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IEEE International Conference on Robotics and Biomimetics

作者： Song Lu Yangmin Lit Department of Electromechanical Engineering University of Macau Avenida da Universidade Taipa Macao China Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin University of Technology Tianjin 300384 China

ISBN: (纸本)9781467396769

Dynamic performance evaluation that takes into account the inertial properties is an important issue for both the behavior analysis and dimensional synthesis of parallel kinematic manipulators (PKMs). Firstly, by virtue of the principle of virtual work, the complete inverse dynamic model of a 3-prismatic-universal-universal (PUU) parallel manipulator is formulated, which does not neglect the inertial and gravitational properties of the struts. The condition number of generalized inertia matrix can evaluate the mapping from joint accelerations to realizable joint torques. This paper utilizes the condition number of generalized inertia matrix as the index to evaluate the dynamic dexterity property of a 3-PUU PKM which possesses three translational degrees of freedom. For a given set of geometrical and inertia parameters, numerical simulations indicate that the global dynamic dexterity performance of this type of 3-PUU PKM is consistent with the local dynamic dexterity on a specific z--plane, it has the best dynamic dexterity at the center of task workspace and decreases from the center to the edge of task workspace.

关键词： Parallel kinematic manipulator performance evaluation dynamic dexterity generalized inertia matrix

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Denoising for different noisy chaotic signal based on wavelet transform

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Sensors and transducers 2014年第1期163卷 155-160页

作者： Ma, Jun Wu, Ya-Jing Key Laboratory of Advanced Transducers and Intelligent Control System Ministry of Education Taiyuan University of Technology Taiyuan 030024 China

In a complete Chaotic radar ranging system, its effective range is often limited by the randomness of the chaotic signal itself and other transmission channel noises or interferences. In order to improve the precision and accuracy of radar ranging system, wavelet transform is proposed to remove different kinds of noise embedded in chaotic signals. White Gaussian noise, colored Gaussian noise as well as sine-wave signal are respectively applied for simulation analysis. Applied for simulation analysis, the experimental results show that wavelet transform can not only remove the chaotic signal mixed in some of the different types of noise, and can also improve the noise ratio. © 2014 IFSA Publishing, S. L.

关键词： Wavelet transforms

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Design of the chaotic signal generator based on LABVIEW

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Sensors and transducers 2014年第1期163卷 135-140页

作者： Zhang, Jian-Guo Zhao, Xiaolei Key Laboratory of Advanced Transducers and Intelligent Control System Ministry of Education Taiyuan University of Technology Taiyuan 030024 China

We introduces a new method that can achieve the generation of Colpitts chaotic signal The system is based on virtual instrument platform and combined with MATLAB calculation to achieve the generation of Colpitts chaotic signal and making it analysis with autocorrelation and power spectrum at the same time. Signal channel output of chaotic signal was realized through USB-6009 acquisition module extending DA5405 highspeed DAC (Digital-to-Analog Converter) chip. The system can adjust parameters based on customers' requirements to achieve different frequency chaotic signal generation. Compared with the traditional autonomy Colpitts chaotic signal generator, this generator is simple and clear in structure, simple to operate, strong stability, easy to achieve etc. © 2014 IFSA Publishing, S. L.

关键词： Autocorrelation

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Abnormal Visible Luminescence Mechanism of Tb3+-Yb3+ Codoped SiO2-Al2O3-CaF2 Glass Studied by Time-Resolved Spectra

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中国物理快报（英文版） 2014年第8期31卷 151-154页

作者： DUAN Qian-Qian ZHAO Hua ZHANG Zhi-Guo JIAN Ao-Qun SANG Sheng-Bo ZHANG Wen-Dong Micro and Nano-system Research Center College of Information Engineering Taiyuan University of TechnologyTaiyuan 030024 Key Laboratory of Advanced Transducers and Intelligent Control(Shanxi Province and Ministry of Education) Taiyuan University of Technology Taiyuan 030024 School of Materials Science and Engineering Harbin Institute of Technology Harbin 150001 Condensed Matter Science and Technology Institute Harbin Institute of Technology Harbin 150001

The upconversion energy transfer mechanism in Tb3+-Yb3+ co-doped SiO2-Al2O3-CaF2 glass is investigated by time-resolved spectra. The effect of donor ion Yb3+ is involved in the dynamic decay behavior of acceptor ion T... 详细信息

The upconversion energy transfer mechanism in Tb³⁺-Yb³⁺ co-doped SiO₂-Al₂O₃-CaF₂ glass is investigated by time-resolved spectra. The effect of donor ion Yb³⁺ is involved in the dynamic decay behavior of acceptor ion Tb³⁺, which provides direct proof for the energy transfer from Yb³⁺ to Tb³⁺. The pump power dependence curves show that the upconversion luminescence is a two-photon process. The measured decay curves of the ⁵D₄ state (Tb³⁺) contain two parts: a slow decay process corresponding to its radiation, and a fast one with a decay parameter approximately twice the lifetime of the ²F_5/2 state (Yb³⁺). The fast decay process is contradictory to the generally accepted cooperative sensitization upconversion rate equation model. Since the effect of the host environmental is excluded by comparative experiments, we believe that there should be another energy transfer mechanism in Tb³⁺-Yb³⁺ co-doped SiO₂-Al₂O₃-CaF₂ glass in addition to the cooperative sensitization process.

