Modelling,simulation and identification of a mobile concrete pump

Due to the light-weight construction of modern large-scale manipulators used, e.g., in mobile concrete pumps, the elasticity of the construction elements plays a significant role in the dynamic behaviour of the system. Therefore, current research is concerned with control strategies for active damping of elastic vibrations and trajectory planning. For this purpose, tailored mathematical models are required. Apart from the mathematical modelling, the identification of the model parameters constitutes a challenging task. This is mainly due to the large number of parameters to be identified and, considering the large scale, due to the fact that the boom movement cannot be measured by means of standard sensors. This paper presents a systematic approach for the mathematical modelling and identification of hydraulically actuated large-scale manipulators. The feasibility of the overall approach is demonstrated by means of measurement results of a mobile concrete pump.     

Flexible semi‐transparent silicon (100) fabric with high‐k/metal gate devices

Can we build a flexible and transparent truly high performance computer? High‐k/metal gate stack based metal–oxide–semiconductor capacitor devices are monolithically fabricated on industry's most widely used low‐cost bulk single‐crystalline silicon (100) wafers and then released as continuous, mechanically flexible, optically semi‐transparent and high thermal budget compatible silicon fabric with devices. This is the first ever demonstration with this set of materials which allows full degree of freedom to fabricate nanoelectronics devices using state‐of‐the‐art CMOS compatible processes and then to utilize them in an unprecedented way for wide deployment over nearly any kind of shape and architecture surfaces. Electrical characterization shows uncompromising performance of post release devices. Mechanical characterization shows extra‐ordinary flexibility (minimum bending radius of 1 cm) making this generic process attractive to extend the horizon of flexible electronics for truly high performance computers.

     

Optimal Fuzzy PID Controller with Adjustable Factors and Its Application to Intelligent Artificial Legs

A new kind of optimal fuzzy PID controller is proposed, which contains two parts. One is an on-line fuzzy inference mechanism and another is a conventional PID controller. In the fuzzy inference mecha-nism, three adjustable factors χp, χi, and χd are introduced. Their function is to further modify and op-timize the result of the fuzzy inference to make the controller have the optimal control effect on a given ob-ject. The optimal values of these factors are determined based on the ITAE criterion and the flexible poly-hedron search algorithm of Nelder and Mead. This PID controller has been used to control a D.C. motor of the intelligent artificial leg designed by the authors. The result of computer simulation indicates that the design of this controller is very effective and can be widely used to control different kinds of objects and processes.     

多端统一潮流控制器的建模分析

在电力系统中,由同一母线向多端供电的情况并不少见,如果要对其进行综合潮流控制,可以用以下2种方法:一种是在供电端与各受电端间分别装设统一潮流控制器(UPFC),假设受电端有n个,则共需n台UPFC;另一种是在供电端与受电端间装设1台多端统一潮流控制器(M-UPFC).现以二端统一潮流控制器(T-UPFC)(当n=2时)为研究对象,首先介绍T-UPFC的结构及其工作原理,并且针对目前输出建模方法和拓扑建模方法的不足,通过引入开关函数的概念,建立可反映装置内部开关特性和运行机理的开关函数数学模型,较原有输出模型更具通用性.     

Nanoparticle-doped chiral nematic liquid-crystal composite and its effect in magnetic-response and electric-response flexible display

A composite system of Fe3O4 nanoparticle-doped chiral nematic liquid crystals (N*LC) with flexible display performance was proposed. Fe3O4 nanoparticle and the nanoparticle-doped N*LC composite were detailed prepared and investigated. The influence of nanoparticle doping amount and chiral compound content on the magnetic performance as well as electrical performance of the flexible device had been studied in detail. The most suitable N*LC composites for magnetic-driven display had been found. With the characteristics of simple preparation, good stability and high resolution, the Fe3O4 nanoparticle-doped N*LCs had promising applications for power-free magnetic-driven flexible LC paper or display board.     

动态配位空间的构筑与调控

“配位空间”(Coordination Space)是无机-有机杂化体系中的构筑基元通过配位键连接形成的具有特定结构和功能的空间。这一概念为基于配位键的框架体系的定向构筑与结构-性能调控提供了新的视角。作为典型的无机-有机杂化材料,金属-有机框架(Metal-Organic Framework,MOF)及金属有机笼(Metal-Organic Cage,MOC)等近年来受到广泛关注。这类材料的构筑与性能调控的核心可以认为是对其配位空间的结构设计与性能调控。具有刺激响应性的MOF可展现动态的配位空间,使其在吸附分离、传感、药物投递等方面具有重要的应用前景。本文将以动态金属有机框架的相关研究为基础简述动态配位空间研究的近期进展,包括其动态行为产生的结构基础、诱发因素及相关性能,归纳结构-性能的关系,为相关研究提供参考。     

