The large manipulator outside the space cabin is a multi-degree of freedom actuator for space operations.In order to realize the automatic control and flexible operation of the space manipulator,a novel spoke structur...The large manipulator outside the space cabin is a multi-degree of freedom actuator for space operations.In order to realize the automatic control and flexible operation of the space manipulator,a novel spoke structure piezoelectric six-dimensional force/torque sensor with redundancy ability,high stiffness and good decoupling performance is innovatively proposed.Based on the deformation coordination relationship,the redundancy measurement mechanism is revealed.The mathematical models of the sensor with and without branch fault are established respectively.The finite element model is established to verify the feasibility of structure and redundancy measuring principle of the sensor.Depending on the theoretical analysis and simulation analysis,the prototype of the sensor is developed.Static and dynamic calibration experiments are carried out.The actual output voltage signal of the six-dimensional force/torque sensor is collected to establish the equation between the standard input applied load and the actual output voltage signal.Based on ant colony optimized BP algorithm,performance indexes of the sensor with and without branch fault are analyzed respectively.The experimental results show that the spoke piezoelectric sixdimensional force/torque sensor with the eight-point support structure has good accuracy and reliability.Meanwhile,it has strong decoupling characteristic that can effectively shield the coupling between dimensions.The nonlinear errors and maximum interference errors of decoupled data with and without branch faults are less than 1% and 2%,respectively.The natural frequency of the sixdimensional force sensor can reach 2856.45 Hz and has good dynamic characteristics.The research content lays a theoretical and experimental foundation for the design,development and application of the new six-dimensional force/torque sensors with redundancy.Meanwhile,it will significantly improve the research level in this field,and provide a strong guarantee for the smooth implementation of force feedback control of the space station manipulator project.展开更多
The damper is capable of providing a continuously variable dampering force/torque in response to a magnetic field. It consists of an upside cap and an underside cap with a rotor located between them, the magneto-rheol...The damper is capable of providing a continuously variable dampering force/torque in response to a magnetic field. It consists of an upside cap and an underside cap with a rotor located between them, the magneto-rheological （MR） fluid is filled into the gaps between the rotor and the caps. When the viscosity of the MR fluid increases under the influence of the magnetic field, the movement of the rotor will be resisted. The output torque is made up of the torque caused by the magnetic field, the torque caused by the plastic viscosity of the MR fluid, and the torque caused by the coulomb friction. The viscous torque can be calculated by a simple method and the frictional torque can be obtained by experiments. The torque dependent on the magnetic field is obtained by electromagnetic finite dement analysis. Experiments are done on the damper prototype and the validity of the design is verified.展开更多
The six-component force/torque sensor has become one kind of the most important sensors with the ability of measuring all the external forces and torques. A novel hyperstatic six-component force/torque sensor based on...The six-component force/torque sensor has become one kind of the most important sensors with the ability of measuring all the external forces and torques. A novel hyperstatic six-component force/torque sensor based on the Stewart platform structure, which can be used for the force measurement of the robot wrist, is proposed, and its structural optimal design, finite element analysis and calibration experimentation is presented. The characteristic of the sensor structure is analyzed in comparison with the traditional Stewart platform-based sensor. The mathematical expression of the sensor＇s force mapping matrix is introduced. The condition number and generalized amplifying coefficient defined by singular values of force Jacobian matrix are used to evaluate the performances of isotropy and sensitivity of the sensor respectively. The optimal design of the sensor structure is performed with the objective of achieving high measurement sensitivity and good isotropy. The sensor prototype is fabricated, and the static and dynamic characteristics of the sensor are analyzed with finite element analysis software package ANSYS. The calibration device is manufactured, and the data acquisition and processing system is developed. The theoretical and experimental study of the static calibration of the sensor prototype is carried out. The results of simulation analysis and calibration experimentation prove the feasibility of the hyperstatic sensor structure, and the contents of this paper possess theoretical significance and engineering value for the further research and practical application of the six-component force sensor.展开更多
