检索结果-南通市图书馆

High Performance Soft Electrochemical Actuators Based on Hierarchical Conductive Polymer Ionogels

Journal of Bionic Engineering 2023年第6期20卷 2755-2763页

作者： Hongwei Hu Shengtao Zhang Yan Li Xinghao Hu Lin Xu Aixin Feng Guanggui Cheng Jianning Ding Zhejiang Provincial Key Laboratory of Laser Processing robotics College of Mechanical and Electrical EngineeringWenzhou UniversityWenzhou325035China Institute of intelligent Flexible Mechatronics Jiangsu UniversityZhenjiang212013China School of Mechanical Engineering Jiangsu University of Science and TechnologyZhenjiang212100China School of Mechanical Engineering Yangzhou UniversityYangzhou225127China Jiangsu Collaborative Innovation center of Photovoltaic Science and Engineering Changzhou UniversityChangzhou213164China Ruian Graduate School of Wenzhou University Ruian325207ZhejiangChina

Electrochemical actuators based on conductive polymers are emerging as a strong competitive in the field of soft actuators because of their intrinsically conformable/elastic nature,low cost,low operating voltage and air-working *** development has shown that adding electroactive materials,such as CNT and graphene,can improve their actuation *** the complex material systems used,their output strains(one of the key factors)are generally lower than 1%,which limited further applications of them in multiple ***,we report soft electrochemical actuators based on conductive polymer ionogels by embedding polyaniline particles between the PEDOT:PSS *** show that such a hierarchical structure not only leads to a high conductivity(1250 S/cm)but also improved electrochemical *** a low operating voltage of 1 V,the maximum strain of these soft actuators reaches an exceptional value of 1.5%,with a high blocking force of 1.3 *** these high-performance electrochemical actuators,we demonstrate soft grippers for manipulating object and a bionic flower stimulated by an electrical *** work sets an important step towards enabling the enhanced performance of electrochemical actuators based on conductive polymers with designed microstructures.

关键词： Conductive polymer Soft actuator Polyaniline PEDOT:PSS Bioinspired actuator

来源：

维普期刊数据库评论

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

Vibration suppression of composite panel with variable angle tow design and inerter-based nonlinear energy sink

引用

浙江大学学报(英文版)A辑:应用物理与工程 2023年第8期24卷 653-672页

作者： Chen ZHOU Jian YANG Yingdan ZHU Chendi ZHU Zhejiang Provincial Key Laboratory of robotics and intelligent Manufacturing Equipment Technology Ningbo Institute of Material Technology&EngineeringChinese Academy of SciencesNingbo 315201China Department of Mechanical Materials and Manufacturing EngineeringUniversity of Nottingham Ningbo ChinaNingbo 315100China International Academy of Marine Economy and Technology(IAMET) University of Nottingham Ningbo ChinaNingbo 315100China center of Materials Science and Optoelectronics Engineering University of Chinese Academy of SciencesBeijing 100049China Ningbo Institute of Dalian University of Technology Ningbo 315016China

This study investigates the vibration transmission and suppression of a laminated composite panel with variable angle tow(VAT)designs and an attached inerter-based passive nonlinear energy *** on analytical and numerical methodologies,the substructure technique is used to obtain a steady-state dynamic response and the results are verified by experimental and analytical *** is demonstrated that fiber orientation has a significant impact on the natural *** dynamic responses and energy transmission path characteristics are determined and evaluated by forced vibration *** main vibration transmission paths inside the structure are displayed using power flow density *** is demonstrated that the dynamic responses of the plate can be changed considerably by using various fiber placement schemes and passive suppression *** addition,it is indicated that the vibration transmission paths are significantly influenced by the tailored fiber angles for improved dynamic *** investigation enhances the understanding of enhanced vibration suppression designs of variable-stiffness composite plates with attached passive devices.

