Aiming at the problem that it is difficult to generate the dynamic decoupling equation of the parallel six-dimensional acceleration sensing mechanism,two typical parallel six-dimensional acceleration sensing mechanism...Aiming at the problem that it is difficult to generate the dynamic decoupling equation of the parallel six-dimensional acceleration sensing mechanism,two typical parallel six-dimensional acceleration sensing mechanisms are taken as examples.By analyzing the scale constraint relationship between the hinge points on the mass block and the hinge points on the base of the sensing mechanism,a new method for establishing the dynamic equation of the sensing mechanism is proposed.Firstly,based on the scale constraint relationship between the hinge points on the mass block and the hinge points on the base of the sensing mechanism,the expression of the branch rod length is obtained.The inherent constraint relationship between the branches is excavated and the branch coordination closed chain of the“12-6”configuration is constructed.The output coordination equation of the sensing mechanism is successfully derived.Secondly,the dynamic equations of“12-4”and“12-6”configurations are constructed by the Newton-Euler method,and the forward decoupling equations of the two configurations are solved by combining the dynamic equations and the output coordination equations.Finally,the virtual prototype experiment is carried out,and the maximum reference errors of the forward decoupling equations of the two configuration sensing mechanisms are 4.23%and 6.53%,respectively.The results show that the proposed method is effective and feasible,and meets the real-time requirements.展开更多
A novel mobile self-reconfigurable robot is presented. This robot consists of several independent units. Each unit is composed of modular components including ultrasonic sensor, camera, communication, computation, and...A novel mobile self-reconfigurable robot is presented. This robot consists of several independent units. Each unit is composed of modular components including ultrasonic sensor, camera, communication, computation, and mobility parts, and is capable of simple self-reconfiguring to enhance its mobility by expanding itself. Several units can not only link into a train or other shapes autonomously via camera and sensors to be a united whole robot for obstacle clearing, but also disjoin to be separate units under control after missions. To achieve small overall size, compact mechanical structures are adopted in modular components design, and a miniature advanced RISC machines （ARM） based embedded controller is developed for minimal power consumption and efficient global control. The docking experiment between two units has also been implemented.展开更多
A multi-layer controller architecture based on digital signal processor （DSP） and on-chip MCU was proposed for multi-sensor information acquisition system; it consisted of a data acquisition unit and a data fusion u...A multi-layer controller architecture based on digital signal processor （DSP） and on-chip MCU was proposed for multi-sensor information acquisition system; it consisted of a data acquisition unit and a data fusion unit, and used a host controller to connect the two units into an integrated system. Compared with architectures of traditional acquisition system, this architecture had good openness and good adaptability of algorithms in hardware. To validate its feasibility, a small-scale prototype was cleverly designed, which adopted ADμCS12, TMS320F206 and 89C51 as controllers, and had 16-channel ADC and 12- channel DAC with high accuracy of 12-bit. The interfaces between different controllers were introduced in detail. Some basic parameters of the prototype were presented by board-level tests and by comparison with other two systems. The prototype was employed to provide on-line state measurement, parameter estimation and decision-making for trajectory tracking of wheeled mobile robot. Experimental results show that the prototype achieves the goals of data acquisition, fusion and control perfectly.展开更多
With the idea of mechatronic integration,a novel finger of the dextrous robot hand has been designed. The finger with nice envelop has four joints with three DOFs driven by three brushless DC motors with smaller size ...With the idea of mechatronic integration,a novel finger of the dextrous robot hand has been designed. The finger with nice envelop has four joints with three DOFs driven by three brushless DC motors with smaller size and more torque. The use of rigid gear head,bevel gears and linkage in the transmission system makes the finger more rigid. Abundant sensors such as joint angle sensors,joint torque sensors and temperature sensors are located in the finger. Integration and modularization are achieved at most by high integration of finger body,driving system,sensors and electronics.展开更多
In order to ensure the testing range and long-term reliability of the fiber Bragg grating （FBG） used for the smart cable, a smart cable embedded with FBG strain sensors based on the desensitized encapsulation struct...In order to ensure the testing range and long-term reliability of the fiber Bragg grating （FBG） used for the smart cable, a smart cable embedded with FBG strain sensors based on the desensitized encapsulation structure was designed. For a smart cable specimen, the fatigue loading experiments with the cycle from 100 thousands to 2 million and 0.95 times nominal breaking cable force （Pb） were carried out, which tested the long-serving effects of the smart cable. The test results of the static tension loading and unloading during the stepwise fatigue cycle process showed that the encapsulated FBG strain sensors had the good linearity and repeatability. Also all sensors survived after 2 million times fatigue cycle. 0.95Pb static tension test showed that the encapsulated FBG strain sensors embedded inside the cable reached 4.5% testing accuracy in the 0.86Pb working range. After 0.95Pb static tension test, the dissection test was carried out by breaking the force tension. The results showed that the appearances of the encapsulated sensors were good, and the design structures were not changed and damaged.展开更多
