检索结果-内蒙古大学图书馆

Environmentally Friendly, Dual-Responsive Actuator Based on Nafion, Carboxylated Multiwalled Carbon Nanotubes, and Polyethylene

引用

ACS APPLIED MATERIALS & INTERFACES 2024年第50期16卷 69818-69828页

作者： Liu, Shilong Tang, Gangqiang Pan, Yifan An, Shunan Ji, Yujun Wang, Yanjie Hohai Univ Jiangsu Prov Key Lab Special Robot Technol Changzhou 213022 Peoples R China

As a type of smart material, flexible stimulus-responsive actuators have become a hot research topic nowadays. However, flexible actuators responding to a single stimulus source are susceptible to external perturbations, which may lead to an unstable function or even failure. Therefore, in this paper, we proposed a bilayer actuator that can be driven by both humidity and light by combining the humidity-sensitive Nafion, carboxylated multiwalled carbon nanotubes (cMWCNT) with excellent photothermal conversion properties, and commercial polyethylene (PE) tape with good humidity insensitivity and thermal expansion. First, the cMWCNT-Nafion film was prepared by a solution casting method and bonded together with PE tape to obtain a bilayer actuator. Then, the effects of the cMWCNT mass fraction and film thickness on the humidity and light response performance of the bilayer actuator were investigated. The optimal ratios of raw materials were obtained for different stimulation sources, respectively. Furthermore, the performance of the bilayer actuator with the optimal ratios was tested;it was verified that the proposed dual-responsive actuator can realize different degrees of bending deformation under different relative humidity (RH) and ultraviolet (UV) light intensity with good stability. Finally, the application potential in multiple scenarios was further verified by applying the prepared cMWCNT-Nafion/PE bilayer actuator to a smart window, crawling robot, and flexible gripper. This paper will provide a meaningful reference for the development and performance optimization of high-performance dual-responsive actuators.

关键词： dual-responsive bilayer actuator humidity light Nafion cMWCNT multiscenario applications

来源：评论

学校读者我要写书评

暂无评论

A finger-inspired pneumatic network actuator based on rigid-flexible coupling structure for soft robotic grippers

引用

INTELLIGENT SERVICE robotICS 2024年第4期17卷 833-846页

作者： Yu, Xiaofeng Mei, Dong Wang, Jianfeng Tang, Gangqiang He, Lei Wang, Yanjie Hohai Univ Jiangsu Prov Key Lab Special Robot Technol Changzhou Campus Changzhou 213022 Peoples R China

Inspired by the morphology of human finger, this study proposed a pneumatic network actuator for soft robotics gripper with rigid-flexible coupling and stepped chamber structure to improve the grasp stability and strength under low air pressure. The actuator adopts a segmented structure and has two independent chambers that can be driven, respectively. The distal segment of the soft actuator adopted a stepped chamber structure with a varying height which mimicked the shape of a human fingertip like a cone to increase the contact area between the object and the soft actuator. The proximal segment of the soft actuator utilizes the rigid-flexible coupling structure which draws inspiration from the interlacing of the ligaments and bones of human finger to enhance the output force of existing pneumatic network actuators. First of all, the structure of the pneumatic network actuator, the distal segment, the proximal segment, and the restriction layer structure were designed through theoretical derivations and finite element simulations. The response surface methodology was then utilized to optimize the dimensional aspects of the soft actuator's structure to further improve the performance of the actuator. Then, a prototype was fabricated based on the optimization results, and experiments were performed to assess the bending angles and output forces, which can reach 244.26 degrees and 3.25 N, respectively. Finally, utilizing the soft actuator, two-finger and three-finger grippers were assembled, which are able to effectively grasp various objects in different grasping modes. These grippers exhibit advantages such as a sufficiently large contact area, high output force, reliable grasping, strong adaptability, and a wide range of grasping capabilities.