关键词： Laminated composite plate Variable stiffness Substructure method Passive device Power flow analysis

来源：

维普期刊数据库评论

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

Direct fabrication of flexible tensile sensors enabled by polariton energy transfer based on graphene nanosheet films

引用

Nanotechnology and Precision Engineering 2023年第1期6卷 1-11页

作者： Xi Zhang Junchi Ma Wenhao Huang Jichen Zhang Chaoyang Lyu Yu Zhang Bo Wen Xin Wang Jing Ye Dongfeng Diao College of Mechatronics and Control Engineering Shenzhen UniversityShenzhen 518060China Research center of Medical Plasma Technology Shenzhen UniversityShenzhen 518060China Shenzhen Milebot robotics Co. Ltd.Shenzhen 518060China

A fundamental problem in the direct manufacturing of flexible devices is the low melting temperature of flexible substrates,which hinders the development of flexible *** here is an electron-cyclotron-resonance sputtering system that can batch-fabricate devices directly on flexible substrates under a low temperature by virtue of the polariton energy transfer between the plasma and the *** graphene nanosheet-embedded carbon(F-GNEC)films are manufactured directly on polyimide,polyethylene terephthalate,and polydimethylsiloxane,and how the substrate bias(electron energy),microwave power(plasma flux and energy),and magnetic field(electron flux)affect the nanostructure of the F-GNEC films is investigated,indicating that electron energy and flux contribute to the formation of standing graphene nanosheets in the *** films have good uniformity of distribution in a large size(17 mm×17 mm),and tensile and angle sensors with a high gauge factor(0.92)and fast response(50 ms)for a machine hand are obtained by virtue of the unique nanostructure of the F-GNEC *** work sheds light on the quantum manufacturing of carbon sensors and its applications for intelligent machine hands and virtual-reality technology.

关键词： Direct flexible fabrication Graphene nanosheets film Polariton energy transfer Flexible sensor Quantum manufacturing

来源：

维普期刊数据库

同方期刊数据库评论

在线全文

学校读者我要写书评

暂无评论

A Trot and Flying Trot Control Method for Quadruped Robot Based on Optimal Foot Force Distribution

引用

Journal of Bionic Engineering 2019年第4期16卷 621-632页

作者： Teng Chen Xiaobo Sun Ze Xu Yibin Li Xuewen Rong Lelai Zhou center for robotics School of Control Science and EngineeringShandong UniversityJinan 250061China

In order to enhance the dynamic motion capability of the bionic quadruped robot,a flying trot gait control method based on full-scale virtual model and optimal plantar force distribution is proposed.A stable flying trot gait is accomplished by mapping the robot torso motion to the foot *** force distribution calculated by the torso virtual model is converted into a quadratic optimization problem and solved in real time by the open source library *** transition between the trot gait and the flying trot gait is achieved by coordinating leg motion *** results of the dynamic simulation verify that the proposed method can realize the 3D stable flying trot *** against the trot gait,the flying trot gait can improve the speed of the quadruped *** the trot gait and the flying trot gait,the quadruped robot can move efficiently and adapt to complex terrains.

关键词： quadruped robot flying trot virtual model control quadratic optimization

来源：

维普期刊数据库评论

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

Readily prepared and processed multifunctional MXene nanocomposite hydrogels for smart electronics

引用

SmartMat 2024年第2期5卷 103-114页

作者： Jiahui Huang Xianwu Huang Peiyi Wu State Key Laboratory for Modification of Chemical Fibers and Polymer Materials College of Chemistry and Chemical EngineeringCenter for Advanced Low-Dimension MaterialsDonghua UniversityShanghaiChina State Key Laboratory of Molecular Engineering of Polymers Department of Macromolecular Science and Laboratory of Advanced MaterialsFudan UniversityShanghaiChina

Booming sophisticated robotics and prosthetics put forward high requirements on soft conductive materials that can bridge electronics and biology,those soft conductive materials should imitate the mechanical properties of biological tissues and build information transmission *** now,it remains a great challenge to handle the trade-off among ease of preparation,high conductivity,processability,mechanical adaptability,and external stimuli ***,a kind of readily prepared and processed multifunctional MXene nanocomposite hydrogel is reported,which is prepared via the fast gelation of cationic monomer initiated by delaminated MXene *** gelation time can be adjusted(several seconds to minutes)based on the MXene *** adjusting the MXene ratio,the resulting nanocomposites are ultrastretchable(>5000%),three-dimensional(3D)printable,and show outstanding mechanical and electrical *** expected,the integration of multifunctional systems onto various substrates(e.g.,gloves and masks)is further demonstrated via 3D printing and could achieve diverse sensory capabilities toward strain,pressure,and temperature,showing great prospects as smart flexible electronics.

