Soft pneumatic structures are promising for the actuation of soft machines,and substantial advances have occurred in their innovative design and functional verification.However,most pneumatic structures lack self-sens...Soft pneumatic structures are promising for the actuation of soft machines,and substantial advances have occurred in their innovative design and functional verification.However,most pneumatic structures lack self-sensing abilities,resulting in a lack of motion state feedback and difficulty in achieving real-time closed-loop control.Herein,a soft pneumatic composite structure(SPCS)with integrated actuation and sensing abilities is developed by combining a bellows-shaped magnetic elastomer and a wire structure.The SPCS can generate an induced voltage under deformation.The SPCS mechanical and magnetoelectric characteristics are studied comprehensively.The SPCS experimental maximum contraction is 27 mm,which is close to the theoretical and numerical results.When the SPCS is actuated by a pressure of-40 kPa,it will generate a peak induced voltage of 1.01 mV.With the increase in magnetic powder content and turns of the spiral wire,the induced voltage also increases.Additionally,two SPCSs are used to develop a self-sensing actuator,which can accurately perceive the bending direction and recognize the magnitude and direction of external force.A self-sensing soft gripper is developed,which can sense the grasping status and predict the width of grasped objects.Furthermore,a smart vehicle detection system composed of two SPCSs is proposed,which can detect the number,speed,and weight of passing vehicles.Consequently,the SPCS has numerous potential applications in soft sensors and self-sensing intelligent soft machines.展开更多
面向气压传动实训中数据孤岛、过程难追溯与排程粗放等痛点,构建具备“设备感知—边缘接入—数据平台—应用服务—可视化/集成”五层架构的制造执行系统(Manufacturing Execution System,MES)一体化方案,形成“任务—资源—过程—质量...面向气压传动实训中数据孤岛、过程难追溯与排程粗放等痛点,构建具备“设备感知—边缘接入—数据平台—应用服务—可视化/集成”五层架构的制造执行系统(Manufacturing Execution System,MES)一体化方案,形成“任务—资源—过程—质量—评价”闭环。系统以带时间戳与“Quality Flag”的事件流对接可编程逻辑控制器(Programmable Logic Controller,PLC)、数据采集与监视控制(Supervisory Control and Data Acquisition,SCADA)系统与数字孪生,提供工单排程、异常闭环、设备综合效率(Overall Equipment Effectiveness,OEE)、统计过程控制(Statistical Process Control,SPC)以及看板。实验结果表明,应用MES后,OEE由58.4%提高至71.2%,设备利用率由62.1%提高至74.8%,异常响应中位数下降30.7%,报表时效由T+1提高为准实时,证据缺失率降至11.9%,验证了所提架构的增效与治理价值。展开更多
基金supported by the National Natural Science Foundation of China(Grant No.52405267)the Jiangxi Provincial Natural Science Foundation(Grant Nos.20242BAB25257,20232BAB214050)+1 种基金the China Postdoctoral Science Foundation(Grant No.2024M760877)the Natural Science Foundation of Hunan Province(Grant No.2025JJ60369)。
文摘Soft pneumatic structures are promising for the actuation of soft machines,and substantial advances have occurred in their innovative design and functional verification.However,most pneumatic structures lack self-sensing abilities,resulting in a lack of motion state feedback and difficulty in achieving real-time closed-loop control.Herein,a soft pneumatic composite structure(SPCS)with integrated actuation and sensing abilities is developed by combining a bellows-shaped magnetic elastomer and a wire structure.The SPCS can generate an induced voltage under deformation.The SPCS mechanical and magnetoelectric characteristics are studied comprehensively.The SPCS experimental maximum contraction is 27 mm,which is close to the theoretical and numerical results.When the SPCS is actuated by a pressure of-40 kPa,it will generate a peak induced voltage of 1.01 mV.With the increase in magnetic powder content and turns of the spiral wire,the induced voltage also increases.Additionally,two SPCSs are used to develop a self-sensing actuator,which can accurately perceive the bending direction and recognize the magnitude and direction of external force.A self-sensing soft gripper is developed,which can sense the grasping status and predict the width of grasped objects.Furthermore,a smart vehicle detection system composed of two SPCSs is proposed,which can detect the number,speed,and weight of passing vehicles.Consequently,the SPCS has numerous potential applications in soft sensors and self-sensing intelligent soft machines.
文摘面向气压传动实训中数据孤岛、过程难追溯与排程粗放等痛点,构建具备“设备感知—边缘接入—数据平台—应用服务—可视化/集成”五层架构的制造执行系统(Manufacturing Execution System,MES)一体化方案,形成“任务—资源—过程—质量—评价”闭环。系统以带时间戳与“Quality Flag”的事件流对接可编程逻辑控制器(Programmable Logic Controller,PLC)、数据采集与监视控制(Supervisory Control and Data Acquisition,SCADA)系统与数字孪生,提供工单排程、异常闭环、设备综合效率(Overall Equipment Effectiveness,OEE)、统计过程控制(Statistical Process Control,SPC)以及看板。实验结果表明,应用MES后,OEE由58.4%提高至71.2%,设备利用率由62.1%提高至74.8%,异常响应中位数下降30.7%,报表时效由T+1提高为准实时,证据缺失率降至11.9%,验证了所提架构的增效与治理价值。