关键词： LUMINESCENCE RESEARCH TIME-resolved spectroscopy IONS -- Spectra ENERGY transfer RADIATION PHOTONS

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High-efficiency, broad-band and wide-angle optical absorption in ultra-thin organic photovoltaic devices

High-efficiency, broad-band and wide-angle optical absorptio...

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作者： Wang, Wenyan Hao, Yuying Cui, Yanxia Tian, Ximin Zhang, Ye Wang, Hua Shi, Fang Wei, Bin Huang, Wei Key Lab. of Advanced Transducers and Intelligent Control System Ministry of Education Taiyuan University of Technology Taiyuan 030024 China Key Laboratory of Interface Science and Engineering in Advanced Materials Taiyuan University of Technology Taiyuan 030024 China Key Laboratory of Advanced Display and System Applications Ministry of Education Shanghai University Yanchang Road 149 Shanghai 200072 China Nanjing 210046 China

Metal nanogratings as one of the promising architectures for effective light trapping in organic photovoltaics (OPVs) have been actively studied over the past decade. Here we designed a novel metal nanowall grating with ultra-small period and ultra-high aspect-ratio as the back electrode of the OPV device. Such grating results in the strong hot spot effect in-between the neighboring nanowalls and the localized surface plasmon effect at the corners of nanowalls. These combined effects make the integrated absorption efficiency of light over the wavelength range from 400 to 650 nm in the active layer for the proposed structure, with respect to the equivalent planar structure, increases by 102% at TM polarization and by 36.5% at the TM/TE hybrid polarization, respectively. Moreover, it is noted that the hot spot effect in the proposed structure is more effective for ultra-thin active layers, which is very favorable for the exciton dissociation and charge collection. Therefore such a nanowall grating is expected to improve the overall performance of OPV devices. © 2014 Optical Society of America.

关键词： Light absorption

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Detecting the Position of the Moving-iron Solenoid by Non-displacement Sensor Based on Parameter Identification of Flux Linkage Characteristics

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Chinese Journal of Mechanical Engineering 2013年第6期26卷 1204-1211页

作者： WANG Xuping QUAN Long XIONG Guangyu Key Laboratory of Advanced Transducers and Intelligent Control System of Ministry of Education Taiyuan University of Technology

Currently, most researches use signals, such as the coil current or voltage of solenoid, to identify parameters; typically, parameter identification method based on variation rate of coil current is applied for position estimation. The problem exists in these researches that the detected signals are prone to interference and difficult to obtain. This paper proposes a new method for detecting the core position by using flux characteristic quantity, which adds a new group of secondary winding to the coil of the ordinary switching electromagnet. On the basis of electromagnetic coupling theory analysis and simulation research of the magnetic field regarding the primary and secondary winding coils, and in accordance with the fact that under PWM control mode varying core position and operating current of windings produce different characteristic of flux increment of the secondary winding. The flux increment of the electromagnet winding can be obtained by conducting time domain integration for the induced voltage signal of the extracted secondary winding, and the core position from the two-dimensional fitting curve of the operating winding current and flux-linkage characteristic quantity of solenoid are calculated. The detecting and testing system of solenoid core position is developed based on the theoretical research. The testing results show that the flux characteristic quantity of switching electromagnet magnetic circuit is able to effectively show the core position and thus to accomplish the non-displacement transducer detection of the said core position of the switching electromagnet. This paper proposes a new method for detecting the core position by using flux characteristic quantity, which provides a new theory and method for switch solenoid to control the proportional valve.

关键词： switch solenoid flux characteristic quantity position detection non-displacement sensor

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Investigation on hole mobility of FeCl3-doped 4, 4'-bis(carbazol-9-yl) -biphenyl by using space-charge-limited current model

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Guangdianzi Jiguang/Journal of Optoelectronics Laser 2014年第7期25卷 1288-1293页

作者： Yuan, Shu-Qing Zhu, Yuan-Li Wang, Zhen-Guo Hao, Yu-Ying Wang, Hua Xu, Bing-She Key Laboratory of Advanced Transducers and Intelligent Control System College of Physics and Optoelectronics Taiyuan University of Technology Taiyuan 030024 China Key Lab of Interface Science and Engineering in Advanced Materials of Education Ministry of China Taiyuan University of Technology Taiyuan 030024 China

