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Ultra‑High Sensitivity Anisotropic Piezoelectric Sensors for Structural Health Monitoring and Robotic Perception

Nano-Micro Letters 2025年第2期17卷 432-446页

作者： Hao Yin Yanting Li Zhiying Tian Qichao Li Chenhui Jiang Enfu Liang Yiping Guo state key laboratory of Metal Matrix Composites School of Materials Science and EngineeringShanghai Jiao Tong UniversityShanghai 200240People’s Republic of China Beijing Vacuum Electronics Research Institute Beijing 100015People’s Republic of China Fundamental Science On vibration Shock and Noise LaboratoryState Key Laboratory of Mechanical System and VibrationSchool of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240People’s Republic of China

Monitoring minuscule mechanical signals,both in magnitude and direction,is imperative in many application scenarios,e.g.,structural health monitoring and robotic sensing ***,the piezoelectric sensor struggles to satisfy the requirements for directional recognition due to the limited piezoelectric coefficient matrix,and achieving sensitivity for detecting micrometer-scale deformations is also ***,we develop a vector sensor composed of lead zirconate titanate-electronic grade glass fiber composite filaments with oriented arrangement,capable of detecting minute anisotropic *** as-prepared vector sensor can identify the deformation directions even when subjected to an unprecedented nominal strain of 0.06%,thereby enabling its utility in accurately discerning the 5μm-height wrinkles in thin films and in monitoring human pulse *** ultra-high sensitivity is attributed to the formation of porous ferroelectret and the efficient load transfer efficiency of continuous lead zirconate titanate ***,when integrated with machine learning techniques,the sensor’s capability to recognize multi-signals enables it to differentiate between 10 types of fine textures with 100%*** structural design in piezoelectric devices enables a more comprehensive perception of mechanical stimuli,offering a novel perspective for enhancing recognition accuracy.

关键词： Flexible piezoelectric filaments Anisotropic Ultra-high sensitivity Structural health detection Texture recognition

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Modelica-based Object-orient Modeling of Rotor system with Multi-Faults

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Chinese Journal of mechanical Engineering 2013年第6期26卷 1169-1181页

作者： LI Ming WANG Yu LI Fucai LI Hongguang MENG Guang state key laboratory of mechanical system and vibration Shanghai Jiaotong University

Modelica-based object-orient method is proved to be rapid, accurate and easy to modify, which is suitable for prototype modeling and simulation of rotor system, whose parameters need to be modified frequently. Classical non-object-orient method appears to be inefficient because the code is difficult to modify and reuse. An adequate library for object-orient modeling of rotor system with multi-faults is established, a comparison with non-object-orient method on Jeffcott rotor system and a case study on turbo expander with multi-faults are implemented. The relative tolerance between object-orient method and non-object-orient is less than 0.03%, which proves that these two methods are as accurate as each other. Object-orient modeling and simulation is implemented on turbo expander with crack, rub-impact, pedestal looseness and multi-faults simultaneously. It can be conclude from the case study that when acting on compress side of turbo expander separately, expand wheel is not influenced greatly by crack fault, the existence of rub-impact fault forces expand wheel into quasi-periodic motion and the orbit of expand wheel is deformed and enhanced almost 1.5 times due to pedestal looseness. When acting simultaneously, multi-faults cannot be totally decomposed but can be diagnosed from the feature of vibration. Object-orient method can enhance the efficiency of modeling and simulation of rotor system with multi-faults, which provides an efficient method on prototype modeling and simulation.

关键词： rotor system multi-faults object-orient modeling Modelica

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Hydroacoustic analysis of open cavity subsonic flow based on multiple parameter numerical models

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Journal of Hydrodynamics 2015年第5期27卷 668-678页

作者：袁国清蒋伟康华宏星 state key laboratory of mechanical system and vibration Shanghai Jiao Tong University

The prediction of the flow-induced noise level is a key issue in the fluid–dynamic acoustics. In the hydroacoustics field, the complicated feedback induced by the flow past open cavities can amplify the convection instability in the shear layer which further leads to important noise radiations. The noise consists of intense narrowband and broadband components. In this paper, the level of the noise radiated by a subsonic cavity flow is calculated by using numerical flow computations based on the large eddy simulation（LES） and by solving the Ffowcs Williams-Hawkings equation. A series of three-dimensional open cavity models with overset grids and appropriate boundary conditions are developed for the hydroacoustic numerical computation. The self-sustained oscillation characteristics of the cavity flow are investigated, together with the mechanisms of the cavity noise generation. The distinguishing features of the flow-induced noise of the underwater structure cavities are studied with respect to the parameters of the cavity models, such as the free stream velocity, the dimensions of the cavity mouth, the angle of the cavity neck, the horizontal and vertical porous cavity models and the actual submarine open cavity model with an incoming flow attack angle. It is shown that it may be feasible to reduce the flow-induced noise by appropriate optimal parameters of the underwater structure cavities.

