Redundant actuators to achieve minimal vibration trajectory tracking of flexible multibodies: Theory and application

We address the problem of inverse dynamics for flexible multibodies, which arises, in trajectory tracking control of flexible multibodies such as space manipulators and articulated flexible structures. Previous research has resolved this trajectory tracking problem by computing the system inputs for feedforward control of actuators at the joints. Recently, the use of distributed actuators like electro-strictive actuators in flexible structures has introduced a new dimension to this trajectory tracking problem. In this paper we optimally utilize such actuators to aid joint actuators for tracking control, and introduce a new inverse dynamics scheme for simultaneously (1) tracking a prescribed trajectory and (2) minimizing ensuing elastic deflections. We apply this scheme for trajectory tracking of a two-link two-joint planar manipulator with joint motors and distributed electro-strictive actuators. Experimental results are presented to contrast our new scheme with other existing methods.     

Functionally graded piezoelectric cantilever beam under load

Summary In the present paper, the problem of a functionally graded piezoelectric cantilever beam subjected to different loadings is studied. The piezoelectric beam is characterized by continuously graded properties for one elastic parameter and the material density. A pair of stress and induction functions in the form of polynomials is proposed and determined. Based on these functions, a set of analytical solutions for the beam subjected to different loadings is obtained. As particular cases, series of solutions for some canonical problems can be directly obtained from the solutions of the present paper, such as for the problems of a piezoelectric cantilever beam with constant body force or without body forces, etc.This research work is supported by the National Natural Science Foundation of China (50272003). Support was also given by the Teaching and Research Award Fund for Outstanding Young Teachers in Higher Education Institutions of MOE, P.R.C.     

Investigation on FR(LT)–FR(HT) phase transition and pyroelectric properties of pulsed laser deposited Pb(Zr0.93Ti0.07)O3 thin films

The preparation process, crystallinity and electrical properties of pulse laser deposited Pb(Zr_xTi_1−x)O₃ (PZT) thin films were investigated in this paper. PZT (x = 0.93) thin film samples deposited at different substrate temperatures were prepared. Si (1 1 0) was the substrate; Ag and YBCO were the top electrode and the bottom electrode respectively. The bottom electrode YBCO was deposited on the Si substrate by pulsed laser deposition (PLD), and then PZT was epitaxially deposited on YBCO also by PLD. After annealing, the top electrode Ag was prepared on PZT by thermal evaporation, and then the Ag/PZT/YBCO/Si structured thin films were obtained. The XRD and the analysis of their electrical characters showed that, when the substrate temperature was elevated from 600 °C to 800 °C, the crystallinity and electrical properties of PZT thin films became better and better, and the F_R(LT)–F_R(HT) phase transition of PZT (x = 0.93) thin films occurred at 62 °C. The PZT film deposited at 800 °C had the best pyroelectric properties, and when the F_R(LT)–F_R(HT) phase transition of this film occurred, the peak value of pyroelectric coefficient (p) was obtained, with a value of 1.96 × 10⁻⁶ C/(cm² K). The PZT film deposited at 800 °C had the highest remnant polarization (P_r) and the lowest coercive field (E_c), with the values of 34.3 μC/cm² and 41.7 kV/cm respectively.     

Responsive core–shell microgels: Synthesis,characterization, and possible applications

Core–shell microgels are of increasing interest as smart carriers of catalysts, as sensors, or as building blocks for colloidal superstructures. In the context of colloidal assemblies, photonic applications are probably the most promising ones. This progress report presents and discusses the most recent results in this area focusing on the last 2–3 years, and also gives some background information. In addition, potential perspectives of this area will be outlined. © 2013 Wiley Periodicals, Inc. J. Polym. Sci., Part B: Polym. Phys. 2013, 51, 1073–1083     

精密稳定控制系统输入量的获取方法

精密稳定(二级稳定d)控制系统具有通频带宽、响应速度快、精度高的特点,弥补了跟踪架伺服(一级稳定b)控制系统的不足。压电陶瓷倾斜平台(PZT)作为精密稳定控制系统的驱动装置,对于这种特殊结构来说,传统的光电传感器的输入不适于精密稳定控制系统的驱动装置。着重讨论了其输入量的获取方法,并在实验的基础上分析了这种方法的可行性。     

