一种基于高压静电纺丝工艺制备的P(VDF-TrFE)/PZT压电传感器及其在睡眠监测中的应用

针对日常睡眠监测的需求,提出一种基于高压静电纺丝工艺制备的P(VDF-TrFE)/锆钛酸铅(PZT)压电传感器并对其性能进行了研究。首先,介绍了P(VDF-TrFE)/PZT压电传感器的制作及封装流程。其次对其灵敏度,频率响应特性,瞬时响应和稳定性等进行了测试。结果表明,该传感器不仅具有良好的微观外貌形态,且相比于纯P(VDF-TrFE)压电传感器0.73 V/N的灵敏度,制备的含30%PZT的P(VDF-TrFE)/PZT压电传感器灵敏度是纯P(VDF-TrFE)压电传感器的2.5倍,达到了1.78 V/N。此外在低频下能够保持稳定压电输出且具备2 ms较快的响应时间。最后采用自制的P(VDF-TrFE)/PZT压电传感器测量人体心冲击信号,并通过支持向量机(SVM)训练睡眠分期模型实现了对睡眠质量的监测,四分类模型平均准确率达到72.5%,为可穿戴睡眠监测传感器的选择提供了参考。

Docker API与SpringBoot Actuator未授权访问风险分析与防范研究

随着云计算技术的普及和容器化技术的发展,Docker和SpringBoot已成为现代软件开发和部署的重要工具。然而,这种广泛的使用也伴随着安全风险。针对DockerAPI与SpringBoot Actuator的未授权访问风险进行了深入分析。当这些关键组件暴露于未授权访问之下时,攻击者可能利用这些漏洞执行恶意操作,如部署恶意容器、篡改应用程序配置或窃取敏感信息。这些行为不仅可能导致服务中断和数据泄露,还可能对企业造成严重的声誉和财务损失。

B位空位补偿型钐掺杂PZT(54/46)陶瓷中的缺陷分析及其对压电性能的影响

-用固相反应法制备了B位空位补偿型钐掺杂非准同型相界组分PZT(54/46)陶瓷.通过正电子湮没寿命谱(PALS)和符合多普勒展宽能谱(CDBS)对陶瓷中的缺陷结构进行综合表征,结合常规表征手段如X射线衍射(XRD),电子扫描显微镜(SEM),介电、铁电和压电性能测量,研究缺陷对陶瓷压电性能的影响.XRD结果显示所有陶瓷均为纯钙钛矿相,掺杂诱导了菱方-四方(R-T)相变,准同型相界位于Sm掺杂量x=0.010.02.电学测量结果反映:介电、铁电和压电性能均先增强后减弱,MPB附近两个样品都有优异的介电和铁电性能,但其压电性能差别很大.x=0.01给出最优压电性能d_(33)=572 p C/N,较未掺杂样品增强了一倍.PALS结果表明掺杂使陶瓷中缺陷类型发生变化,x≤0.01,样品中同时含有A位空位与B位空位;x≥0.02,样品中以A位相关缺陷为主,B位空位浓度很低.CDBS结果进一步证实x=0.01和0.02中B位空位浓度分别是该体系中最高和最低的.由以上结果推断出:x=0.01获得的最优压电性能与其中较高浓度的B位空位有关,B位空位可稀释A位空位浓度,降低氧空位浓度,从而降低A位空位与氧空位形成缺陷偶极子的几率,促进畴壁运动,使压电性能增强.

