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Optimized design and performance testing of hydraulic electrostatic actuator

International Journal of Smart and Nano Materials 2024年第4期15卷 811-834页

作者： Yuze Ye Qingsong He Changli Yang Xiaodong Xu Lin Xie Diyi Liu Bo Zeng Zhijian Leng Jiangsu Key Laboratory of Bionic Materials and Equipment College of Mechanical and Electrical EngineeringNanjing University of Aeronautics and AstronauticsNanjingChina Key Laboratory of Advanced Technology for Small and Medium-Sized UAV Ministry of Industry and Information TechnologyUnmanned Aerial Vehicles Research InstituteNanjing University of Aeronautics and AstronauticsNanjingChina State Key Laboratory of Mechanics and Control of Aerospace Structures Nanjing University of Aeronautics and AstronauticsNanjingChina Laboratory of Aerospace Servo Actuation and Transmission Beijing Institute of Precision Mechatronics and ControlsBeijingChina Technology Center CCCC Second Harbor Engineering CompanyWuhanChina

Hydraulic electrostatic actuators have become a research hotspot for their inherent flexibility and safety of human-machine *** paper aims to combine the characteristics of dielectric elastomers and fluid actuators,enhancing the dielectric constant and breakdown field strength by modifying Al_(2)O_(3)on the surface of nanostructured BaTiO3 and in order to develop a hydraulic electrostatic actuator with silicone rubber as the matrix ***-factor experiments were firstly conducted to confirm the range of three factors affecting the actuation strain of the actuator:BaTiO_(3)@Al_(2)O_(3)content,thickness of the silicone rubber elastomer film,and pre-stretching ratio *** response surface methodology was used to study the interactive influence of the above three influencing factors on the actuation *** was obtained that A has an insignificant influence on the actuation strain,AB has a significant influence on the actuation strain,and B,C,AC,and BC have a highly influence on the actuation *** actuation strain as the optimization objective yielded the combination results of each factor:BaTiO_(3)@Al_(2)O_(3)content of 2.57%,thickness of 0.60 mm,and pre-stretching ratio coefficient of *** strain tests were conducted with optimized parameters under *** experimental results of the actuation strain test show that the relative error between the test value and the model prediction value of 16.47%is less than 5%,and the optimization model results are *** optimized hydraulic electrostatic actuator was tested for actuation strain and electrical performance under different *** experiment showed that the maximum actuation strain of the hydraulic electrostatic actuator was 17.20%under a load of 100 *** critical breakdown current of the actuator ranged from 115μA to 130μA,and the maximum electromechanical conversion efficiency of the actuator under different loads was 67.93%.Finally,a joint actuati

关键词： Hydraulic electrostatic actuator BaTiO_(3)@Al_(2)O_(3) response surface experiments actuation strain

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Resilient Time-Varying Formation-Tracking of Multi-UAV Systems Against Composite Attacks: A Two-Layered Framework

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IEEE/CAA Journal of Automatica Sinica 2023年第4期10卷 969-984页

作者： Xin Gong Michael V.Basin Zhiguang Feng Tingwen Huang Yukang Cui School of Cyber Science and Engineering Southeast UniversityNanjing 210096the School of AstronauticsNorthwestern Polytechnical UniversityXi’an 710072 Department of Mechanical Engineering The University of Hong KongHong Kong 999077China School of Physical and Mathematical Sciences the Autonomous University of Nuevo LeonNaevo Leon 66455Mexico Ningbo Institute of Intelligent Equipment Technology Ningbo 315299China College of Intelligent Systems Science and Engineering Harbin Engineering UniversityHarbin 150001China Texas A&M University at Qatar Doha 23874Qatar Guangdong Key Laboratory of Electromagnetic Control and Intelligent Robots the College of Mechatronics and Control EngineeringShenzhen UniversityShenzhen 518060 Peng Cheng Laboratory Shenzhen 518000China

This paper studies the countermeasure design problems of distributed resilient time-varying formation-tracking control for multi-UAV systems with single-way communications against composite attacks,including denial-of-services(DoS)attacks,false-data injection attacks,camouflage attacks,and actuation attacks(AAs).Inspired by the concept of digital twin,a new two-layered protocol equipped with a safe and private twin layer(TL)is proposed,which decouples the above problems into the defense scheme against DoS attacks on the TL and the defense scheme against AAs on the cyber-physical ***,a topologyrepairing strategy against frequency-constrained DoS attacks is implemented via a Zeno-free event-triggered estimation scheme,which saves communication resources *** upper bound of the reaction time needed to launch the repaired topology after the occurrence of DoS attacks is ***,a decentralized adaptive and chattering-relief controller against potentially unbounded AAs is ***,this novel adaptive controller can achieve uniformly ultimately bounded convergence,whose error bound can be given *** practicability and validity of this new two-layered protocol are shown via a simulation example and a UAV swarm experiment equipped with both Ultra-WideBand and WiFi communication channels.