Organic micro/nanocrystals based on small organic molecules have drawn extensive attention due to their potential application in organic field-effect transistors,electrochemical sensors,solar cells,etc.Herein,the rece...Organic micro/nanocrystals based on small organic molecules have drawn extensive attention due to their potential application in organic field-effect transistors,electrochemical sensors,solar cells,etc.Herein,the recent advances for organic micro/nanocrystals from the perspective of molecule aggregation mode,morphology modulation,and optical property modulation are reviewed.The stacking mode and the intermolecular interaction depend on the molecular structure,which eventually determines the morphology of organic micro/nanocrystals.The morphologies of the organic micro/nanocrystals make the aggregates exhibit photon confinement or light-guiding properties as organic miniaturized optoelectronic devices.In this review,we conclude with a summary and put forward our perspective on the current challenges and the future development of morphology and optical tunable direction for the organic micro/nanocrystals.展开更多
Various nanostructures of the organic semiconductor (OSC)films have been reported to enhance the organic field-effect transistors (OFETs)sensing performance. However,complicated fabrication processes hinder their ap- ...Various nanostructures of the organic semiconductor (OSC)films have been reported to enhance the organic field-effect transistors (OFETs)sensing performance. However,complicated fabrication processes hinder their ap- plications.In this work,we have effectively enhanced the sensitivity of the OFET-based sensors only by adjusting substrate temperature in OSC preparation and surface treatment of the dielectric layer.The relative sensitivity of the device can be enhanced by 5 times.The flexible sensors with polymer dielectric also exhibit high sensitivity because the less smooth surface of the polymer provides the OSCs with smaller grain size.Therefore,this work reveals the trade-off effects of the OSCs grain size on both transistor characteristic and chemic.al sensing performance,and provides a simple and extensively applicable strategy for OFETs sensitivity improvement.展开更多
Using the acoustic emission locating technology to monitor the health of the structure is important for ensuring the continuous and healthy operation of the complex engineering structures and large mechanical equipmen...Using the acoustic emission locating technology to monitor the health of the structure is important for ensuring the continuous and healthy operation of the complex engineering structures and large mechanical equipment. In this paper, four fiber Bragg grating(FBG) sensors are used to establish the sensor array to locate the acoustic emission source. Firstly, the nonlinear locating equations are established based on the principle of acoustic emission, and the solution of these equations is transformed into an optimization problem. Secondly, time difference extraction algorithm based on the phase transform(PHAT) weighted generalized cross correlation provides the necessary conditions for the accurate localization. Finally, the genetic algorithm(GA) is used to solve the optimization model. In this paper, twenty points are tested in the marble plate surface, and the results show that the absolute locating error is within the range of 10 mm, which proves the accuracy of this locating method.展开更多
基金supported in part by the National Natural Science Foundation of China(No.51405237)。
文摘Aiming at the problem that it is difficult to generate the dynamic decoupling equation of the parallel six-dimensional acceleration sensing mechanism,two typical parallel six-dimensional acceleration sensing mechanisms are taken as examples.By analyzing the scale constraint relationship between the hinge points on the mass block and the hinge points on the base of the sensing mechanism,a new method for establishing the dynamic equation of the sensing mechanism is proposed.Firstly,based on the scale constraint relationship between the hinge points on the mass block and the hinge points on the base of the sensing mechanism,the expression of the branch rod length is obtained.The inherent constraint relationship between the branches is excavated and the branch coordination closed chain of the“12-6”configuration is constructed.The output coordination equation of the sensing mechanism is successfully derived.Secondly,the dynamic equations of“12-4”and“12-6”configurations are constructed by the Newton-Euler method,and the forward decoupling equations of the two configurations are solved by combining the dynamic equations and the output coordination equations.Finally,the virtual prototype experiment is carried out,and the maximum reference errors of the forward decoupling equations of the two configuration sensing mechanisms are 4.23%and 6.53%,respectively.The results show that the proposed method is effective and feasible,and meets the real-time requirements.
