An adjustable anti-resonance frequency controller for a dual-stage actuation semi-active vibration isolation system

In the semiconductor manufacturing industry,the dynamic model of a controlled object is usually obtained from a frequency sweeping method before motion control.However,the existing isolators cannot properly isolate the disturbance of the inertial force on the platform base during frequency sweeping(the frequency is between 0 Hz and the natural frequency).In this paper,an adjustable anti-resonance frequency controller for a dual-stage actuation semi-active vibration isolation system(DSASAVIS)is proposed.This system has a significant anti-resonance characteristic;that is,the vibration amplitude can drop to nearly zero at a particular frequency,which is called the anti-resonance frequency.The proposed controller is designed to add an adjustable anti-resonance frequency to fully use this unique anti-resonance characteristic.Experimental results show that the closed-loop transmissibility is less than−15 dB from 0 Hz to the initial anti-resonance frequency.Furthermore,it is less than−30 dB around an added anti-resonance frequency which can be adjusted from 0 Hz to the initial anti-resonance frequency by changing the parameters of the proposed controller.With the proposed controller,the disturbance amplitude of the payload decays from 4 to 0.5 mm/s with a reduction of 87.5%for the impulse disturbance applied to the platform base.Simultaneously,the system can adjust the anti-resonance frequency point in real time by tracking the frequency sweeping disturbances,and a good vibration isolation performance is achieved.This indicates that the DSA-SAVIS and the proposed controller can be applied in the guarantee of an ultra-low vibration environment,especially at frequency sweeping in the semiconductor manufacturing industry.

Thermodynamic,Economic,and Environmental Analyses and Multi-Objective Optimization of Dual-Pressure Organic Rankine Cycle System with Dual-Stage Ejector

A novel dual-pressure organic Rankine cycle system(DPORC)with a dual-stage ejector(DE-DPORC)is proposed.The system incorporates a dual-stage ejector that utilizes a small amount of extraction steam from the highpressure expander to pressurize a large quantity of exhaust gas to performwork for the low-pressure expander.This innovative approach addresses condensing pressure limitations,reduces power consumption during pressurization,minimizes heat loss,and enhances the utilization efficiency of waste heat steam.A thermodynamic model is developed with net output work,thermal efficiency,and exergy efficiency(W_(net,ηt,ηex))as evaluation criteria,an economicmodel is established with levelized energy cost(LEC)as evaluation index,anenvironmentalmodel is created with annual equivalent carbon dioxide emission reduction(AER)as evaluation parameter.A comprehensive analysis is conducted on the impact of heat source temperature(T_(S,in)),evaporation temperature(T_(2)),entrainment ratio(E_(r1),E_(r2)),and working fluid pressure(P_(5),P_(6))on system performance.It compares the comprehensive performance of the DE-DPORC system with that of the DPORC system at TS,in of 433.15 K and T2 of 378.15 K.Furthermore,multi-objective optimization using the dragonfly algorithm is performed to determine optimal working conditions for the DE-DPORC system through the TOPSIS method.The findings indicate that the DEDPORC system exhibits a 5.34%increase inWnet andηex,a 58.06%increase inηt,a 5.61%increase in AER,and a reduction of 47.67%and 13.51%in the heat dissipation of the condenser andLEC,compared to theDPORCsystem,highlighting the advantages of this enhanced system.The optimal operating conditions are TS,in=426.74 K,T_(2)=389.37 K,E_(r1)=1.33,E_(r2)=3.17,P_(5)=0.39 MPa,P_(6)=1.32 MPa,which offer valuable technical support for engineering applications;however,they are approaching the peak thermodynamic and environmental performance while falling short of the highest economic performance.