关键词： Pneumatic network actuator Soft gripper Rigid-flexible coupling structure Stepped chamber structure Response surface methodology Box-Behnken

来源：评论

学校读者我要写书评

暂无评论

Blue Hand: A Novel Type of Soft Anthropomorphic Hand Based on Pneumatic Series-Parallel Mechanism

引用

IEEE robotICS AND AUTOMATION LETTERS 2023年第11期8卷 7615-7622页

作者： Mei, Dong Yu, Xiaofeng Tang, Gangqiang Liu, Shilong Zhao, Xin Zhao, Chun Li, Chunxu Wang, Yanjie Hohai Univ Jiangsu Prov Key Lab Special Robot Technol Changzhou 213022 Peoples R China

Hand dexterity is tremendously valuable to robots for task-dependent manipulation and interacting with the world. In this work, we present a novel soft pneumatic dexterous hand, which demonstrates highly dexterous and versatile anthropomorphic properties. Inspired by human hand, the proposed hand possesses 21 degrees of freedoms (DOFs), is implemented in anthropomorphic fingers, soft parallel palm and the ability to spread the fingers with a modular design. The anthropomorphic fingers are designed in accordance with the joint distribution of the human fingers. By using a layered design, each independent actuator is divided into an actuating layer and a contact layer, which allows the grasping mode and the contact mode to be adjusted in real-time. To streamline the creation of the palm and improve the dexterity of the hand, the soft parallel palm is actuated by bellow actuators, designed by using the characteristics of a compact structure and stable movement of the parallel mechanism. Additionally, the bellow actuators are also used to realize the ability to spread the fingers and assist the carpometacarpal (CMC) joint bending of the thumb through the passive deformation of the flexible joint. Through series of experiments, we evaluate the hand by demonstrating its ability to achieve the highest possible score in the Kapandji test for thumb dexterity, to realize all 33 grasp types of the comprehensive GRASP taxonomy, and to interact with humans in the real world.

关键词： Soft pneumatic dexterous hand anthropomorphic fingers soft parallel palm layered design

来源：评论

学校读者我要写书评

暂无评论

High-performance paper-based humidity sensors with Nafion/AgNWs hybrid electrodes

引用

RSC ADVANCES 2023年第41期13卷 28613-28622页

作者： Ji, Yujun Tang, Gangqiang Zhao, Chun Zhao, Xin Mei, Dong Pan, Yifan Wang, Yanjie Hohai Univ Jiangsu Prov Key Lab Special Robot Technol Changzhou Campus Changzhou 213022 Peoples R China

In the past decade, the development of medical health and human-computer interfaces has put forward requirements for the non-contact application of flexible electronics. Among them, flexible humidity sensors play an important role in the field of non-contact sensing by virtue of their rapid response to humidity changes. In this paper, a flexible paper-based humidity sensor with high performance was fabricated by embedded Au@AgNWs electrodes on filter paper through spraying and electroplating (EP) methods. Benefitting from the moisture-sensitive properties of the paper and the tight integration of the electrodes into the filter paper, the sensor shows the humidity monitoring range of 33-100% RH, large response value of I/I0 = 1958, excellent linearity of R2 = 0.99662 and hysteresis performance under the low excitation voltage of only DC 1 V. In addition, the good biocompatibility of the paper-based humidity sensor endows it with multifunctional applications for breath detection, non-contact applications and food security monitoring. Easy access to raw materials and convenient preparation methods of this work provide new ideas for the development and commercialization of flexible humidity sensors. A flexible paper-based humidity sensor with high performance was fabricated by embedded Au@AgNWs electrodes on filter paper through spraying and electroplating with multifunctional applications for breath detection, and non-contact applications.

关键词： Humidity sensors

来源：评论

学校读者我要写书评

暂无评论

A Soft Pneumatic Gripper Integrated Strain and Piezoresistive Sensors for Grasping Detection 17th

A Soft Pneumatic Gripper Integrated Strain and Piezoresistiv...