基金Supported by the National High Technology Research and Development Programme of China ( No. 2004AA420110)Heilongjiang Province Technology Foundation (No. GB04A502)
文摘A novel mobile self-reconfigurable robot is presented. This robot consists of several independent units. Each unit is composed of modular components including ultrasonic sensor, camera, communication, computation, and mobility parts, and is capable of simple self-reconfiguring to enhance its mobility by expanding itself. Several units can not only link into a train or other shapes autonomously via camera and sensors to be a united whole robot for obstacle clearing, but also disjoin to be separate units under control after missions. To achieve small overall size, compact mechanical structures are adopted in modular components design, and a miniature advanced RISC machines （ARM） based embedded controller is developed for minimal power consumption and efficient global control. The docking experiment between two units has also been implemented.
文摘A multi-layer controller architecture based on digital signal processor （DSP） and on-chip MCU was proposed for multi-sensor information acquisition system; it consisted of a data acquisition unit and a data fusion unit, and used a host controller to connect the two units into an integrated system. Compared with architectures of traditional acquisition system, this architecture had good openness and good adaptability of algorithms in hardware. To validate its feasibility, a small-scale prototype was cleverly designed, which adopted ADμCS12, TMS320F206 and 89C51 as controllers, and had 16-channel ADC and 12- channel DAC with high accuracy of 12-bit. The interfaces between different controllers were introduced in detail. Some basic parameters of the prototype were presented by board-level tests and by comparison with other two systems. The prototype was employed to provide on-line state measurement, parameter estimation and decision-making for trajectory tracking of wheeled mobile robot. Experimental results show that the prototype achieves the goals of data acquisition, fusion and control perfectly.
基金Sponsored by the High Technology Research and Development Program of China(Grant No.2008AA04Z203)Development Program for Outstanding Young Teachers in Harbin Institute of Technology(Grant No.HITQNJS.2008.010)
文摘With the idea of mechatronic integration,a novel finger of the dextrous robot hand has been designed. The finger with nice envelop has four joints with three DOFs driven by three brushless DC motors with smaller size and more torque. The use of rigid gear head,bevel gears and linkage in the transmission system makes the finger more rigid. Abundant sensors such as joint angle sensors,joint torque sensors and temperature sensors are located in the finger. Integration and modularization are achieved at most by high integration of finger body,driving system,sensors and electronics.
基金The research work reported in this paper was jointly supported by the National Engineering Laboratory for Fiber Optic Sensing Technology, Wuhan University of Technology, China and FASTEN Group Company. Thanks to the support of Wuhan City Building Research Funds （201310）, the Fundamental Research Funds for the Central Universities （WUT： 2014-IV-090）, and the National Natural Science Foundation of China （Major Program： 61290310）. Open Access This article is distributed under the terms of the Creative Commons Attribution License which permits any use, distribution, and reproduction in any medium, provided the original author（s） and source are credited.