关键词： 3D printable electronics MXene polymeric hydrogels stretchable and conductive

来源：

维普期刊数据库评论

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

A novel grasping force control strategy for multi-fingered prosthetic hand

引用

Journal of Central South University 2012年第6期19卷 1537-1542页

作者：张庭姜力刘宏 State Key Laboratory of robotics and System(Harbin Institute of Technology) Institute of robotics and Mechatronics German Aerospace CenterMunich 82230Germany

A grasping force control strategy is proposed in order to complete various fine manipulations by using anthropomorphic prosthetic *** position-based impedance control and force-tracking impedance control are used in free and constraint spaces,*** fuzzy observer is adopted in transition in order to switch control *** control modes use one position-based impedance *** order to achieve grasping force track,reference force is added to the impedance controller in the constraint *** tracking in free space and torque tracking in constrained space are realized,and reliability of mode switch and stability of system are *** adaptive sliding mode friction compensation method is *** method makes use of terminal sliding mode idea to design sliding mode function,which makes the tracking error converge to zero in finite time and avoids the problem of conventional sliding surface that tracking error cannot converge to *** on the characteristic of the exponential form friction,the sliding mode control law including the estimation of friction parameter is obtained through terminal sliding mode idea,and the online parameter update laws are obtained based on Lyapunov stability *** experiments on the HIT Prosthetic Hand IV are carried out to evaluate the grasping force control strategy,and the experiment results verify the effectiveness of this control strategy.

关键词：控制策略 Lyapunov稳定性定理终端滑模阻抗控制约束空间轨迹跟踪自由空间摩擦特性

来源：

维普期刊数据库

同方期刊数据库评论

在线全文

学校读者我要写书评

暂无评论

A policy gradient algorithm integrating long and short-term rewards for soft continuum arm control

引用

Science China(Technological Sciences) 2022年第10期65卷 2409-2419页

作者： DONG Xiang ZHANG Jing CHENG Long XU WenJun SU Hang MEI Tao School of Electrical Engineering and Automation Anhui UniversityHefei 230601China State Key Laboratory for Control and Management of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China robotics Research center Peng Cheng LaboratoryShenzhen 518055China

The soft continuum arm has extensive application in industrial production and human life due to its superior safety and flexibility. Reinforcement learning is a powerful technique for solving soft arm continuous control problems, which can learn an effective control policy with an unknown system model. However, it is often affected by the high sample complexity and requires huge amounts of data to train, which limits its effectiveness in soft arm control. An improved policy gradient method, policy gradient integrating long and short-term rewards denoted as PGLS, is proposed in this paper to overcome this issue. The shortterm rewards provide more dynamic-aware exploration directions for policy learning and improve the exploration efficiency of the algorithm. PGLS can be integrated into current policy gradient algorithms, such as deep deterministic policy gradient(DDPG). The overall control framework is realized and demonstrated in a dynamics simulation environment. Simulation results show that this approach can effectively control the soft arm to reach and track the targets. Compared with DDPG and other model-free reinforcement learning algorithms, the proposed PGLS algorithm has a great improvement in convergence speed and performance. In addition, a fluid-driven soft manipulator is designed and fabricated in this paper, which can verify the proposed PGLS algorithm in real experiments in the future.

关键词： soft arm control Cosserat rod deep reinforcement learning policy gradient algorithm high sample complexity

来源：

维普期刊数据库

同方期刊数据库评论

在线全文

学校读者我要写书评

暂无评论

An Energy Efficient Motion Controller Based on SLCP for the Electrically Actuated Quadruped Robot

引用

Journal of Bionic Engineering 2020年第2期17卷 290-302页

作者： Tianfa Li Lelai Zhou Yibin Li Hui Chai Kun Yang School of Control Science and Engineering Center for RoboticsShandong UniversityJinan 250061China

Energy efficiency has been the focus of quadruped robot *** the energy loss caused by the DC motor can contribute to the walking efficiency of electrically actuated quadruped *** works have focused on the quadruped mechanisms or actuations such as the Series Elastic Actuation(SEA).This work proposes a better efficient controller to perform the stable 5 m·s-1 movements of quadruped *** dynamic model of the electrically actuated leg is established by Lagrangian *** energy efficiency of the DC motors in the electrically actuated quadruped robot is formulated as an optimization *** Stochastic Linear Complementarity Problem(SLCP)and sinusoidal pulse force are proposed to reduce the energy consumption at the *** Bemstein polynomials are used for planning a quasi-elliptic foot motion *** stability and energy efficiency of the proposed controller are verified with computer simulation and an actual single leg robot *** with other works,the proposed controller performs the optimal Cost of Transport(COT).