Design and Experiment of Vertical Motion Dual-stage with Piezo-actuated Nanopositioning Stage

Nanopositioning stage based on piezoelectric(PZT)actuators and flexure mechanisms has been widely used in dual-stage.Its favorable positioning accuracy and dynamic response can guarantee the high performance of the dual-stage.Here the vertical axis motion dual-stage is designed with piezoelectric actuator for the fine-stage and ball-screw drive integrated with wedge sliding mechanisms for the coarse-stage.The aim of the dual-stage is to meet the stringent requirement of scanning over a relative large range with high accuracy.The design results of the piezo-actuated nanopositioning stage show good static and dynamic performance,validated by the simulation of finite element analysis(FEA).Hysteresis nonlinearity due to the use of piezoelectric stacks for actuation is studied and compensated by aproportional-integral(PI)feedback controller.To qualify the design of the motion ranges and resolutions,an experiment platform is established.The experimental results show that the proposed dual-stage has a full range of 12 mm with the resolution of 40 nm.Guideline is provided for the design methodology of the vertical motion dual-range stages.

Enhancing Stress Intensity Factor Reduction in Cracks Originating from a Circular Hole in a Rectangular Plate under Uniaxial Stress through Piezoelectric Actuation

Circular holes are commonly employed in engineering designs;however, they often serve as locations where cracks initiate and propagate. This paper explores a novel approach to structural repair by utilizing piezoelectric actuators. The primary focus of this study is to investigate the influence of an adhesively bonded piezoelectric actuator patch placed above a circular hole on the stress intensity factor (SIF) in an aluminium plate. The plate is subjected to uniaxial tensile stress, while the piezoelectric actuator is excited with varying voltage levels. The analysis is conducted using the finite element method (FEM), a powerful numerical technique for simulating complex structures. The study assesses the stress distribution and employs the SIF as an adequate criterion for evaluating the impact of different patch configurations. The results indicate a strong correlation between the applied voltage and the SIF. Whether the SIF increases or decreases depends on the polarization of the piezoelectric actuator. Particularly noteworthy is the finding that rectangular patches in a horizontal orientation significantly reduce the SIF compared to other patch geometries. Moreover, double-sided patches exhibit a pronounced decrease in the SIF compared to single-sided patches. In summary, this research underscores the potential of piezoelectric actuators in mitigating stress intensity in structures with circular hole with crack initiation. It offers valuable insights into the influence of applied voltage, patch geometry, and patch placement on the SIF, thereby contributing to developing effective strategies for enhancing structural integrity.

Implementation of Mooring Automatic Positioning System for Deepwater Semi-Submersible Platform Based on Dual-Stage Actuator

The automatic positioning control of mooring system for deepwater semi-submersible platform has become a key issue in the research and development field of deep-sea resources. The Dual- Stage Actuator (DSA) proposed in this paper can replace the single actuator to achieve the high speed and high precision positioning by cooperative control. The relative model and control algorithm of motion trajectory (CAMT) are designed and validated, which proves that the method proposed in this paper is effective.

EXPERIMENTAL INVESTIGATION ON INDUCED FLOW VELOCITY OF PLASMA AERODYNAMIC ACTUATION

Plasma flow control is an active flow control technology that based on the plasma aerodynamic actuation. It can be used to enhance the aerodynamic characteristics of aircraft and propulsion systems. To study the phenomena occurring in plasma aerodynamic actuation and the mechanism of plasma flow control, the induced flow velocity of the plasma aerodynamic actuator is experimentally investigated under a variety of parameter conditions. The results indicate that plasma aerodynamic actuation accelerates the near surface air at velocities of a few meters per second, and there is an angle about 5° between the mainstream and the actuator wall and a spiral vortex is formed when the induced flow is moving along the wall. Besides, with the fixed frequency, the induced flow velocity increases linearly with the applied voltage, but it is insensitive to the frequency when the applied voltage is fixed. And the configuration is an effective factor for the performance of the plasma aerodynamic actuator.

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。

Performance Degradation and Reliability Analysis for Redundant Actuation System

Redundant actuator is the key component of Fly-By-Wire （FBW） system in which exists the inherent force fighting among different redundant channels at colligation point, This paper establishes the mathematical model of quad redundant actuator （QRA）, investigates the force equalization algorithm and carries out the performance degradation simulation and reliability analysis under the first failure and the second failure. The results indicate that the optimal equalization algorithm can solve the force fighting effectively, and the QRA can operate at degradation performance continuously under the first failure and the second failure. With the dynamic fault tree analysis, this paper calculates the reliability based on the performance of QRA and proves that the redundant actuator has very high reliability and safety.