Polyamide 11/Poly(vinylidene fluoride) Blends as Novel Flexible Materials for Capacitors

A novel capacitor with high dielectric constant (ε) has been developed by blending poly(vinylidene fluoride) (PVDF) with polyamide (PA11). The blends show high dielectric constants (ε_blend = 40), which give better frequency stability (1 MHz), and excellent mechanical properties. Based on certain volume fractions, the measured dielectric constants (ε _blend ) were found to exceed those of the corresponding polymers, in contrasted to conventional composites, where ε_polymerA < ε_composite < ε_polymerB. SEM investigations suggest that the enhanced dielectric behavior originates from significant interfacial polymer‐polymer interactions. DSC and XRD demonstrate that blending PA11 with PVDF affects the crystalline behavior of each component. However, the PA11/PVDF blends exhibit a slightly high dielectric loss (tanδ ≈ 0.17), which is a great disadvantage to a capacitor. Adding a copolymer of styrene and maleic anhydride decreased the dielectric loss (tanδ ≈ 0.057) and increased the dielectric constant (ε_blend = 60). Our findings suggest that the high‐ε polymeric blends created represent a novel type of material that is flexible and easy to process, of relatively high dielectric constant, of high breakdown strength and, moreover, is suited to applications in flexible electronics.

     

A Comparative Study of the Semiconductor Behavior of Organic Thin Films: TCNQ-Doped Cobalt Phthalocyanine and Cobalt Octaethylporphyrin

The structure formed by cobalt phthalocyanine (CoPc) and cobalt octaethylporphyrin (CoOEP) with electron-acceptor tetracyano-π-quinodimethane (TCNQ), was studied by Density Functional Theory (DFT) methods. According to theoretical calculations, both cobalt systems can establish dispersion forces related to TCNQ and also in both cases the link between them is built by means of hydrogen bonds. Based on the results of these DFT calculations, we developed experimental work: the organic semiconductors were doped, and the thermal evaporation technique was used to prepare semiconductor thin films of such compounds. The structure of the films was studied by FTIR and Raman spectroscopy. The optical properties of the CoPc-TCNQ and CoOEP-TCNQ films were investigated by means of UV-Vis measurements. The results obtained were used to estimate the type of transitions and the optical bandgap. The results were compared to the previously calculated theoretical bandgap. The CoOEP-TCNQ film presented the smallest theoretical and experimental bandgap. Finally, the electrical properties of the organic semiconductors were evaluated from a PET (polyethylene terephthalate)/indium tin oxide (ITO)/cobalt macrocycle-TCNQ/silver (Ag) device we prepared. The CoOEP-TCNQ-based device showed an ohmic behavior. The device manufactured from CoPc-TCNQ also showed an ohmic behavior at low voltages, but significantly changed to SCLC (space-charge limited conductivity) at high voltage values.     

Proton conductivity study on three CS/IL@fle-MOF membranes

The low-cost, high specific surface area and porosity, controlled pore size, and chemical properties of metal–organic framework (MOF) materials have attracted much attention in the exploration of proton conduction. The method of chemically modifying MOF structures or introducing conductive medium into the holes can effectively improve the proton conductivities of the materials. Here, the structural tunability of ionic liquid (IL) and flexible MOF (fle-MOF) materials are matched to give full play to the conductivity of IL, the framework support, and the microporous effect of MOFs, which achieves the synergistic effect of performance and expands the temperature range of proton transfer. Three kinds of CS/IL@fle-MOF membranes were prepared by combining three fle-MOFs with 1-carboxymethyl-3-methylimidazole (CMMIM) in different proportions to obtain 15 pieces of membranes. The comparative analyses show that CS/IL@fle-MOF membranes have excellent proton conduction performance at a wider temperature range (263–353 K) and lower relative humidity (75% RH). Among them, the proton conductivities of CS/CMMIM@MIL-88A-25% and CS/CMMIM@MIL-88B-125% are up to 1.33 and 1.42 S cm⁻¹ at 75% RH and 353 K, respectively; whereas those of CS/CMMIM@MIL-53(Fe)-75% and CS/CMMIM@MIL-88B-125% reach up to 2.1 × 10⁻³ and 1.28 × 10⁻³ S cm⁻¹ at 75% RH and 263 K, respectively. The E_a of CS/CMMIM@fle-MOFs is in the range of 0.1–0.5 eV, suggesting that the proton transport follows predominantly the typical Grotthuss transfer mechanism. The results of this study indicate that the CS/CMMIM@fle-MOF membranes combinations offer great potential for the design of composite porous proton-conducting materials.