关键词： bionic quadruped robots Stochastic Linear Complementarity Problem sinusoidal pulse force quasi-elliptic trajectory

来源：

维普期刊数据库评论

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

Improved Rao-Blackwellized H_∞ filter based mobile robot SLAM

引用

The Journal of China Universities of Posts and Telecommunications 2016年第5期23卷 47-55页

作者： Luo Yuan Su Qin Zhang Yi Zheng Xiaofeng Research center of Information Accessibility and robotics Chongqing University of Posts and Telecommunications

For the problems of estimation accuracy, inconsistencies and robustness in mobile robot simultaneous localization and mapping （SLAM）, a novel SLAM based on improved Rao-Blackwellized H∞ particle filter （IRBHF-SLAM） algorithm is proposed. The iterated unscented H∞ filter （IUHF） is utilized to accurately calculate the importance density function, repeatedly correcting the state mean and the covariance matrix by the iterative update method. The laser sensor＇s observation information is introduced into sequential importance sampling routine. It can avoid the calculation of Jacobian matrix and linearization error accumulation; meanwhile, the robustness of the algorithm is enhanced. IRBHF-SLAM is compared with FastSLAM2.0 and the unscented FastSLAM （UFastSLAM） under different noises in simulation experiments. Results show the algorithm can improve the estimation accuracy and stability. The improved approach, based on the robot operation system （ROS）, runs on the Pioneer3-DX robot equipped with a HOKUYO URG-04LX （URG） laser range finder. Experimental results show the improved algorithm can reduce the required number of particles and the operating time; and create online 2 dimensional （2-D） grid-map with high precision in different environments.

关键词： SLAM Rao-Blackwellized particle filter iterated unscented H∞ filter ROS

来源：

维普期刊数据库

同方期刊数据库评论

在线全文

学校读者我要写书评

暂无评论

Robotic assisted andrological surgery

引用

Asian Journal of Andrology 2013年第1期15卷 67-74页

作者： Sijo J Parekattil Ahmet Gudeloglu Department of robotics & Urology Winter Haven Hospital & University of Florida Robotics Institute & Center for Urology Winter Haven F133881 USA

The introduction of the operative microscope for andrological surgery in the 1970s provided enhanced magnification and accuracy, unparalleled to any previous visual loop or magnification techniques. This technology revolutionized techniques for microsurgery in andrology. Today, we may be on the verge of a second such revolution by the incorporation of robotic assisted platforms for microsurgery in andrology. Robotic assisted microsurgery is being utilized to a greater degree in andrology and a number of other microsurgical fields, such as ophthalmology, hand surgery, plastics and reconstructive surgery. The potential advantages of robotic assisted platforms include elimination of tremor, improved stability, surgeon ergonomics, scalability of motion, multi-input visual interphases with up to three simultaneous visual views, enhanced magnification, and the ability to manipulate three surgical instruments and cameras simultaneously. This review paper begins with the historical development of robotic microsurgery. It then provides an in-depth presentation of the technique and outcomes of common robotic microsurgical andrological procedures, such as vasectomy reversal, subinguinal varicocelectomy, targeted spermatic cord denervation （for chronic orchialgia） and robotic assisted microsurgical testicular sperm extraction （microTESE）.

关键词： andrological surgery male infertility microsurgery robotics robotic assisted microsurgery robotic vasectomy reversal vasectomy reversal

来源：

维普期刊数据库评论

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

欢迎您,

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

在线全文

在线全文

在线全文

在线全文

在线全文

在线全文

在线全文

在线全文

在线全文

在线全文

请选择保存的检索档案：

请选择收藏分类：

通借通还

欢迎您,

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

在线全文

在线全文

在线全文

在线全文

在线全文

在线全文

在线全文

在线全文

在线全文

在线全文

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：