Design of a Servo Mechanical Press with Redundant Actuation

A servo press is a new type of mechanical press that is driven by programmable motors and offers superior performance such as low noise, excellent efficiency and high precision for metal forming operations. Similar to multi-link mechanical presses, a servo mechanical press tends to grow in size as the tonnage increases that calls for larger, heavy duty servo motors, which could be expensive and may not even be available. In this paper, a new concept of servo mechanical press with redundant actuation is proposed firstly using two servo motors driving one input shaft, i.e. one-point-two-motor mode that makes it possible to produce a larger press with available servomotors. Then the punching mechanism design is detailed. The performance indices are set up including mechanical advantage reciprocal and link force ratios. A bounded feasible solution space is constructed for dimensional synthesis based on non-dimensional link lengths and assembly conditions. The performance atlases are depicted over the bounded feasible solution space that lead to a visual solution of the punching mechanism with global optimization. Finally, case studies are given to illustrate the design method with visual global optimization, and a prototype with 200 t punching force is being developed in our laboratory to demonstrate efficacy of the new concept for servo mechanical press. The presented research provides a feasible solution to the development of heavy-duty servo mechanical presses and finds potential applications in the development of other types of heavy equipments with electric drive.

Mechanism,Actuation,Perception,and Control of Highly Dynamic Multilegged Robots:A Review

Multilegged robots have the potential to serve as assistants for humans,replacing them in performing dangerous,dull,or unclean tasks.However,they are still far from being sufficiently versatile and robust for many applications.This paper addresses key points that might yield breakthroughs for highly dynamic multilegged robots with the abilities of running(or jumping and hopping)and self-balancing.First,21 typical multilegged robots from the last five years are surveyed,and the most impressive performances of these robots are presented.Second,current developments regarding key technologies of highly dynamic multilegged robots are reviewed in detail.The latest leg mechanisms with serial-parallel hybrid topologies and rigid–flexible coupling configurations are analyzed.Then,the development trends of three typical actuators,namely hydraulic,quasi-direct drive,and serial elastic actuators,are discussed.After that,the sensors and modeling methods used for perception are surveyed.Furthermore,this paper pays special attention to the review of control approaches since control is a great challenge for highly dynamic multilegged robots.Four dynamics-based control methods and two model-free control methods are described in detail.Third,key open topics of future research concerning the mechanism,actuation,perception,and control of highly dynamic multilegged robots are proposed.This paper reviews the state of the art development for multilegged robots,and discusses the future trend of multilegged robots.

Flow Control over a Conical Forebody by Duty-Cycle Actuations

Duty-cycle modulation alternately blowing from two opposite-facing plasma actu- ators on the leeward surface near the apex of a cone with a 10° semi-apex angle is adopted to control mean lateral force and moment, and the flow control mechanisms are presented. Pressure distributions over the forebody of the cone are measured by steady pressure tappings. The experiments are performed in a 3.0×1.6 m open-circuit wind tunnel at a wind speed of 20 m/s, a 45° angle of attack and a Reynolds number of 2×10^5, based on the diameter of the base of the cone. Almost linearly proportional control of the lateral forces and moments over a slender conical forebody at a high angle of attack has been demonstrated by employing a pair of single dielectric barrier discharge plasma actuators near the apex of the cone, combined with a duty-cycle tech- nique. The pressure distribution measurements indicate that the hi-stable vortex pattern appears to be shifted in the opposite direction when the port or starboard actuator is activated, while the other is kept off during the test. It is shown that the reduced pulse-repetition frequency based on the local diameter at the plasma actuator equal to one yields the highest effectiveness among the cases considered.

Electromechanical actuation of CNT/PVDF composite films based on a bridge configuration

Bridged strips consisting of carbon nanotubes and poly（vinylidene fluoride） are developed, which exhibit notable deflection in response to very low driven voltages（ 1 V）, because of both the excellent conductivity of the unique carbon nanotube film and the powerful thermal expansion capability of the polymer. The actuators demonstrate periodic vibrations motivated by the alternating signals. The amplitude of displacement is dependent not only on the driven voltage but also on the applied frequency. The mechanism of actuation is confirmed to be the thermal power induced by the electrical heating. By accelerating the dissipation of heat, the vibration response at higher frequencies can be significantly enhanced.The useful locomotion shows great promise in potential applications such as miniature smart devices and micro power generators.