In order to restore force sensation to robot-assisted minimally invasive surgery(RMIS),design and performance evaluation of a miniature 6-axis force/torque sensor for force feedback is presented.Based on the resistive...In order to restore force sensation to robot-assisted minimally invasive surgery(RMIS),design and performance evaluation of a miniature 6-axis force/torque sensor for force feedback is presented.Based on the resistive sensing method,a flexural-hinged Stewart platform is designed as the flexible structure,and a straightforward optimization method considering the force and sensitivity isotropy of the sensor is proposed to determine geometric parameters which are best suited for the given external loads.The accuracy of this method is preliminarily discussed by finite element methods(FEMs).The sensor prototype is fabricated with the development of the electronic system.Calibration and dynamic loading tests for this sensor prototype are carried out.The working ranges of this sensor prototype are 30 N and 300 N·mm,and resolutions are 0.08 N in radial directions,0.25 N in axial direction,and 2.4 N·mm in rotational directions.It also exhibits a good capability for a typical dynamic force sensing at a frequency close to the normal heart rate of an adult.The sensor is compatible with surgical instruments for force feedback in RMIS.展开更多
This paper presents a new designed miniature six DOF （degree of freedom） force/torque sensor. This sensor is fully integrated with a micro DSP （digital signal processor）, so all the signal conditioning, A/D, decou...This paper presents a new designed miniature six DOF （degree of freedom） force/torque sensor. This sensor is fully integrated with a micro DSP （digital signal processor）, so all the signal conditioning, A/D, decoupling, digital-signals serial output are performed in the sensor. Some experimental results are presented to demonstrate the capability of the proposed design. Finally, a neural network was used for decoupling the interacting signals, compared with the conventional method using the inverse matrix, this new method is more accurate.展开更多
A novel orthogonal-parallel six-axis force/torque sensor is studied based on a modified Stewart platform architecture,and the optimal design and experiment research of the sensor are discussed.Firstly,the model of ort...A novel orthogonal-parallel six-axis force/torque sensor is studied based on a modified Stewart platform architecture,and the optimal design and experiment research of the sensor are discussed.Firstly,the model of orthogonal parallel six-axis force/torque sensor based on improved Stewart platform architecture and its static mathematical model are proposed.Secondly,according to the actual working condition of the sensor,the sensor is optimized and the optimal solution is obtained.Then,the experimental prototype and calibration system is developed.Finally,the superiority of the sensor structure and the effectiveness of the optimization method are verified by calibration experiments.The results of the proposed method are useful for the further research and application of the orthogonal-parallel six-axis force/torque sensor.展开更多
This article investigates the radial electromagnetic force,vibration,and noise phenomenon in a low-speed,hightorque density spoke-type permanent magnet synchronous machine(ST-PMSM)designed with assisted poles having s...This article investigates the radial electromagnetic force,vibration,and noise phenomenon in a low-speed,hightorque density spoke-type permanent magnet synchronous machine(ST-PMSM)designed with assisted poles having symmetric and asymmetric topologies.Firstly,an analytical expression for the machine radial electromagnetic force(REMF)is derived to quickly estimate the REMF characteristics for the ST-PMSM with assisted poles having symmetric and asymmetric topologies.The 2D-Fourier decomposition method is applied to investigate the radial electromagnetic force harmonics(REMFHs).Secondly,Finite element(FE)models are designed for the machine structural analysis.Subsequently,the FE models and modal analysis are explored for different design cases of the analyzed machine.Lastly,vibration and noise behavior are investigated using an FE approach for the machine designs under symmetric and asymmetric assisted poles topologies.The findings indicate an increase in the richness of REMFHs,alongside a decrease in both the fundamental frequency and the lowest non-zero order of REMF,attributed to the presence of asymmetric assisted poles.Consequently,it is investigated that while considering the vibration and noise response in STPMSMs designed with asymmetric assisted poles topologies,it is essential to thoroughly account for induced non-zero low-order harmonics and their optimization for better vibration and noise performance.展开更多