关键词： flow-induced noise underwater structure cavity large eddy simulation(LES) Ffowcs Williams-Hawkings equation

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Modal identification of multi-degree-of-freedom structures based on intrinsic chirp component decomposition method

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Applied Mathematics and Mechanics(English Edition) 2019年第12期40卷 1741-1758页

作者： Sha WEI Shiqian CHEN Zhike PENG Xingjian DONG Wenming ZHANG state key laboratory of mechanical system and vibration Shanghai Jiao Tong University

Modal parameter identification is a mature ***,there are some challenges in its practical applications such as the identification of vibration systems involving closely spaced modes and intensive noise *** paper proposes a new time-frequency method based on intrinsic chirp component decomposition(ICCD)to address these *** this method,a redundant Fourier model is used to ameliorate border distortions and improve the accuracy of signal *** effectiveness and accuracy of the proposed method are illustrated using three examples:a cantilever beam structure with intensive noise contamination or environmental interference,a four-degree-of-freedom structure with two closely spaced modes,and an impact test on a cantilever rectangular *** comparison with the identification method based on the empirical wavelet transform(EWT),it is shown that the presented method is effective,even in a high-noise environment,and the dynamic characteristics of closely spaced modes are accurately determined.

关键词： modal identification closely spaced mode time-frequency domain intrinsic chirp component decomposition(ICCD) multi-degree-of-freedom(MDOF) system

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Method for Six-Legged Robot Stepping on Obstacles by Indirect Force Estimation

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Chinese Journal of mechanical Engineering 2016年第4期29卷 669-679页

作者： XU Yilin GAO Feng PAN Yang CHAI Xun state key laboratory of mechanical system and vibration Shanghai Jiao Tong University

Adaptive gaits for legged robots often requires force sensors installed on foot-tips,however impact,temperature or humidity can affect or even damage those *** have been made to realize indirect force estimation on the legged robots using leg structures based on planar *** Octopus III is a six-legged robot using spatial parallel mechanism（UP-2UPS） *** paper proposed a novel method to realize indirect force estimation on walking robot based on a spatial parallel *** direct kinematics model and the inverse kinematics model are *** force Jacobian matrix is derived based on the kinematics ***,the indirect force estimation model is ***,the relation between the output torques of the three motors installed on one leg to the external force exerted on the foot tip is ***,an adaptive tripod static gait is *** robot alters its leg trajectory to step on obstacles by using the proposed adaptive *** the indirect force estimation model and the adaptive gait are implemented and optimized in a real time control *** experiment is carried out to validate the indirect force estimation *** adaptive gait is tested in another *** results show that the robot can successfully step on a 0.2 m-high *** paper proposes a novel method to overcome obstacles for the six-legged robot using spatial parallel mechanism legs and to avoid installing the electric force sensors in harsh environment of the robot＇s foot tips.

关键词： robot parallel mechanism force estimation obstacle

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Development of FPGA Based NURBS Interpolator and Motion Controller with Multiprocessor Technique

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Chinese Journal of mechanical Engineering 2013年第5期26卷 940-947页

作者： ZHAO Huan ZHU Limin XIONG Zhenhua DING Han state key laboratory of mechanical system and vibration Shanghai Jiao Tong University

The high-speed computational performance is gained at the cost of huge hardware resource,which restricts the application of high-accuracy algorithms because of the limited hardware cost in practical *** solve the problem,a novel method for designing the field programmable gate array(FPGA)-based non-uniform rational B-spline(NURBS) interpolator and motion controller,which adopts the embedded multiprocessor technique,is proposed in this *** hardware and software design for the multiprocessor,one of which is for NURBS interpolation and the other for position servo control,is *** analysis and experiments on an X-Y table are carried out,hardware cost as well as consuming time for interpolation and motion control is compared with the existing *** experimental and comparing results indicate that,compared with the existing methods,the proposed method can reduce the hardware cost by 97.5% using higher-accuracy interpolation algorithm within the period of 0.5 ms.A method which ensures the real-time performance and interpolation accuracy,and reduces the hardware cost significantly is proposed,and it’s practical in the use of industrial application.