高于居里温度极化的硬性PZT压电陶瓷的制备及叠层驱动器性能研究

压电叠层驱动器具有低驱动电压、大位移的特点,被广泛应用于诸多领域。作为目前压电叠层驱动器中最常使用的材料,软性锆钛酸铅(PZT)陶瓷较大的介电常数和损耗往往会导致较高的功耗和发热量,进而影响驱动器的疲劳特性和稳定性。为了制备出低发热量、适用于压电叠层驱动器的压电陶瓷,本工作选取Mn掺杂(摩尔分数)的Pb(Sb_(1/2)Nb_(1/2))_(0.02)Zr_(0.51)Ti_(0.47)O_(3)-0.6%MnCO_(3)(PSN-PZT)硬性压电陶瓷作为基体材料,通过掺入一定含量的Li_(2)CO_(3)烧结助剂来降低陶瓷的烧结温度,并采用高于居里温度极化工艺进一步提升陶瓷的电学性能。最后采用该材料,利用流延工艺制备出压电叠层驱动器,并与相同工艺制备的Pb(Mg_(1/3)Nb_(2/3))_(0.25)(Ti_(0.48)Zr_(0.52))_(0.75)O_(3)(PMN-PZT)驱动器进行比较。结果显示,Li_(2)CO_(3)通过引入液相烧结的方式将PSN-PZT陶瓷烧结温度降低至1050℃。当Li_(2)CO_(3)含量为0.1%(质量分数)时,高于居里温度极化的PSN-PZT陶瓷电学性能最优,其压电系数(d33)和2 kV/mm电场下的单极应变分别为388 pC/N和0.13%。在200 Hz下,PSN-PZT驱动器温升比PMN-PZT驱动器低大约20℃,且经过5×10^(6)次循环后应变仅降低6%。这表明Li_(2)CO_(3)低温烧结的PSN-PZT陶瓷不仅具备不错的压电性能,而且在发热和疲劳特性方面有较大优势,在大功率、高频等苛刻工况中有潜在的应用前景。

PZT-4和PZT-5材料的热释电性能评价及测试方法研究

针对目前PZT-4和PZT-5材料热释电性能缺乏系统研究的问题,采用固相烧结法制备了PZT-4和PZT-5材料,对所制备材料进行了SEM、XRD和介电温谱表征,应用静态和动态测量法相结合的方式,对所制备材料的热释电系数进行了研究,探究了正弦交变温度波振幅和频率对测试结果的影响,并对材料的热释电优值进行了计算。研究结果显示:在频率为16 mHz时,PZT-4和PZT-5材料分别于2.8 V和2.5 V获得了热释电系数的最大值;在电压为2.5 V时,PZT-4和PZT-5材料分别于24 mHz和40 mHz获得了热释电系数的最大值;两种材料的探测率优值均高于目前常用的PVDF材料。研究结果为PZT-4和PZT-5材料在热释电能量收集、非制冷红外焦平面器件等方面的潜在应用提供了定量化参考。

Path-Following Control With Obstacle Avoidance of Autonomous Surface Vehicles Subject to Actuator Faults

This paper investigates the path-following control problem with obstacle avoidance of autonomous surface vehicles in the presence of actuator faults,uncertainty and external disturbances.Autonomous surface vehicles inevitably suffer from actuator faults in complex sea environments,which may cause existing obstacle avoidance strategies to fail.To reduce the influence of actuator faults,an improved artificial potential function is constructed by introducing the lower bound of actuator efficiency factors.The nonlinear state observer,which only depends on measurable position information of the autonomous surface vehicle,is used to address uncertainties and external disturbances.By using a backstepping technique and adaptive mechanism,a path-following control strategy with obstacle avoidance and fault tolerance is designed which can ensure that the tracking errors converge to a small neighborhood of zero.Compared with existing results,the proposed control strategy has the capability of obstacle avoidance and fault tolerance simultaneously.Finally,the comparison results through simulations are given to verify the effectiveness of the proposed method.

压电阻抗法中PZT片的形状选择研究

压电陶瓷锆钛酸铅(PZT)片是压电阻抗法中普遍使用的传感器,首先,对厚度相同且面积相近的圆形、正方形、矩形、五边形、梯形PZT片对同一钢板上相同损伤及其严重程度的敏感性进行了对比。然后,利用有限元软件COMSOL对各形状PZT片主表面平面内位移进行了分析研究。结果表明:在压电阻抗法应用中,面积相同的PZT片,圆形、正方形和矩形对损伤及其严重程度的敏感性较优。矩形PZT片对损伤的敏感性具有方向性,对宽度侧的损伤更敏感。就形状这一单一因素而言,压电阻抗法中PZT片的性能差异,取决于其主表面平面内位移一致性。一致性越好,对损伤及其严重程度的识别能力越强。

High-performance liquid metal electromagnetic actuator fabricated by femtosecond laser

Small-scale electromagnetic soft actuators are characterized by a fast response and simplecontrol,holding prospects in the field of soft and miniaturized robotics.The use of liquid metal(LM)to replace a rigid conductor inside soft actuators can reduce the rigidity and enhance the actuation performance and robustness.Despite research efforts,challenges persist in the flexible fabrication of LM soft actuators and in the improvement of actuation performance.To address these challenges,we developed a fast and robust electromagnetic soft microplate actuator based on a laser-induced selective adhesion transfer method.Equipped with unprecedentedly thin LM circuit and customized low Young’s modulus silicone rubber(1.03 kPa),our actuator exhibits an excellent deformation angle(265.25?)and actuation bending angular velocity(284.66 rad·s^(-1)).Furthermore,multiple actuators have been combined to build an artificial gripper with a wide range of functionalities.Our actuator presents new possibilities for designing small-scaleartificial machines and supports advancements in ultrafast soft and miniaturized robotics.