Miniaturized six-axis force/torque sensors have potential applications in robotic tactile sensing,minimally invasive surgery,and other narrow operating spaces,where currently available commercial sensors cannot meet t...Miniaturized six-axis force/torque sensors have potential applications in robotic tactile sensing,minimally invasive surgery,and other narrow operating spaces,where currently available commercial sensors cannot meet the requirements because of their large size.In this study,a silicon-based capacitive six-axis force/torque sensing chip with a small size of 9.3×9.3×0.98 mm was designed,fabricated,and tested.A sandwich decoupling structure with a symmetrical layered arrangement of S-shaped beams,comb capacitors,and parallel capacitors was employed.A decoupling theory considering eccentricity and nonlinear effects was derived to realize low axial crosstalk.The proposed S-shaped beams achieved a large measurement range through stress optimization.The results of a coupled multiphysics field finite-element simulation agreed well with those of theoretical analyses.The test results show that the proposed sensing chip can detect six-axis force/torque separately,with all crosstalk errors less than 2.59%FS.Its force and torque measurement ranges can reach as much as 2.5 N and 12.5 N·mm,respectively.The sensing chip also has high sensitivities of 0.52 pF/N and 0.27 pF/(N·mm)for force and torque detection,respectively.展开更多
Switched Reluctance Motors(SRMs),outfitted with rugged construction,good speed range,high torque density,and rare earth-free nature that outweigh induction motors(IM)and permanent magnet synchronous motor(PMSM),afford...Switched Reluctance Motors(SRMs),outfitted with rugged construction,good speed range,high torque density,and rare earth-free nature that outweigh induction motors(IM)and permanent magnet synchronous motor(PMSM),afford a broad range of applications in the domain of electric vehicles(EVs).Standard copper magnetic wire and low-carbon steel laminations are used to construct SRMs,which give them high efficiency in the range of 85-95%.Despite SRM's desirable features over traditional motor-speed drives,high torque ripples and radial distortions constrain their deployment in EVs.Precise rotor position is imperative for effective management of the speed and torque of SRMs.This paper provides an illustrative compendium on review of the torque-speed control and ripple mitigation techniques using design enhancements and control methods for SRM drives for EV applications.The various schemes were evaluated on their performance metricsoperational speed range,control complexity,practical realization,need for pre-stored parameters(look-up tables of current,inductance and torque profiles)and motor controller memory requirements.The findings provide valuable insights into balancing the gains and trade-offs associated with EV applications.Furthermore,they pinpoint opportunities for enhancement by analyzing the cost and technical aspects of different SRM controllers.展开更多
Nowadays,force sensors play an important role in industrial production,electronic information,medical health,and many other fields.Two-dimensional material-based filed effect transistor(2D-FET)sensors are competitive ...Nowadays,force sensors play an important role in industrial production,electronic information,medical health,and many other fields.Two-dimensional material-based filed effect transistor(2D-FET)sensors are competitive with nano-level size,lower power consumption,and accurate response.However,few of them has the capability of impulse detection which is a path function,expressing the cumulative effect of the force on the particle over a period of time.Herein we fabricated the flexible polymethyl methacrylate(PMMA)gate dielectric MoS_(2)-FET for force and impulse sensor application.We systematically investigated the responses of the sensor to constant force and varying forces,and achieved the conversion factors of the drain current signals(I_(ds))to the detected impulse(I).The applied force was detected and recorded by I_(ds)with a low power consumption of~30 nW.The sensitivity of the device can reach~8000%and the 4×1 sensor array is able to detect and locate the normal force applied on it.Moreover,there was almost no performance loss for the device as left in the air for two months.展开更多
A new analytical model for geometric size and forming force prediction in incremental flanging(IF)is presented in this work.The complex deformation characteristics of IF are considered in the modeling process,which ca...A new analytical model for geometric size and forming force prediction in incremental flanging(IF)is presented in this work.The complex deformation characteristics of IF are considered in the modeling process,which can accurately describe the strain and stress states in IF.Based on strain analysis,the model can predict the material thickness distribution and neck height after IF.By considering contact area,strain characteristics,material thickness changes,and friction,the model can predict specific moments and corresponding values of maximum axial forming force and maximum