A new kind of inertial piezoelectric actuator for a micro in-pipe robot is proposed and studied. The actuator is composed of a body, corresponding to a mass rod, and four elastic legs. Each leg is a composite piezoele...A new kind of inertial piezoelectric actuator for a micro in-pipe robot is proposed and studied. The actuator is composed of a body, corresponding to a mass rod, and four elastic legs. Each leg is a composite piezoelectric bimorph beam, made up of a middle metal element, an upper and lower piezoelectric elements. The mechanism is driven by an asymmetric waveform voltage, such as saw-toothed waveform, and utilizes the dynamic relationship between the maximum static friction force and the inertial force. To study the actuator, firstly, the constituent equation of a composite piezoelectric bimorph under both applied voltage and external force was inferred by thermodynamics. Secondly, the dvnamic model of the actuator was established analyzing the relationship between the locomotive states, viz. displacement and velocity, and design parameters, such as piezoelectric strain constant, elastic modulus,length, width and thickness of the piezoelectric element, actuator mass, and driving vohage. At last, the dynamic equation was solved and the theoretical calculation of the inherent frequency was more consistent with the experimental data, which proved the rationality of the model. All these lay a theoretical foundation of the micro actuator parameter optimization and more research on a micro robot.展开更多
An improved encapsulation method of a sensing element for a cement-based piezoelectric sensor used in civil engineering structure was developed and some tests were carried out for validating this method. The cement-ba...An improved encapsulation method of a sensing element for a cement-based piezoelectric sensor used in civil engineering structure was developed and some tests were carried out for validating this method. The cement-based piezoelectric sensor of this kind is mainly used in concrete structure due to its compatibility with concrete, and the encapsulation method of its sensing element is important to the effectiveness and accuracy of the transfer of the stress from concrete to the sensing element. The sensor′s measurement error of the previous encapsulation method, which was induced by the area of the encapsulation material and the inherent difference of Young′s modulus between cement and encapsulation material, was analyzed theoretically using parallel model. In the improved method, the error is minimized by decreasing the area of the encapsulation material and changing the configuration of the cement and piezoelectric material in the sensor. Two sensors made by the previous and improved methods were embedded in two prisms respectively and the prisms were compressed on Material Test System. Through the comparison of the measurement errors of the two sensors, the improved method was evaluated. The test results show that the improved encapsulation method is effective and feasible.展开更多
We consider the drift-diffusion （DD） model of one dimensional semiconductor devices, which is a system involving not only first derivative convection terms but also second derivative diffusion terms and a coupled Po...We consider the drift-diffusion （DD） model of one dimensional semiconductor devices, which is a system involving not only first derivative convection terms but also second derivative diffusion terms and a coupled Poisson potential equation. Optimal error estimates are obtained for both the semi-discrete and fully discrete local discontinuous Galerkin （LDG） schemes with smooth solutions. In the fully discrete scheme, we couple the implicit-explicit （IMEX） time discretization with the LDG spatial diseretization, in order to allow larger time steps and to save computational cost. The main technical difficulty in the analysis is to treat the inter-element jump terms which arise from the discontinuous nature of the numerical method and the nonlinearity and coupling of the models. A simulation is also performed to validate the analysis.展开更多
基金Sponsored by the National Natural Science Foundation of China(Grant No.69774020)the National Doctoral Foundation of China(Grant No.98014106).
文摘A new kind of inertial piezoelectric actuator for a micro in-pipe robot is proposed and studied. The actuator is composed of a body, corresponding to a mass rod, and four elastic legs. Each leg is a composite piezoelectric bimorph beam, made up of a middle metal element, an upper and lower piezoelectric elements. The mechanism is driven by an asymmetric waveform voltage, such as saw-toothed waveform, and utilizes the dynamic relationship between the maximum static friction force and the inertial force. To study the actuator, firstly, the constituent equation of a composite piezoelectric bimorph under both applied voltage and external force was inferred by thermodynamics. Secondly, the dvnamic model of the actuator was established analyzing the relationship between the locomotive states, viz. displacement and velocity, and design parameters, such as piezoelectric strain constant, elastic modulus,length, width and thickness of the piezoelectric element, actuator mass, and driving vohage. At last, the dynamic equation was solved and the theoretical calculation of the inherent frequency was more consistent with the experimental data, which proved the rationality of the model. All these lay a theoretical foundation of the micro actuator parameter optimization and more research on a micro robot.
基金Supported by Hong Kong Research Grant Council to HKUSTunder grant HKUST6212/O2ENational Science Fund forDistinguished Young Scholars of China(No.50425824).
文摘An improved encapsulation method of a sensing element for a cement-based piezoelectric sensor used in civil engineering structure was developed and some tests were carried out for validating this method. The cement-based piezoelectric sensor of this kind is mainly used in concrete structure due to its compatibility with concrete, and the encapsulation method of its sensing element is important to the effectiveness and accuracy of the transfer of the stress from concrete to the sensing element. The sensor′s measurement error of the previous encapsulation method, which was induced by the area of the encapsulation material and the inherent difference of Young′s modulus between cement and encapsulation material, was analyzed theoretically using parallel model. In the improved method, the error is minimized by decreasing the area of the encapsulation material and changing the configuration of the cement and piezoelectric material in the sensor. Two sensors made by the previous and improved methods were embedded in two prisms respectively and the prisms were compressed on Material Test System. Through the comparison of the measurement errors of the two sensors, the improved method was evaluated. The test results show that the improved encapsulation method is effective and feasible.
基金supported by National Natural Science Foundation of China(Grant No.11471194)Department of Energy of USA(Grant No.DE-FG02-08ER25863)National Science Foundation of USA(Grant No.DMS-1418750)
文摘We consider the drift-diffusion （DD） model of one dimensional semiconductor devices, which is a system involving not only first derivative convection terms but also second derivative diffusion terms and a coupled Poisson potential equation. Optimal error estimates are obtained for both the semi-discrete and fully discrete local discontinuous Galerkin （LDG） schemes with smooth solutions. In the fully discrete scheme, we couple the implicit-explicit （IMEX） time discretization with the LDG spatial diseretization, in order to allow larger time steps and to save computational cost. The main technical difficulty in the analysis is to treat the inter-element jump terms which arise from the discontinuous nature of the numerical method and the nonlinearity and coupling of the models. A simulation is also performed to validate the analysis.