用于能量收集器的PMnN-PZT压电陶瓷

试验采用固相合成法,通过Li_(2)CO_(3)掺杂,制得高能量密度的Pb_(0.95)Sr_(0.05)[(Mn_(1/3)Nb_(2/3))_(0.04)(Zr_(0.52)Ti_(0.48))0.96]O_(3)+0.25wt%CeO_(2)+0.50wt%Yb_(2)O_(3)+0.15wt%Fe_(2)O_(3)三元系压电陶瓷材料。研究分析了掺杂不同质量分数的Li_(2)CO_(3)对PMnNPZT压电陶瓷材料的压电性能、介电性能、相组成及其微观结构的影响。结果显示:当掺杂量为0.1 wt%,烧成温度为1050℃时,材料结构致密,晶粒均匀,材料的压电和介电性能:d 33=340 pC/N,K_(p)=0.60,ε_(r)=725,tanδ=0.23%,Q_(m)=670,g_(33)=53.0×10^(-3)V·(m·N)^(-1),机电转化效率d_(33)·g_(33)为18016.8×10^(-15)m^(2)/N,满足能量收集器用压电陶瓷元件需要。

Airfoil friction drag reduction based on grid-type and super-dense array plasma actuators

To improve the cruise flight performance of aircraft, two new configurations of plasma actuators(grid-type and super-dense array) were investigated to reduce the turbulent skin friction drag of a low-speed airfoil. The induced jet characteristics of the two actuators in quiescent air were diagnosed with high-speed particle image velocimetry(PIV), and their drag reduction efficiencies were examined under different operating conditions in a wind tunnel. The results showed that the grid-type plasma actuator was capable of producing a wall-normal jet array(peak magnitude: 1.07 m/s) similar to that generated in a micro-blowing technique, while the superdense array plasma actuator created a wavy wall-parallel jet(magnitude: 0.94 m/s) due to the discrete spanwise electrostatic forces. Under a comparable electrical power consumption level,the super-dense array plasma actuator array significantly outperformed the grid-type configuration,reducing the total airfoil friction drag by approximately 22% at a free-stream velocity of 20 m/s.The magnitude of drag reduction was proportional to the dimensionless jet velocity ratio(r), and a threshold r = 0.014 existed under which little impact on airfoil drag could be discerned.

Observer-based dynamic event-triggered control for distributed parameter systems over mobile sensor-plus-actuator networks

We develop a policy of observer-based dynamic event-triggered state feedback control for distributed parameter systems over a mobile sensor-plus-actuator network.It is assumed that the mobile sensing devices that provide spatially averaged state measurements can be used to improve state estimation in the network.For the purpose of decreasing the update frequency of controller and unnecessary sampled data transmission, an efficient dynamic event-triggered control policy is constructed.In an event-triggered system, when an error signal exceeds a specified time-varying threshold, it indicates the occurrence of a typical event.The global asymptotic stability of the event-triggered closed-loop system and the boundedness of the minimum inter-event time can be guaranteed.Based on the linear quadratic optimal regulator, the actuator selects the optimal displacement only when an event occurs.A simulation example is finally used to verify that the effectiveness of such a control strategy can enhance the system performance.

Precision Motion Control of Hydraulic Actuator Using Adaptive Back-Stepping Sliding Mode Controller

Hydraulic actuators are highly nonlinear when they are subjected to different types of model uncertainties and dynamic disturbances.These unfavorable factors adversely affect the control performance of the hydraulic actuator.Although various control methods have been employed to improve the tracking precision of the dynamic system,optimizing and adjusting control gain to mitigate the hydraulic actuator model uncertainties remains elusive.This study presents an adaptive back-stepping sliding mode controller(ABSMC)to enhance the trajectory tracking precision,where the virtual control law is constructed to replace the position error.The adaptive control theory is introduced in back-stepping controller design to compensate for the model uncertainties and time-varying disturbances.Based on Lyapunov theory,the finite-time convergence of the position tracking errors is proved.Furthermore,the effectiveness of the developed control scheme is conducted via extensive comparative experiments.