horizontal forming force during IF.In addition,an IF experiment involving different tool diameters,flanging diameters,and opening hole diameters is conducted.On the basis of the experimental strain paths,the strain characteristics of different deformation zones are studied,and the stable strain ratio is quantitatively described through two dimensionless parameters:relative tool diameter and relative hole diameter.Then,the changing of material thickness and forming force in IF,and the variation of minimum material thickness,neck height,maximum axial forming force,and maximum horizontal forming force with flanging parameters are studied,and the reliability of the analytical model is verified in this process.Finally,the influence of the horizontal forming force on the tool design and the fluctuation of the forming force are explained.展开更多
Forced imbibition,the invasion of a wetting fluid into porous rocks,plays an important role in the effective exploitation of hydrocarbon resources and the geological sequestration of carbon dioxide.However,the interfa...Forced imbibition,the invasion of a wetting fluid into porous rocks,plays an important role in the effective exploitation of hydrocarbon resources and the geological sequestration of carbon dioxide.However,the interface dynamics influenced by complex topology commonly leads to non-wetting fluid trapping.Particularly,the underlying mechanisms under viscously unfavorable conditions remain unclear.This study employs a direct numerical simulation method to simulate forced imbibition through the reconstructed digital rocks of sandstone.The interface dynamics and fluid–fluid interactions are investigated through transient simulations,while the pore topology metrics are introduced to analyze the impact on steady-state residual fluid distribution obtained by a pseudo-transient scheme.The results show that the cooperative pore-filling process promoted by corner flow is dominant at low capillary numbers.This leads to unstable inlet pressure,mass flow,and interface curvature,which correspond to complicated interface dynamics and higher residual fluid saturation.During forced imbibition,the interface curvature gradually increases,with the pore-filling mechanisms involving the cooperation of main terminal meniscus movement and arc menisci filling.Complex topology with small diameter pores may result in the destabilization of interface curvature.The residual fluid saturation is negatively correlated with porosity and pore throat size,and positively correlated with tortuosity and aspect ratio.A large mean coordination number characterizing global connectivity promotes imbibition.However,high connectivity characterized by the standardized Euler number corresponding to small pores is associated with a high probability of non-wetting fluid trapping.展开更多
Due to batteries inconsistencies and potential faults in battery management systems,slight overcharging remains a common yet insufficiently understood safety risk,lacking effective warning methods.To illuminate the de...Due to batteries inconsistencies and potential faults in battery management systems,slight overcharging remains a common yet insufficiently understood safety risk,lacking effective warning methods.To illuminate the degradation behavior and failure mechanism of various overcharged states(100%SOC,105%SOC,110%SOC,and 115%SOC),multiple advanced in-situ characterization techniques(accelerating rate calorimeter,electrochemical impedance spectroscopy,ultrasonic scanning,and expansion instrument)were utilized.Additionally,re-overcharge-induced thermal runaway(TR)tests were conducted,with a specific emphasis on the evolution of the expansion force signal.Results indicated significant degradation at 110%SOC including conductivity loss,loss of lithium inventory,and loss of active material accompanied by internal gas generation.These failure behaviors slow down the expansion force rate during reovercharging,reducing the efficacy of active warnings that depend on rate thresholds of expansion force.Specifically,the warning time for 115%SOC battery is only 144 s,which is 740 s shorter than that for fresh battery,and the time to TR is advanced by 9 min.Moreover,the initial self-heating temperature(T1)is reduced by 62.4℃compared to that of fresh battery,reaching only 70.8℃.To address the low safety of overcharged batteries,a passive overcharge warning method utilizing relaxation expansion force was proposed,based on the continued gas generation after stopping charging,leading to a sustained increase in force.Compared to active methods that rely on thresholds of expansion force rate,the passive method can issue warnings 115 s earlier.By combining the passive and active warning methods,guaranteed effective overcharge warning can be issued 863-884 s before TR.This study introduces a novel perspective for enhancing the safety of batteries.展开更多