关键词： Composite attacks multi-UAV systems resilient control time-varying formation-tracking

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Parallel Driving with Big Models and Foundation Intelligence in Cyber-hysical-ocial Spaces

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Research 2024年第2期2024卷 1-17页

作者： Xiao Wang Jun Huang Yonglin Tian Chen Sun Lie Yang Shanhe Lou Chen Lv Changyin Sun Fei-Yue Wang School of Artificial Intelligence Anhui UniversityHefeiChina Macao University of Science and Technology MacaoChina State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijingChina MVSLab Department of Mechanical and Mechatronics EngineeringUniversity of Waterloo200 University Ave WestWaterlooON N2L3G1Canada School of Mechanical and Aerospace Engineering Nanyang Technological UniversitySingaporeSingapore

Recent years have witnessed numerous technical breakthroughs in connected and autonomous vehicles (CAVs). On the one hand, these breakthroughs have significantly advanced the development of intelligent transportation systems (ITSs);on the other hand, these new traffic participants introduce more complex and uncertain elements to ITSs from the social space. Digital twins (DTs) provide real-time, data-driven, precise modeling for constructing the digital mapping of physical-world ITSs. Meanwhile, the metaverse integrates emerging technologies such as virtual reality/mixed reality, artificial intelligence, and DTs to model and explore how to realize improved sustainability, increased efficiency, and enhanced safety. More recently, as a leading effort toward general artificial intelligence, the concept of foundation model was proposed and has achieved significant success, showing great potential to lay the cornerstone for diverse artificial intelligence applications across different domains. In this article, we explore the big models embodied foundation intelligence for parallel driving in cyber-physical-social spaces, which integrate metaverse and DTs to construct a parallel training space for CAVs, and present a comprehensive elucidation of the crucial characteristics and operational mechanisms. Beyond providing the infrastructure and foundation intelligence of big models for parallel driving, this article also discusses future trends and potential research directions, and the ?S?goals of parallel driving.

关键词： breakthrough integrate corners

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Study on Characteristics of Surface Pulsed Discharge Over Carbon Foil in Water 7

Study on Characteristics of Surface Pulsed Discharge Over Ca...

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7th IEEE International Electrical and Energy Conference, CIEEC 2024

作者： Wang, Menglei Han, Ruoyu Bai, Jie Li, Jingran Wang, Yanan Yan, Jiaqi Beijing Institute of Technology State Key Laboratory of Mechatronics Engineering and Control Beijing China Xi'an Jiaotong University State Key Laboratory of Electrical Insulation and Power Equipment Xi'an China School of Electronic Electrical and Mechanical Engineering University of Bristol BS8 1TR United Kingdom

ISBN: (纸本)9798350359558

In this paper, the phenomenon of liquid-solid interfacial discharge along a carbon foil immersed in water medium has been investigated. Based on the multi-physical diagnoses and high-speed photography, the pulsed discharges were performed under different charging voltages and electrode spacing. Compared with the traditional water-gap breakdown, it is found that introducing a carbon foil can significantly diminish the breakdown delay (less than 1 μs) and lower the requirement of applied voltage (kV/cm level). Charging voltage and electrode spacing affect the discharge load voltage, loop current and load power. When the charging voltage increases from 4.5 kV to 6.3 kV, the current peak increases from 2.352 kA to 3.583 kA, the voltage peak increases from 0.690 kV to 1.692 kV, and the power peak increases nearly two times. In addition, the discharge will produce light radiation, and an increase in charging voltage from 4.5 kV to 6.3 kV can increase the intensity of light radiation by 2.39 times. The discharge can also produce pressure waves lasting tens of microseconds and has a bubble effect. When the charging voltage increases from 4.5 kV to 8.9 kV, the maximum radial diameter of the bubble increases from 9.15 mm to 15.35 mm. This study not only enriches the fundamental research problems of liquid-solid interface discharge but also gives an alternative scheme of water gap discharge in technology, which improves the controllability and efficiency of underwater discharge. © 2024 IEEE.