Spatiotemporal evolution laws of sector-shaped dielectric-barrier-discharge plasma actuator

Dielectric barrier discharge(DBD)plasma actuators are widely used in active flow control due to their simple design and rapid responsiveness.However,they need more effectiveness and discharge extension.To overcome these limitations,a sector-shaped dielectric barrier discharge(SS-DBD)plasma actuator with an adjustable jet angle was developed to enhance flow control effectiveness.The flow field dynamics induced by the SS-DBD plasma actuator were quantitatively analyzed using particle image velocimetry(PIV).Experimental investigations showed that precise adjustments to the actuation voltage can modulate the maximum velocity of the induced jet.Furthermore,a quasi-linear relationship between the sector-shaped angles of the SS-DBD and the deflected jet angles was established,indicating that changes in the sector-shaped angles directly influence the direction of the deflected jet.This correlation enables precise control over jet angles,significantly enhancing flow control by adjusting the SS-DBD-PA's sector-shaped angle.

A framework for dynamic modelling of railway track switches considering the switch blades,actuators and control systems

The main contribution of this paper is the development and demonstration of a novel methodology that can be followed to develop a simulation twin of a railway track switch system to test the functionality in a digital environment.This is important because,globally,railway track switches are used to allow trains to change routes;they are a key part of all railway networks.However,because track switches are single points of failure and safety-critical,their inability to operate correctly can cause significant delays and concomitant costs.In order to better understand the dynamic behaviour of switches during operation,this paper has developed a full simulation twin of a complete track switch system.The approach fuses finite element for the rail bending and motion,with physics-based models of the electromechanical actuator system and the control system.Hence,it provides researchers and engineers the opportunity to explore and understand the design space around the dynamic operation of new switches and switch machines before they are built.This is useful for looking at the modification or monitoring of existing switches,and it becomes even more important when new switch concepts are being considered and evaluated.The simulation is capable of running in real time or faster meaning designs can be iterated and checked interactively.The paper describes the modelling approach,demonstrates the methodology by developing the system model for a novel“REPOINT”switch system,and evaluates the system level performance against the dynamic performance requirements for the switch.In the context of that case study,it is found that the proposed new actuation system as designed can meet(and exceed)the system performance requirements,and that the fault tolerance built into the actuation ensures continued operation after a single actuator failure.

Fuzzy Proportional Integral Derivative control of a voice coil actuator system for adaptive deformable mirrors

Research on adaptive deformable mirror technology for voice coil actuators(VCAs)is an important trend in the development of large ground-based telescopes.A voice coil adaptive deformable mirror contains a large number of actuators,and there are problems with structural coupling and large temperature increases in their internal coils.Additionally,parameters of the traditional proportional integral derivative(PID)control cannot be adjusted in real-time to adapt to system changes.These problems can be addressed by introducing fuzzy control methods.A table lookup method is adopted to replace real-time calculations of the regular fuzzy controller during the control process,and a prototype platform has been established to verify the effectiveness and robustness of this process.Experimental tests compare the control performance of traditional and fuzzy proportional integral derivative(Fuzzy-PID)controllers,showing that,in system step response tests,the fuzzy control system reduces rise time by 20.25%,decreases overshoot by 78.24%,and shortens settling time by 67.59%.In disturbance rejection experiments,fuzzy control achieves a 46.09%reduction in the maximum deviation,indicating stronger robustness.The Fuzzy-PID controller,based on table lookup,outperforms the standard controller significantly,showing excellent potential for enhancing the dynamic performance and disturbance rejection capability of the voice coil motor actuator system.