Astronomical extreme events or phenomena include black holes as well as nebulae systems that resemble the Milky Way. Meteorological extreme events or phenomena include tornadoes and tropical cyclones. The new high ene...Astronomical extreme events or phenomena include black holes as well as nebulae systems that resemble the Milky Way. Meteorological extreme events or phenomena include tornadoes and tropical cyclones. The new high energy state of matter expanding outwards by spin jets from the two poles of an astronomical black hole, the new high energy state of matter in a funnel-shaped vortex showed a meteorological tornado expanding downwards from a rotated disk of cumulonimbus clouds, the new high energy state of matter in a tropical cyclone and the new high energy state of a nebulae system converging celestial materials are phenomena across disciplines and multiple time-space scales that have not yet been physically explained. In this paper, the theory of orthogonal collision in the rotational contraction continuum is used to unify the understanding of diverse extreme events or phenomena through a single dynamical mechanism, offering insights into natural processes across disciplines. In the field of astronomy, the orthogonal collision of two-beam rotating and contracting particles or stars associated with centripetal forces forms a new high-energy state of matter at the collision point and the new high-energy particles have expanding forces outward to both sides of the collision plane. In the field of meteorology, the orthogonal collision of multiple horizontally rotating and contracting airflows associated with centripetal forces forms a new high energy state of matter at the collision point as well as an updraft force and a downdraft force vertically. The updraft force and downdraft force formed by the collision of anomalous wet airflows in the lower atmosphere can well indicate tornado, thunderstorm and extreme precipitation. The orthogonal collision theory can be applied to explain new states of matter in disciplines from the astronomical scale to the meteorological scale and the Planck scale.展开更多
Geological deformations are generally attributed to compressional, extensional and strike-slip processes. Since the breakup of Gondwana, torque deformation has been responsible for the current configuration of the wes...Geological deformations are generally attributed to compressional, extensional and strike-slip processes. Since the breakup of Gondwana, torque deformation has been responsible for the current configuration of the western coasts of Africa and the eastern shore of South America and the morphotectonic geometry of the rift basins of South America, conditioning the morphostructure of the Andean chain and the current geoforms of the foreland.展开更多
The undeformed chip thickness and grinding force are key parameters for revealing the material removal mechanism in the grinding process.However,they are difficult to be well expressed due to the ununiformed protrusio...The undeformed chip thickness and grinding force are key parameters for revealing the material removal mechanism in the grinding process.However,they are difficult to be well expressed due to the ununiformed protrusion height and random position distribution of abrasive grains on the abrasive wheel surface.This study investigated the distribution of undeformed chip thickness and grinding force considering the non-uniform characteristics of abrasive wheel in the grinding of K4002 nickel-based superalloy.First,a novel grinding force model was established through a kinematic-geometric analysis and a grain-workpiece contact analysis.Then,a series of grinding experiments were conducted for verifying the model.The results indicate that the distribution of undeformed chip thickness is highly consistent with the Gaussian distribution formula.The increase in the grinding depth mainly leads to an increase in the average value of Gaussian distribution.On the contrary,the increase in the workpiece infeed speed or the decrease in the grinding speed mainly increases the standard deviation of Gaussian distribution.The average and maximum errors of the grinding force model are 4.9%and 14.6%respectively,indicating that the model is of high predication accuracy.展开更多
Vascular smooth muscle cells (VSMCs) in the arterial walls play important roles in regulating vascular contraction and dilation. VSMCs actively remodel the arterial walls and dedifferentiate from the contractile to th...Vascular smooth muscle cells (VSMCs) in the arterial walls play important roles in regulating vascular contraction and dilation. VSMCs actively remodel the arterial walls and dedifferentiate from the contractile to the synthetic phenotype under pathological conditions. The mechanism underlying phenotypic transition of VSMCs is important for understanding its role in the pathophysiology of disease. Although numerous studies have reported various biochemical pathways that stimulate the phenotypic transition of VSMCs, very little is known about relation between their phenotypic transition and cellular traction force, which affects many cellular functions. In this study, we induced the differentiation of cultured VSMCs from the synthetic to the contractile phenotype by