关键词： NURBS interpolator FPGA-based interpolation multiprocessor system on a programmable chip (SOPC) motion controller

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Force Characteristics in Continuous Path Controlled Crankpin Grinding

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Chinese Journal of mechanical Engineering 2015年第2期28卷 331-337页

作者： ZHANG Manchao YAO Zhenqiang state key laboratory of mechanical system and vibration Shanghai Jiao Tong University

Recent research on the grinding force involved in cylindrical plunge grinding has focused mainly on steady-state *** in conventional external cylindrical plunge grinding,the conditions between the grinding wheel and the crankpin change periodically in path controlled grinding because of the eccentricity of the crankpin and the constant rotational speed of the *** objective of this study is to investigate the effects of various grinding conditions on the characteristics of the grinding force during continuous path controlled *** controlled plunge grinding is conducted at a constant rotational speed using a cubic boron nitride（CBN）*** grinding force is determined by measuring the *** experimental results show that the force and torque vary sinusoidally during dry grinding and load *** variations in the results reveal that the resultant grinding force and torque decrease with higher grinding speeds and increase with higher peripheral speeds of the pin and higher grinding *** path controlled grinding,unlike in conventional external cylindrical plunge grinding,the axial grinding force cannot be *** speeds and speed ratios of the workpiece and wheel are also analyzed,and the analysis results show that up-grinding and down-grinding occur during the grinding *** paper proposes a method for describing the force behavior under varied process conditions during continuous path controlled grinding,which provides a beneficial reference for describing the material removal mechanism and for optimizing continuous controlled crankpin grinding.

关键词： grinding torque force crankshaft crankpin

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Type Synthesis of Walking Robot Legs

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Chinese Journal of mechanical Engineering 2018年第1期31卷 53-65页

作者： Da Xi Feng Gao state key laboratory of mechanical system and vibration Shanghai Jiao Tong University

Walking robots use leg structures to overcome obstacles or move on complicated terrains. Most robots of current researches are equipped with legs of simple structure. The specific design method of walking robot legs is seldom studied. Based on the generalized-function(GF) set theory, a systematic type synthesis process of designing robot legs is introduced. The specific mobility of robot legs is analyzed to obtain two main leg types as the goal of *** synthesis problem is decomposed into two stages, actuation and constraint synthesis by name,corresponding to the combinatorics results of linear Diophantine equations. Additional restrictions are discussed to narrow the search range to propose practical limb expressions and kinematic-pair designs. Finally, all the fifty-one leg structures of four subtypes are carried out, some of which are chosen to make up robot prototypes, demonstrating the validity of the method. This paper proposed a novel type synthesis methodology, which could be used to systematically design various practical robot legs and the derived robots.

关键词： Type synthesis Robot leg GF set Number synthesis Linear Diophantine equation

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Targeted energy transfer of a parallel nonlinear energy sink

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Applied Mathematics and Mechanics(English Edition) 2019年第5期40卷 621-630页

作者： Yimin WEI Sha WEI Qianlong ZHANG Xinjian DONG Zhike PENG Wenming ZHANG state key laboratory of mechanical system and vibration Shanghai Jiao Tong University

A parallel nonlinear energy sink(NES) is proposed and analyzed. The parallel NES is composed of a vibro-impact(VI) NES and a cubic NES. The dynamical equation is given, and the essential analytical investigation is carried out to deal with the cubic nonlinearity and impact nonlinearity. Multiple time-scale expansion is introduced, and the zeroth order is derived to give a rough outline of the system. The underlying Hamilton dynamic equation is given, and then the optimal stiffness is expressed. The clearance is regarded as a critical factor for the VI. Based on the periodical impact treatment by analytical investigation, the relationships of the cubic stiffness, the clearance, and the zeroth-order attenuation amplitude of the linear primary oscillator(LPO) are obtained.A cubic NES under the optimal condition is compared with the parallel NES. Harmonic signals, harmonic signals with noises, and the excitation generated by a second-order?lter are considered as the potential excitation forces on the system. The targeted energy transfer(TET) in the designed parallel NES is shown to be more e?cient.

关键词： targeted energy transfer (TET) nonlinear energy sink (NES) nonlinear vibration absorber impact vibration reduction

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Type Design and Behavior Control for Six Legged Robots

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Chinese Journal of mechanical Engineering 2018年第3期31卷 11-22页

作者： Ling Fang Feng Gao state key laboratory of mechanical system and vibration Shanghai Jiao Tong University

The research on legged robots attracted much attention both from the academia and industry. Legged robots are multi-input multi-output with multiple end-e ector systems. Therefore,the mechanical design and control framework are challenging issues. This paper reviews the development of type synthesis and behavior control on legged robots; introduces the hexapod robots developed in our research group based on the proposed type synthesis method. The control framework for legged robots includes data driven layer,robot behavior layer and robot execution layer. Each layer consists several components which are explained in details. Finally,various experiments were conducted on several hexapod robots. The summarization of the type synthesis and behavior control design constructed in this paper would provide a unified platform for communications and references for future advancement for legged robots.

关键词： Legged robot Type synthesis Human robot interaction Control framework

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