A Hybrid Compensation Scheme for the Input Rate-Dependent Hysteresis of the Piezoelectric Ceramic Actuators

A hybrid compensation scheme for piezoelectric ceramic actuators(PEAs)is proposed.In the hybrid compensation scheme,the input rate-dependent hysteresis characteristics of the PEAs are compensated.The feedforward controller is a novel input rate-dependent neural network hysteresis inverse model,while the feedback controller is a proportion integration differentiation(PID)controller.In the proposed inverse model,an input ratedependent auxiliary inverse operator(RAIO)and output of the hysteresis construct the expanded input space(EIS)of the inverse model which transforms the hysteresis inverse with multi-valued mapping into single-valued mapping,and the wiping-out,rate-dependent and continuous properties of the RAIO are analyzed in theories.Based on the EIS method,a hysteresis neural network inverse model,namely the dynamic back propagation neural network(DBPNN)model,is established.Moreover,a hybrid compensation scheme for the PEAs is designed to compensate for the hysteresis.Finally,the proposed method,the conventional PID controller and the hybrid controller with the modified input rate-dependent Prandtl-Ishlinskii(MRPI)model are all applied in the experimental platform.Experimental results show that the proposed method has obvious superiorities in the performance of the system.

Actuator and sensor fault isolation in a class of nonlinear dynamical systems

Fault isolation in dynamical systems is a challenging task due to modeling uncertainty and measurement noise,interactive effects of multiple faults and fault propagation.This paper proposes a unified approach for isolation of multiple actuator or sensor faults in a class of nonlinear uncertain dynamical systems.Actuator and sensor fault isolation are accomplished in two independent modules,that monitor the system and are able to isolate the potential faulty actuator(s)or sensor(s).For the sensor fault isolation(SFI)case,a module is designed which monitors the system and utilizes an adaptive isolation threshold on the output residuals computed via a nonlinear estimation scheme that allows the isolation of single/multiple faulty sensor(s).For the actuator fault isolation(AFI)case,a second module is designed,which utilizes a learning-based scheme for adaptive approximation of faulty actuator(s)and,based on a reasoning decision logic and suitably designed AFI thresholds,the faulty actuator(s)set can be determined.The effectiveness of the proposed fault isolation approach developed in this paper is demonstrated through a simulation example.

Practical prescribed-time fuzzy tracking control for uncertain nonlinear systems with time-varying actuators faults

The paper investigates the practical prescribed-time fuzzy tracking control problem for a category of nonlinear system subject to time-varying actuator faults.The presence of unknown nonlinear dynamics and actuator faults makes achieving tracking control within a prescribed-time challenging.To tackle this issue,we propose a novel practical prescribed-time fuzzy tracking control strategy,which is independent of the initial state of the system and does not rely on precise modeling of the system and actuators.We apply the approximation capabilities of fuzzy logic systems to handle the unknown nonlinear functions and unidentified actuator faults in the system.The piecewise controller and adaptive law constructed based on piecewise prescribed time-varying function and backstepping technique method establish the theoretical framework of practical prescribed-time tracking control,and extend the range of prescribed-time tracking control to infinity.Regardless of the initial conditions,the proposed control strategy can guarantee that all signals remain uniformly bounded within the practical prescribed time in the presence of unknown nonlinear item and time-varying actuator faults.Simulation example is presented to demonstrate the effectiveness of the proposed control strategy.

Optical micro/nanofiber enabled tactile sensors and soft actuators:A review

As a combination of fiber optics and nanotechnology,optical micro/nanofiber(MNF)is considered as an important multifunctional building block for fabricating various miniaturized photonic devices.With the rapid progress in flexible optoelectronics,MNF has been emerging as a promising candidate for assembling tactile sensors and soft actuators owing to its unique optical and mechanical properties.This review discusses the advances in MNF enabled tactile sensors and soft actuators,specifically,focusing on the latest research results over the past 5 years and the applications in health monitoring,human-machine interfaces,and robotics.Future prospects and challenges in developing flexible MNF devices are also presented.

Design of a Novel Robotic Fish Structure Utilizing PVC Gel Actuators

In this research work, it has been designed a bionic robot fish structure, can swim underwater. The active compact body is powered by eight sets of symmetric PVC gel actuators with a caudal fin. The robot’s 200 mm-long, fish structure design incorporates a 55.52 angle to optimize the fish dynamics movement. It’s a fast and smooth operation and can swim. The robot can swim fast and quietly by using the right positions and the appropriate actuators on PVC gel actuators. This design entails a unique architecture that enables the robot to move safely and unobtrusively at the same time, which makes it suitable equipment for different exploration and surveillance missions in the water with speed and silent operation as the foremost concern.