fast throughout the years. Soft grippers can be an effective solution, since they are capable of holding workpieces of various shapes and interacting with unstructured environments effectively. Soft grippers generally consist of soft, flexible and compliant materials, which are able to conform to the shape of the object so that the gripper will not deform or bruise the soft object. Fast grasping of objects with various sizes and shapes remains a challenging task for soft grippers. In the present article, a soft gripper based on bi-stable dielectric elastomer actuator(DEA) inspired by the insect-catching ability of the Venus flytrap, is designed. This soft gripper can achieve good performances in grasping various objects by a simple actuation system. The gripper can switch from one stable state to another when subject to an impulse voltage of 0.04 s. The time duration for each grasping action is 0.17 s, and no continuous voltage is required for holding the gripped object. Thus, energy consumption can be achieved as low as 0.1386 J per grasping action. The mechanism of achieving bi-stable states is related to the duration of impulse voltage applied and the resonant frequency of the structure. The present study demonstrates that bi-stable dielectric elastomer actuators are capable of achieving fast speed for grasping with very low energy consumption, which is significant in the applications to soft grippers and biomimetic robots.
基金supported by the National Natural Science Foundation of China under Grant No. 60801028the Specialized Research fund for the Doctoral Program of Higher Education of China under Grant No. 20070614034
文摘A fast-speed pulse detector based on n-type Si-Sehottky diode mounted in the waveguide is investigated. The relation of the fast-speed pulse detector between response time and 3 dB bandwidth is analyzed. By adopting the tunable circuit, the matched bandwidth is achieved as wide as possible. Experi- mental results show that the pulse response time of the detector is less than 150 ps within random carrier signal 500 MHz bandwidth range between 35 GHz to 39 GHz via tuning circuit. The detector is very easy to operate because it does not need bias current or synch-pulse source.
基金supported by the National Natural Science Found-ation of China(No.61771041).
文摘In this paper,a fast-speed and real-time online rail inspection method based on half-cycle orthogonal power demodulation algorithm is proposed.For this method,the power characters of de-tection signal which represent the degree of rail track can be calculated using only half-cycle detec-tion signal because of the symmetry characteristic of detected sine signal and reference signal.The theoretical analysis,simulation results and experiment results show that the demodulation preci-sion of proposed method is almost equal to fast Fourier transform(FFT)demodulation method and orthogonal demodulation method,but has high demodulation efficiency and less FPGA resources cost.A high-speed experiment system based on three coils structured sensor is built for rail inspec-tion experiment at a moving speed of 200 km/h.The experiment results show that proposed meth-od is more effective for rail inspection and the time resolution of proposed method is double of clas-sic method that based on FFT and orthogonal.