A series of single hole devices are designed based on the different concentrations of FeCl3 doped in 4, 4'-Bis(9H-carbazol-9-yl)biphenyl (CBP). The hole mobilities of p-type doped CBP by FeCl3 with various doping concentrations are estimated by using space-charge-limited current model, and compared with the mobility of NPB which is a kind of hole transport material commonly used in organic electroluminescence devices. The results indicate that FeCl3 doped CBP has significantly improved hole mobility. The highest hole mobility is achieved when the concentration of FeCl3 is 12%. For an electric field of 0.5 MV/cm, the estimated hole mobility of FeCl3-doped CBP with doping concentration of 12% reaches 4.5×10-5 cm2/V · s. Even in zero electric field, the hole mobility can reach 2.2×10-5 cm2/V · s, which is nearly four times of that of NPB. High efficiency organic light-emitting device is fabricated by using CBP: 12% FeCl3 as the hole transport layer. The device shows a maximum luminance of 68468 cd/m2 and a maximum current efficiency of 31.1 cd/A, which are increased by 97% and 23% compared with those of the reference device, respectively. The improvements are attributed to the balanced charge carrier transport characteristic, which results in an increased charge carrier recombination probability and a decreased triplet-polaron (T-P) annihilation probability.

关键词： Hole mobility

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Dynamic modelling and small signal analysis of push-pull bidirectional DC-DC converter

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Computer Modelling and New Technologies 2014年第10期18卷 14-18页

作者： Zhang, Hongjuan Quan, Long Gao, Yan Key Lab of Advanced Transducers and Intelligent Control System Ministry of Education Taiyuan University of Technology Taiyuan China

Bidirectional DC-DC converter can not only act as a contact bridge between two different voltage levels systems, but also can achieve the energy flow in both directions. However, due to the operating characteristics of the active switch and diode in the converter, thereby the inverter becomes a strong nonlinear circuit. In light of this, the push-pull bidirectional DC-DC converter is designed and the method of state space small signal analysis is proposed. First of all, the state-space equations of the converter are established. Then each variable of inverter circuit is averaged in a switching cycle to eliminate the influence of the switching ripple. The respective average variable expressions are decomposed into the DC component and AC small signal component. After the DC component of the signal is eliminated, the expression of the AC small signal component is obtained, to achieve the purpose of separating the small signal. Finally, the expression of small signal component is linearized, thereby the nonlinear system is approximated the DC operating point. This study will provide the theoretical foundation ready for the analysis and design of converter controller.

关键词： Linearization

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The power supply design software model for mine based on VBA technology

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Computer Modelling and New Technologies 2014年第8期18卷 127-130页

作者： Jin, Baoquan Hao, Xiaohui Zhang, Hongjuan Gao, Yan Key Lab of Advanced Transducers and Intelligent Control System Ministry of Education Taiyuan University of Technology Taiyuan China

Coal mine power supply system is increasingly complex, resulting in difficulties for power computing and tuning. A software design program is proposed by using VBA development tools embedded in AutoCAD secondary development, adopt object-oriented program, ActiveX automation technology and visual programming techniques to achieve human-computer interface and database interaction, design one of the mine power supply design software with function mapping, statistical calculations, protection setting, design reports automatically output, data maintenance. The study shows that the software can greatly simplify the power supply design process, improve efficiency, and can effectively improve the coal mine management level.

关键词： Software design

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Soft Actuator for Hand Rehabilitation

Soft Actuator for Hand Rehabilitation

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IEEE International Conference on Mechatronics and Automation

作者： Shuxiang Guo Fang Zhao Wei Wei Jian Guo Xin Zhao Weijie Zhang Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems Tianjin University of Technology 391 Binshui Xidao Xiqing District Tianjin 300384P.R.China Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Tianjin University of Technology 391 Binshui Xidao Xiqing District Tianjin 300384P.R.China College of Physics Optoelectronics and Energy Soochow University 1 Shizi Street Suzhou 215006 a Jiangsu P. R. China

ISBN: (纸本)9781479970995

As we all know, rigid structure is the universal form of robots. They can be controlled accurately, but are not suitable enough for applying in rehabilitation, especially for hands. Human's hands have some complicated patterns of movement and narrow joint range of motion, so rigid accessory equipment may cause secondary injury. For the purpose of avoiding this potential risk, the idea of applying soft structure to hand rehabilitation robot is presented in this paper. The soft robot is a new research direction in the field of robot industry, especially in rehabilitation. The soft actuator we presented is made of liquid silicone and thread, and can be tied to the back of human's hands. When it is inflated or deflated, a bending and stretching motion of hands follow with the deformation of soft actuators. It works by deforming repeatedly. The soft actuator has some advantages such as portable, lightweight, low-cost, safe, low-impedance and so on. It works well by the cooperation of vacuum pump which can provide incessant air and solenoid valve which is used for reversing. In the whole system, force sensing resistor and bending sensor are used in the experiments. In order to prove that the soft actuator can work smoothly, we had a test to explore the relationship between air inflow and bending angle. The result that their relationship is close to a straight line means controlling easily and working well. Beacons of these advantages the soft robots have, a wide application prospect in rehabilitation or other fields is available.

关键词： Rehabilitation Soft Actuator Portable system

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