Lyapunov exponents as a criterion for the dynamic pull-in instability of electrostatically actuated microstructures

The dynamic pull-in instability of double clamped microscale beams actuated by a suddenly applied distributed electrostatic force and subjected to non-linear squeeze film damping is investigated. A reduced order model is built using the Galerkin decomposition with undamped linear modes as base functions and verified through comparison with numerical finite differences solution. The stability analysis of a beam actuated by one and two electrodes symmetrically located at two sides of the beam and operated by a step-input voltage is performed by evaluating the largest Lyapunov exponent, the sign of which defines the character of the response. It is shown that this approach provides an efficient quantitative criterion for the evaluation of dynamic pull-in instability, especially when combined with compact reduced order models. Based on the Lyapunov exponent criterion, the influence of various parameters on the beam dynamic stability is investigated.     

主动振动控制中传感／作动元件配置问题的全局优化方法研究

提出了一种主动振动控制中作动／传感元件位置的复合优化方法，它能有效地解决全局优化配置问题；通过对单点并置问题的优化，证明了该优化方法的有效性，并对多点配置问题也具有一定的参考价值。     

Sensor–actuator system for dynamic chloride ion determination

Chloride is a crucial anion for various analytical applications from biological to environmental applications. In order to measure the chloride ion concentration, a measurement system is needed which can detect this concentration for prolonged times reliably. Chronopotentiometry is a technique which does not need a long term stable reference electrode and is therefore very suitable for prolonged ion concentration measurements. As the used electrode might be fouled by reaction products, this work focuses on a chronopotentiometric approach with a separated sensing electrode (sensor) and actuating electrode (actuator). Both actuation and sensor electrode are made of Ag/AgCl. A constant current is applied to the actuator and will start the reaction between Ag and Clˉ, while the resulting Clˉ ion concentration change is observed through the sensor, which is placed close to the actuator. The time it takes to locally deplete the Clˉ ions is called transition time. Experiments were performed to verify the feasibility of this approach. The performed experiments show that the sensor detects the local concentration changes resulting from the current applied to the actuator. A linear relation between the Clˉ ion concentration and the square root of the transition time was observed, just as was predicted by theory. The calibration curves for different chips showed that both a larger sensor and a larger distance between sensor and actuator resulted in a larger time delay between the transition time detected at the actuator and the sensor.     

Coupling of Biomolecular Logic Gates with Electronic Transducers: From Single Enzyme Logic Gates to Sense/Act/Treat Chips

The integration of biomolecular logic principles with electronic transducers allows designing novel digital biosensors with direct electrical output, logically triggered drug‐release, and closed‐loop sense/act/treat systems. This opens new opportunities for advanced personalized medicine in the context of theranostics. In the present work, we will discuss selected examples of recent developments in the field of interfacing enzyme logic gates with electrodes and semiconductor field‐effect devices. Special attention is given to an enzyme OR/Reset logic gate based on a capacitive field‐effect electrolyte‐insulator‐semiconductor sensor modified with a multi‐enzyme membrane. Further examples are a digital adrenaline biosensor based on an AND logic gate with binary YES/NO output and an integrated closed‐loop sense/act/treat system comprising an amperometric glucose sensor, a hydrogel actuator, and an insulin (drug) sensor.     

A new type of micropump driven by a low electric voltage

In this paper, we propose a new prototype model of a micro pump using ICPF (Ionic Conducting Polymer Film) actuator as the servo actuator. This micro pump consists of two active oneway valves that make use of the same ICPF actuator. The overall size of this micro pump prototype is 12mm in diameter and 20 mm in length. The actuating mechanism is as follows: (1) The ICPF actuator as the diaphragm is bent into anode side by application of electricity. Then the volume of the pump chamber increases, resulting in the inflow of liquid from the inlet to the chamber. (2) By changing the current direction, the volume of the pump chamber decreases, resulting in the liquid flow from the chamber to the outlet. (3) The ICPF actuator is put on a sine voltage, the micro pump provides liquid flow from the inlet to the outlet continuously. Characteristic of the micro pump is measured. The experimental results indicate that the micro pump has the satisfactory responses.