引用

17th International Conference on Intelligent robotics and Applications

作者： Zhao, Xin Wang, Jianfeng Tang, Gangqiang Mei, Dong Zhao, Chun Wang, Yanjie Hohai Univ Jiangsu Prov Key Lab Special Robot Technol Changzhou Campus Changzhou 213200 Jiangsu Peoples R China

ISBN: (纸本)9789819607945;9789819607952

The matching mechanical impedance between the flexible sensors and the soft gripper will endow the soft pneumatic gripper with excellent actuating performance and sensing ability. In this paper, a conductive elastomer based on Polydimethylsiloxane (PDMS) doping carbon conductive filler is proposed, which has similar mechanical properties with the body material of the gripper. The resistive strain senso was fabricated based on a conductive elastomer, and the piezoresistive sensor was assembled by two conductive elastomers with microstructures, which were used to monitor bending deformation and pressure changes, respectively. Two essential factors of the conductive filler type and the MWCNTs mixing ratio have been investigated to improve the sensitivity and mechanical properties of proposed sensors. MWCNTs with large aspect ratio has been selected as the conductive filler. The resistance strain sensor, filled with 8 wt%, displays good angular discrimination ability with a sensitivity of 0.107 k Omega/degrees. The piezoresistive sensor exhibits good force sensitivity within 0 similar to 350 kPa range. The sensors have been integrated into the designated area of a soft pneumatic gripper and well reflect the diameter and weight of the grasped object.

关键词： Conductive Elastomer Strain sensor Piezoresistive sensor Soft pneumatic gripper Grasping detection

来源：评论

学校读者我要写书评

暂无评论

Design of the Pole-Climbing robot Based on Yoshimura Origami Actuator 17th

Design of the Pole-Climbing Robot Based on Yoshimura Origami...

引用

17th International Conference on Intelligent robotics and Applications

作者： Liu, Shilong Tang, Gangqiang Tan, Kangning Yu, Xiaofeng Mei, Dong An, Shunan Wang, Yanjie Hohai Univ Jiangsu Prov Key Lab Special Robot Technol Changzhou Campus Changzhou 213200 Jiangsu Peoples R China

ISBN: (纸本)9789819607945;9789819607952

Origami structure has good flexibility and folding ability. Based on the excellent axial deformation ability of Yoshimura origami structure, a pole-climbing robot driven by Yoshimura-ori actuators is designed. Firstly, a Yoshimura-ori actuator composed of Yoshimura-ori structure, thermoplastic urethane (TPU) sheet and polyethylene (PE) film is proposed and the actuator model is designed and fabricated. The relationship between the length of Yoshimura-ori actuator and the change of pressure is investigated. Then, a pneumatic adapter that can integrate and combine Yoshimura-ori actuators is proposed, and its design basis is analyzed. The working diameter range of the ring-shaped Yoshimura-ori actuator combination is measured, and the prototype of the pole-climbing robot is built. Finally, the control strategy of the pole-climbing robot is formulated, and its climbing performance is tested. The experimental results show that the pole-climbing robot has good climbing ability, and its ring structure can adapt well to the diameter size of the pole to realize the climbing function.

关键词： Yoshimura-ori structure Yoshimura-ori actuator pneumatic adapter pole-climbing robot

来源：评论

学校读者我要写书评

暂无评论

Perspective on the development and application of ionic polymer metal composites: from actuators to multifunctional sensors

RSC Applied Polymers

引用

RSC Applied Polymers 2024年第5期2卷 795-804页

作者： Tang, Gangqiang Zhao, Xin Mei, Dong Zhao, Chun Wang, Yanjie Jiangsu Provincial Key Laboratory of Special Robot Technology Hohai University Changzhou campus Changzhou 213022 China

Ionic polymer metal composites (IPMCs) are a versatile class of ionic polymer-based transducers with excellent electromechanical properties and wide application potential in the fields of bionic robots, medical devices and wearable devices as actuators and sensors. In this perspective, we discuss the development of polymer matrices and applications of IPMCs, from actuating to multifunctional sensing. The latest ionic polymer matrixes for IPMCs show the trend toward being printable, programmable and degradable, which will facilitate multi-scenario applications of IPMCs. Regarding the applications, IPMCs have been widely used in various fields as actuators and multi-parameter sensors, and related devices will be further developed in the direction of miniaturization, integration and intelligence. Furthermore, some suggestions are put forward to facilitate the further development and wide application of IPMCs. © 2024 RSC.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Determining scalar illuminance from cubic illuminance data. Part 2: Tests in real lighting environments and an approach to improve its accuracy