a low-serum cultivation and investigated changes in the cell traction forces using traction force microscopy technique. The expression of α-SMA, a contractile phenotype marker protein, was significantly upregulated with maturation of actin stress fibers in the low-serum culture, indicating VSMC differentiation was promoted in our experiments. The cells changed their morphology to an elongated bipolar shape, and the direction of the cell traction forces tended to align in the direction of the cell’s major axis. Despite the promotion of contractile differentiation in VSMCs, the overall cell traction forces were significantly reduced, indicating that excessive cell mechanical tension, which might induce cell proliferation and migration, was suppressed during contractile differentiation. These results suggest that suppression of cell traction force and enhanced force polarity might be key factors in VSMC differentiation induced by low serum culture.展开更多
Rail weld irregularities are one of the primary excitation sources for vehicle-track interaction dynamics in modern high-speed railways.They can cause significant wheel-rail dynamic interactions,leading to wheel-rail ...Rail weld irregularities are one of the primary excitation sources for vehicle-track interaction dynamics in modern high-speed railways.They can cause significant wheel-rail dynamic interactions,leading to wheel-rail noise,component damage,and deterioration.Few researchers have employed the vehicle-track interaction dynamic model to study the dynamic interactions between wheel and rail induced by rail weld geometry irregularities.However,the cosine wave model used to simulate rail weld irregularities mainly focuses on the maximum value and neglects the geometric shape.In this study,novel theoretical models were developed for three categories of rail weld irregularities,based on measurements of the high-speed railway from Beijing to Shanghai.The vertical dynamic forces in the time and frequency domains were compared under different running speeds.These forces generated by the rail weld irregularities that were measured and modeled,respectively,were compared to validate the accuracy of the proposed model.Finally,based on the numerical study,the impact force due to rail weld irrregularity is modeled using an Artificial Neural Network(ANN),and the optimum combination of parameters for this model is found.The results showed that the proposed model provided a more accurate wheel/rail dynamic evaluation caused by rail weld irregularities than that established in the literature.The ANN model used in this paper can effectively predict the impact force due to rail weld irrregularity while reducing the computation time.展开更多
基金supported by the National Natural Science Foundation of China(No.51875250)a Project of Shandong Province Higher Educational Youth Innovation Science and Technology Program,China(No.2019KJB018)a Project of the“20 Regulations for New Universities”Funding Program of Jinan,China(No.202228116)。
文摘The large manipulator outside the space cabin is a multi-degree of freedom actuator for space operations.In order to realize the automatic control and flexible operation of the space manipulator,a novel spoke structure piezoelectric six-dimensional force/torque sensor with redundancy ability,high stiffness and good decoupling performance is innovatively proposed.Based on the deformation coordination relationship,the redundancy measurement mechanism is revealed.The mathematical models of the sensor with and without branch fault are established respectively.The finite element model is established to verify the feasibility of structure and redundancy measuring principle of the sensor.Depending on the theoretical analysis and simulation analysis,the prototype of the sensor is developed.Static and dynamic calibration experiments are carried out.The actual output voltage signal of the six-dimensional force/torque sensor is collected to establish the equation between the standard input applied load and the actual output voltage signal.Based on ant colony optimized BP algorithm,performance indexes of the sensor with and without branch fault are analyzed respectively.The experimental results show that the spoke piezoelectric sixdimensional force/torque sensor with the eight-point support structure has good accuracy and reliability.Meanwhile,it has strong decoupling characteristic that can effectively shield the coupling between dimensions.The nonlinear errors and maximum interference errors of decoupled data with and without branch faults are less than 1% and 2%,respectively.The natural frequency of the sixdimensional force sensor can reach 2856.45 Hz and has good dynamic characteristics.The research content lays a theoretical and experimental foundation for the design,development and application of the new six-dimensional force/torque sensors with redundancy.Meanwhile,it will significantly improve the research level in this field,and provide a strong guarantee for the smooth implementation of force feedback control of the space station manipulator project.