Flow Control over a Conical Forebody by Periodic Pulsed Plasma Actuation

The flow control mechanism of plasma actuators with periodic pulsed discharge to control the bi-stable vortices over a cone-cylinder is investigated. The actuators are installed on the leeward surface near the apex of a cone which has a semi-apex angle of 10°. The effectiveness of the plasma actuation under different free-stream velocities and angles of attack is analyzed. The pressure distributions over the conical forebody are measured by both steady and dynamic pressure transducers. The transient dynamic pressure distribution tends to gradually become steady as the free-stream velocity increases, that is, the pulsed actuation approximates a continuous one. Furthermore, the flow control effectiveness becomes less noticeable as the free-stream velocity or the angle of attack increases under certain controlling electrical parameters.

Synthesis of Branched Chains with Actuation Redundancy for Eliminating Interior Singularities of 3T1R Parallel Mechanisms

Although it is common to eliminate the singularity of parallel mechanism by adding the branched chain with actuation redundancy, there is no theory and method for the configuration synthesis of the branched chain with actuation redundancy in parallel mechanism. Branched chains with actuation redundancy are synthesized for eliminating interior singularity of 3-translational and 1-rotational（3T1R） parallel mechanisms. Guided by the discriminance method of hybrid screw group according to Grassmann line geometry, all the possibilities are listed for the occurrence of interior singularities in 3T1R parallel mechanism. Based on the linear relevance of screw system and the principles of eliminating parallel mechanism singularity with actuation redundancy, different types of branched chains with actuation redundancy are synthesized systematically to indicate the layout and the number of the branched chainsinterior with actuation redundancy. A general method is proposed for the configuration synthesis of the branched chains with actuation redundancy of the redundant parallel mechanism, and it builds a solid foundation for the subsequent performance optimization of the redundant actuation parallel mechanism.

Experimental Investigation on the Characteristics of Sliding Discharge Plasma Aerodynamic Actuation

A new electrical discharge called sliding discharge was developed to generate plasma aerodynamic actuation for flow control. A microsecond-pulse high voltage with a DC component was used to energize a three-electrode actuator to generate sliding discharge. The characteristics of plasma aerodynamic actuation by sliding discharge were experimentally investigated. Discharge morphology shows that sliding discharge is formed when energized by properly adjusting microsecond-pulse and DC voltage. Compared to dielectric barrier discharge （DBD）, the plasma extension of sliding discharge is quasi-diffusive and stable but longer and more intensive. Results from particle image velocimetry （PIV） test indicate that plasma aerodynamic actuation by sliding discharge can induce a ＇starting vortex＇ and a quasi-steady ＇near-wall jet＇. Body force induced by plasma aerodynamic actuation is about the order of mN, which is stronger than that induced by single DBD. It is inferred that microsecond-pulse sliding discharge may be more effective to generate large-scale plasma aerodynamic actuation, which is very promising for improving aircraft aerodynamic characteristics and propulsion efficiency.

Large Eddy Simulation of the Effects of Plasma Actuation Strength on Film Cooling Efficiency

In this article, numerical investigation of the effects of different plasma actuation strengths on the film cooling flow characteristics has been conducted using large eddy simulation （LES）. For this numerical research, the plasma actuator is placed downstream of the trailing edge of the film cooling hole and a phenomenological model is employed to provide the electric field generated by it, resulting in the body forces. Our results show that as the plasma actuation strength grows larger, under the downward effect of the plasma actuation, the jet trajectory near the cooling hole stays closer to the wall and the recirculation region observably reduces in size. Meanwhile, the momentum injection effect of the plasma actuation also actively alters the distributions of the velocity components downstream of the cooling hole. Consequently, the influence of the plasma actuation strength on the Reynolds stress downstream of the cooling hole is remarkable. Furthermore, the plasma actuation weakens the strength of the kidney shaped vortex and prevents the jet from lifting off the wall. Therefore, with the increase of the strength of the plasma actuation, the coolant core stays closer to the wall and tends to split into two distinct regions. So the centerline film cooling efficiency is enhanced, and it is increased by 55% at most when the plasma actuation strength is 10.