引用

LIGHTING RESEARCH & technology 2023年第1期55卷 62-78页

作者： Xia, L. Gu, Y. Liu, X. Zhang, T. Xu, R. Hohai Univ Coll IoT Engn Jiangsu Key Lab Special Robot Technol Jinling Rode 200 Changzhou 213022 Peoples R China

Scalar illuminance, which describes the constant illumination from all directions, is an important indicator of the abundance of light for a lit object and the adequacy of illumination perceived. This paper proposes a more reliable method to recover scalar illuminance based on tests in natural complex lighting environments. The performance of Cuttle's Approach 1, Mangkuto's Approach 2 and Approach 3, together with Xia et al.'s potential Approach 4, were tested under a total of 610 high dynamic range (HDR) panoramic maps of real scenes. The relationships between predicted scalar illuminance and normalised diffuseness levels were checked. The results indicate that the potential Approach 4 is more robust to the cubic meter's postures, and the predicted scalar illuminance has a regular relationship with normalised diffuseness levels. Approach 4 was corrected, together with Approach 1, formulating a new method named Approach 5S. Later, the proposed Approach 5S was evaluated under 205 indoor and 2233 outdoor panoramas from the Laval HDR databases, and it was shown to recover more reliable scalar illuminance with an average error within 5% in general. This study has provided a practical solution to more accurate vector illuminance-based metrics in real lighting environments. This algorithm can be further integrated into the development of cubic illumination meter instruments.

关键词： Illumination meters

来源：评论

学校读者我要写书评

暂无评论

Determining scalar illuminance from cubic illuminance data - Part 1: Error tracing

引用

LIGHTING RESEARCH & technology 2023年第1期55卷 47-61页

作者： Xia, L. Xiao, N. Liu, X. Zhang, T. Xu, R. Li, F. Hohai Univ Coll IoT Engn Jiangsu Key Lab Special Robot Technol Jinling Rode 200 Changzhou 213022 Peoples R China

The cubic illumination metre has been taken as the most thorough and practical tool for the field measurement of vector illuminance so far. However, uncertainty in the measurement of scalar illuminance has influenced its reliability. This study determined how the errors of the existing approaches were generated using illustrations and simulations based on the illuminance solid concept. Following the error analysis of the existing approaches, potential alternative solutions for improving its accuracy were proposed. This study can help pave the way for developing more accurate vector illuminance-based metrics in natural lighting environments using a cubic metre.

关键词： Illumination meters

来源：评论

学校读者我要写书评

暂无评论

Soft sensor modeling method for Pichia pastoris fermentation process based on substructure domain transfer learning

引用

BMC BIOtechnology 2024年第1期24卷 1-20页

作者： Wang, Bo Wei, Jun Zhang, Le Jiang, Hui Jin, Cheng Huang, Shaowen Jiangsu Univ Sch Elect & Informat Engn Key Lab Agr Measurement & Control Technol & Equipm Zhenjiang 212013 Peoples R China Wuxi Taihu Univ Wuxi Key Lab Intelligent Robot & Special Equipment Wuxi 214064 Peoples R China

BackgroundAiming at the problem that traditional transfer methods are prone to lose data information in the overall domain-level transfer, and it is difficult to achieve the perfect match between source and target domains, thus reducing the accuracy of the soft sensor *** paper proposes a soft sensor modeling method based on the transfer modeling framework of substructure domain. Firstly, the Gaussian mixture model clustering algorithm is used to extract local information, cluster the source and target domains into multiple substructure domains, and adaptively weight the substructure domains according to the distances between the sub-source domains and sub-target domains. Secondly, the optimal subspace domain adaptation method integrating multiple metrics is used to obtain the optimal projection matrices Ws\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$${{W}_{s}}$$\end{document} and Wt\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$${{W}_{t}}$$\end{document} that are coupled with each other, and the data of source and target domains are projected to the corresponding subspace to perform spatial alignment, so as to reduce the discrepancy between the sample data of different working conditions. Finally, based on the source and target domain data after substructure domain adaptation, the least squares support vector machine algorithm is used to establish the prediction *** Pichia pastoris fermentation to produce inulinase as an example, the simulation results verify that the root mean square error of the proposed soft sensor model in predicting Pichia pastoris concentration and inuli

关键词： Substructure domain Transfer learning Soft sensor Pichia pastoris

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：