关键词： Shock waves

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Advances in 3D printing of magnetic materials:Fabrication,properties,and their applications

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Journal of Advanced Ceramics 2022年第5期11卷 665-701页

作者： Xiangxia WEI Ming-Liang JIN Haiqiang YANG Xiao-Xiong WANG Yun-Ze LONG Zhangwei CHEN Institute for Future School of AutomationShandong Key Laboratory of Industrial Control TechnologyQingdao UniversityQingdao 266071China Collaborative Innovation Center for Nanomaterials&Devices College of PhysicsQingdao UniversityQingdao 266071China Additive Manufacturing Institute College of Mechatronics and Control EngineeringShenzhen UniversityShenzhen 518060China

Magnetic materials are of increasing importance for many essential applications due to their unique magnetic ***,due to the limited fabrication ability,magnetic materials are restricted by simple geometric ***-dimensional(3D)printing is a highly versatile technique that can be utilized for constructing magnetic *** shape flexibility of magnets unleashes opportunities for magnetic composites with reducing post-manufacturing costs,motivating the review on 3D printing of magnetic *** paper focuses on recent achievements of magnetic materials using 3D printing technologies,followed by the characterization of their magnetic properties,which are further enhanced by ***,the corresponding properties depend on the intrinsic nature of starting materials,3D printing processing parameters,and the optimized structural *** emphasis is placed on the functional applications of 3D-printed magnetic materials in different ***,the current challenges and future opportunities are also addressed.

关键词： three-dimensional(3D)printing hard magnets soft magnets magnetic properties applications

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Improved Droop control Strategy for Three-phase Inverter in Islanded Microgrid

IEEE Journal of Emerging and Selected Topics in Industrial E...

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IEEE Journal of Emerging and Selected Topics in Industrial Electronics 2024年

作者： Chen, Zerong Liu, Yitao Shenzhen University College of Mechatronics and Control Engineering Guangdong Key Laboratory of Electromagnetic Control and Intelligent Robots Shenzhen518000 China

When connected to unbalanced load, the three-phase microgrid inverter (MGI) based on traditional droop control will produce unbalanced output voltage and the total harmonic distortion (THD) of current at the point of common coupling (PCC) will surpass the grid-connected standard, resulting in reduction in power quality. Additionally, when the MGI with traditional droop control is run in parallel, the reactive power in islanded microgrid can't be distributed properly based on capacity due to the difference in line impedance. In this paper, an improved droop control strategy for MGI is proposed, which introduces positive and negative sequence voltage-current control loops superimposed with adaptive virtual impedance to generate the reference value of output voltage, so as to reduce the voltage unbalance factor (VUF) at the PCC, improve the THD of output current, compensate for voltage drop due to the difference in line impedance, and realize the reactive power distribution according to the capacity. Considering that the addition of adaptive virtual impedance and positive-negative sequence separation makes controller parameters more numerous and difficult to be tuned, a particle swarm optimization (PSO) algorithm for tuning controller parameters is introduced. Finally, the experiment results are included to confirm the feasibility of proposed method. © 2020 IEEE.

关键词： Particle swarm optimization (PSO)

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Instability-Driven 3D bioprinting for engineering composite bio-inks

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Engineered Regeneration 2024年第3期5卷 350-360页

作者： Jing Ma Cheng Qi Zhou Liu Si Meng Tiantian Kong Department of Biomedical Engineering School of MedicineShenzhen UniversityShenzhenGuangdong 518000China Guangdong Provincial Key Laboratory of Micro/Nano Optomechatronics Engineering College of Mechatronics and Control EngineeringShenzhen UniversityShenzhenGuangdong 518000China College of Chemistry and Environmental Engineering Shenzhen UniversityShenzhenGuangdong 518000China Department of Urology Shenzhen Institute of Translational MedicineThe First Affiliated Hospital of Shenzhen UniversityShenzhen Second People’s HospitalShenzhenGuangdong 518037China

Extrusion-based 3D bioprinting techniques are revolutionizing bioengineering by facilitating the creation of com-plex 3D *** review offers a thorough overview of extrusion-based 3D bioprinting methods,par-ticularly highlighting the innovative electric-assisted coil-write 3D bioprinting *** review begins by explicating the fundamental principles underlying various extrusion-based 3D bioprinting *** covers the printing equipment composition,suitable materials for 3D bioprinting,and the latest breakthroughs in tech-nology.A critical aspect of this review is the in-depth comparison of the strengths and weaknesses associated with each 3D bioprinting *** electro-microfluidic extrusion method and the electric-assisted coil-write 3D bioprinting technology are *** advanced technology successfully overcomes the limitations of conventional extrusion-based methods,notably in the precise printing of intricately curved line structures with high resolution and *** method ingeniously integrates mechanical motion for creating microscale features with electrical coiling for sub-micron details,thus achieving remarkable printing speeds and structural *** review concludes by exploring the potential applications and future advancements of this state-of-the-art *** underscores the ability of electric-assisted coil-write 3D bioprinting to develop pioneering materials and micro-devices for a variety of technological sectors,highlighting its transformative impact in bioengineering.

关键词： Bioprinting Extrusion Coiling Electrospinning Instability

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Design, Kinematic and Variable Stiffness Analysis of a Tensegrity-Based Joint

Design, Kinematic and Variable Stiffness Analysis of a Tense...