文摘In order to ensure the testing range and long-term reliability of the fiber Bragg grating （FBG） used for the smart cable, a smart cable embedded with FBG strain sensors based on the desensitized encapsulation structure was designed. For a smart cable specimen, the fatigue loading experiments with the cycle from 100 thousands to 2 million and 0.95 times nominal breaking cable force （Pb） were carried out, which tested the long-serving effects of the smart cable. The test results of the static tension loading and unloading during the stepwise fatigue cycle process showed that the encapsulated FBG strain sensors had the good linearity and repeatability. Also all sensors survived after 2 million times fatigue cycle. 0.95Pb static tension test showed that the encapsulated FBG strain sensors embedded inside the cable reached 4.5% testing accuracy in the 0.86Pb working range. After 0.95Pb static tension test, the dissection test was carried out by breaking the force tension. The results showed that the appearances of the encapsulated sensors were good, and the design structures were not changed and damaged.
基金supported by the National Natural Science Foundation of China(21971185)the Collaborative Innovation Center of Suzhou Nano Science and Technology(CIC-Nano)the"111"Project of The State Administration of Foreign Experts Affairs of China。
文摘Organic micro/nanocrystals based on small organic molecules have drawn extensive attention due to their potential application in organic field-effect transistors,electrochemical sensors,solar cells,etc.Herein,the recent advances for organic micro/nanocrystals from the perspective of molecule aggregation mode,morphology modulation,and optical property modulation are reviewed.The stacking mode and the intermolecular interaction depend on the molecular structure,which eventually determines the morphology of organic micro/nanocrystals.The morphologies of the organic micro/nanocrystals make the aggregates exhibit photon confinement or light-guiding properties as organic miniaturized optoelectronic devices.In this review,we conclude with a summary and put forward our perspective on the current challenges and the future development of morphology and optical tunable direction for the organic micro/nanocrystals.
基金supported by the National Natural Science Foundation of China (51603151 and 51741302)the National Key Research and Development Program of China (2017YFA0103900 & 2017YFA0103904)+1 种基金 Science & Technology Foundation of Shanghai (17JC1404600) the Fundamental Research Funds for the Central Universities.
文摘Various nanostructures of the organic semiconductor (OSC)films have been reported to enhance the organic field-effect transistors (OFETs)sensing performance. However,complicated fabrication processes hinder their ap- plications.In this work,we have effectively enhanced the sensitivity of the OFET-based sensors only by adjusting substrate temperature in OSC preparation and surface treatment of the dielectric layer.The relative sensitivity of the device can be enhanced by 5 times.The flexible sensors with polymer dielectric also exhibit high sensitivity because the less smooth surface of the polymer provides the OSCs with smaller grain size.Therefore,this work reveals the trade-off effects of the OSCs grain size on both transistor characteristic and chemic.al sensing performance,and provides a simple and extensively applicable strategy for OFETs sensitivity improvement.
基金supported by the National Natural Science Foundation of China(No.41472260)the Fundamental Research Funds of Shandong University(No.2016JC012)the Young Scholars Program of Shandong University(No.2016WLJH30)
文摘Using the acoustic emission locating technology to monitor the health of the structure is important for ensuring the continuous and healthy operation of the complex engineering structures and large mechanical equipment. In this paper, four fiber Bragg grating(FBG) sensors are used to establish the sensor array to locate the acoustic emission source. Firstly, the nonlinear locating equations are established based on the principle of acoustic emission, and the solution of these equations is transformed into an optimization problem. Secondly, time difference extraction algorithm based on the phase transform(PHAT) weighted generalized cross correlation provides the necessary conditions for the accurate localization. Finally, the genetic algorithm(GA) is used to solve the optimization model. In this paper, twenty points are tested in the marble plate surface, and the results show that the absolute locating error is within the range of 10 mm, which proves the accuracy of this locating method.