Experimental study on surface arc plasma actuation-based hypersonic boundary layer transition flow control

Effective control of hypersonic transition is essential.In order to avoid affecting the structural proflle of the aircraft,as well as reducing power consumption and electromagnetic interference,a low-frequency surface arc plasma disturbance experiment to promote hypersonic transition was carried out in theΦ0.25 m double-throat Ludwieg tube wind tunnel at Huazhong University of Science and Technology.Contacting printed circuit board sensors and non-contact focused laser differential interferometry testing technology were used in combination.Experimental results showed that the low-frequency surface arc plasma actuation had obvious stimulation effects on the second-mode unstable wave and could promote boundary layer transition by changing the spectral characteristics of the second-mode unstable wave.At the same time,the plasma actuation could promote energy exchange between the second-mode unstable wave and other unstable waves.Finally,the corresponding control mechanism is discussed.

Experimental investigation of nanosecond discharge plasma aerodynamic actuation

In this paper we report on an experimental study of the characteristics of nanosecond pulsed discharge plasma aerodynamic actuation. The N2 （C3IIu） rotational and vibrational temperatures are around 430 K and 0.24 eV, respectively. The emission intensity ratio between tile first negative system and the second positive system of N2, as a rough indicator of the temporally and spatially averaged electron energy, has a minor dependence on applied voltage amplitude. The induced flow direction is not parallel, but vertical to the dielectric layer surface, as shown by measurements of body force, velocity, and vorticity. Nanosecond discharge plasma aerodynamic actuation is effective in airfoil flow separation control at freestream speeds up to 100 m/s.

Modeling and Configuration Design of Electromagnetic Actuation Coil for a Magnetically Controlled Microrobot

Non-contact actuated microbeads have attracted a lot of attention in recent years because of its enormous potential in medical, biological, and industrial applications. Researchers have proposed a multitude of electromagnetic actuation(EMA) systems consisting of a variety of coil pairs. However, a unified method to design and optimize a coil pair according to technical specifications still does not exist. Initially, this paper presented the modeling of an untethered ferromagnetic particle actuated by externally applied magnetic field. Based on the models, a simple method of designing and optimizing the EMA coil pair according to technical specifications, was proposed. A loop-shaped coil pair generating uniform magnetic and gradient fields was chosen to demonstrate this method clearly and practically. The results of the optimization showed that the best distance to radius ratio of a loop-shaped coil pair is 1.02 for a uniform magnetic field and 1.75 for a uniform gradient field. The applicability of the method to other shapes of coil configuration was also illustrated. The best width to distance ratio for a square-shaped coil pair is 0.558 and 0.958 for uniform magnetic and gradient fields, respectively. The best height to width ratio and distance to width ratio for a rectangle-shaped coil pair is h/w =[0.9,1.1], d/w =[0.5,0.6] for uniform magnetic field and h/w =[1.0,1.2], d/w =[0.9,1.1] for uniform gradient field. Furthermore, simulations of a microparticle tracking the targeted trajectory were conducted to analyze the performance of the newly designed coils. The simulations suggested the ability of manipulating microparticles via the coils designed by our proposed method. The research mainly proposed a unified design and optimization method for a coil pair, which can support researchers while designing a specific coil pair according to the technical requirements. This study is aimed at researchers who are interested in EMA system and microrobots.

Robust control with compensation of adaptive model for dual-stage inertially stabilized platform

To achieve excellent tracking accuracy,a coarse-fine dual-stage control system is chosen for inertially stabilized platform.The coarse stage is a conventional inertially stabilized platform,and the fine stage is a secondary servo mechanism to control lens motion in the imaging optical path.Firstly,the dual-stage dynamics is mathematically modeled as a coupling multi-input multi-output(MIMO)control system.Then,by incorporating compensation of adaptive model to deal with parameter variations and nonlinearity,a systematic robust H∞control scheme is designed,which can achieve good tracking performance,as well as improve system robustness against model uncertainties.Lyapunov stability analysis confirmed the stability of the overall control system.Finally,simulation and experiment results are provided to demonstrate the feasibility and effectiveness of the proposed control design method.