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2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024

作者： Wu, Jinlong Liu, Gang Li, Ke Zhang, Niansong Yu, Zhiyuan Wu, Haiteng Liu, Yixiang Li, Yibin School of Control Science and Engineering Shandong University Jinan250061 China School of Mechanical Engineering Nanjing University of Science and Technology Nanjing210094 China School of Mechatronics Engineering and Automation Harbin Institute of Technology Shenzhen Shenzhen518055 China Beijing Institute of Precision Mechatronics and Controls Laboratory of Aerospace Servo Actuation and Transmission Beijing100076 China Hangzhou Shenhao Technology Co. Ltd Zhejiang Key Laboratory of Intelligent Operation and Maintenance Robot Hangzhou311121 China Jilin University Key Laboratory of Bionic Engineering Ministry of Education Jilin130022 China

ISBN: (纸本)9781665481090

In this paper, a new compact, low-inertia, and flexible tensegrity joint is proposed, which aims to overcome the shortcomings of traditional collaborative robots and tendon-driven robots. The joint is composed of two circular frames, and is connected by three surrounding pneumatic muscles and an intermediate spring. The stiffness of the joint is changed by inflating and releasing air to the pneumatic muscles, which is also the principle of the joint's variable stiffness. Firstly, a detailed kinematic analysis of the proposed tensegrity joint was carried out to explore its position change in multi-axis motion. Secondly, the stiffness analysis was carried out to evaluate the deformation response and stiffness characteristics of the joint under different loads, which provided an important reference for its design optimization. Finally, the performance of the model is verified by simulation analysis, and the reliability and practicability of the model in dynamic work are verified by comparison with actual data. This study provides a theoretical and experimental basis for the promotion of new tensegrity joints in robot applications, and provides new design ideas and methods for the development and innovation of future robotics technology. © 2024 IEEE.

关键词： Collaborative robots

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Ultrasonic-assisted rapid cold welding of bulk metallic glasses

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Science China Materials 2022年第1期65卷 255-262页

作者： Zhiyuan Huang Jianan Fu Xin Li Wenxin Wen Hongji Lin Yan Lou Feng Luo Zhenxuan Zhang Xiong Liang Jiang Ma Shenzhen Key Laboratory of High Performance Nontraditional Manufacturing College of Mechatronics and Control EngineeringShenzhen UniversityShenzhen 518060China

Glass-forming ability is a long-standing concern in the field of metallic glasses(MGs),which greatly limits their maximum casting size and extensive *** this work,we report an ultrasonic-assisted rapid cold welding of bulk MGs without using any *** with various compositions are welded together under a 20,000-Hz highfrequency ultrasonic vibration without losing their amorphous *** ultrasonic technology offers the advantages of rapid bonding(<1 s)at low temperature(near room temperature)and low stress(<1 MPa).According to the phenomenon observed in the experiment,the activated fresh atoms diffuse through the broken channel port under continuous rupture of the oxide layer,and the ultrasonic vibration accelerates the atomic-diffusion ***,stable bonding of the MG interface is *** universal ultrasonic-assisted welding process can realize the composition design of dissimilar MGs as well as tuning of new materials with new performance.

关键词： metallic glass glass-forming ability ultrasonicassisted welding atomic diffusion composition design

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A Study of Structured Surface Generation on Tungsten Carbide by Electrical Discharge Machining with Self-assemble Ball Electrodes 38

A Study of Structured Surface Generation on Tungsten Carbide...

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38th Annual Meeting of the American Society for Precision engineering, ASPE 2023

作者： Li, Kangsen Cheung, Chi Fai Wang, Chunjin Gong, Feng State key Laboratory of Ultra-precision Machining Technology Department of Industrial and Systems Engineering Hongkong Polytechnic University Hong Kong Hong Kong Shenzhen Key Laboratory of High Performance Nontraditional Manufacturing College of Mechatronics and Control Engineering Shenzhen University Guangdong Shenzhen China

ISBN: (纸本)9781887706599

Electrical discharge machining (EDM) has been extensively utilized in the precision manufacturing of difficult-to-cut material. The preparation of electrodes is of great importance for structured surface generation after EDM. Electrode wear is an inevitable problem, which affects the machining accuracy and efficiency of the workpiece. Therefore, the design and optimization of the electrodes are vital for the EDM process. In this paper, a novel self-assembly ball electrode for EDM of the structured array on the binderless tungsten carbide (WC) is proposed. The shape evolution and surface roughness of the structured surface was investigated. The result indicates that self-assembly ball electrodes have a great advantage in machining the structured surface arrays. © 2023 Proceedings - ASPE 2023 Annual Meeting. All rights reserved.

关键词： Tungsten carbide

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