基金The National Basic Research Program of China(973Program) (No2002CB312102)the National Natural ScienceFoundation of China (No60675047)
文摘The damper is capable of providing a continuously variable dampering force/torque in response to a magnetic field. It consists of an upside cap and an underside cap with a rotor located between them, the magneto-rheological （MR） fluid is filled into the gaps between the rotor and the caps. When the viscosity of the MR fluid increases under the influence of the magnetic field, the movement of the rotor will be resisted. The output torque is made up of the torque caused by the magnetic field, the torque caused by the plastic viscosity of the MR fluid, and the torque caused by the coulomb friction. The viscous torque can be calculated by a simple method and the frictional torque can be obtained by experiments. The torque dependent on the magnetic field is obtained by electromagnetic finite dement analysis. Experiments are done on the damper prototype and the validity of the design is verified.
基金supported by National Natural Science Foundation of China (Grant No. 50575192)Hebei Provincial Natural Science Foundation of China (Grant No. E2007000349)
文摘The six-component force/torque sensor has become one kind of the most important sensors with the ability of measuring all the external forces and torques. A novel hyperstatic six-component force/torque sensor based on the Stewart platform structure, which can be used for the force measurement of the robot wrist, is proposed, and its structural optimal design, finite element analysis and calibration experimentation is presented. The characteristic of the sensor structure is analyzed in comparison with the traditional Stewart platform-based sensor. The mathematical expression of the sensor＇s force mapping matrix is introduced. The condition number and generalized amplifying coefficient defined by singular values of force Jacobian matrix are used to evaluate the performances of isotropy and sensitivity of the sensor respectively. The optimal design of the sensor structure is performed with the objective of achieving high measurement sensitivity and good isotropy. The sensor prototype is fabricated, and the static and dynamic characteristics of the sensor are analyzed with finite element analysis software package ANSYS. The calibration device is manufactured, and the data acquisition and processing system is developed. The theoretical and experimental study of the static calibration of the sensor prototype is carried out. The results of simulation analysis and calibration experimentation prove the feasibility of the hyperstatic sensor structure, and the contents of this paper possess theoretical significance and engineering value for the further research and practical application of the six-component force sensor.
基金Project(SS2012AA041601)supported by National High Technology Research and Development Program of ChinaProject(81201150)supported by the National Natural Science Foundation of China
文摘In order to restore force sensation to robot-assisted minimally invasive surgery(RMIS),design and performance evaluation of a miniature 6-axis force/torque sensor for force feedback is presented.Based on the resistive sensing method,a flexural-hinged Stewart platform is designed as the flexible structure,and a straightforward optimization method considering the force and sensitivity isotropy of the sensor is proposed to determine geometric parameters which are best suited for the given external loads.The accuracy of this method is preliminarily discussed by finite element methods(FEMs).The sensor prototype is fabricated with the development of the electronic system.Calibration and dynamic loading tests for this sensor prototype are carried out.The working ranges of this sensor prototype are 30 N and 300 N·mm,and resolutions are 0.08 N in radial directions,0.25 N in axial direction,and 2.4 N·mm in rotational directions.It also exhibits a good capability for a typical dynamic force sensing at a frequency close to the normal heart rate of an adult.The sensor is compatible with surgical instruments for force feedback in RMIS.
基金Supported by the National Natural Science Foundation of China （ No. 60275032 ） and the Supported bv the High Technology Research and Development Programme of China （ No. 2003AA404220）.
文摘This paper presents a new designed miniature six DOF （degree of freedom） force/torque sensor. This sensor is fully integrated with a micro DSP （digital signal processor）, so all the signal conditioning, A/D, decoupling, digital-signals serial output are performed in the sensor. Some experimental results are presented to demonstrate the capability of the proposed design. Finally, a neural network was used for decoupling the interacting signals, compared with the conventional method using the inverse matrix, this new method is more accurate.
基金Supported by the National Natural Science Foundation of China(No.51505124)Foster Fund Projects of North China University of Science and Technology(No.JP201505)the Science and Technology Research Project of Hebei Province(No.ZD2020151).
文摘A novel orthogonal-parallel six-axis force/torque sensor is studied based on a modified Stewart platform architecture,and the optimal design and experiment research of the sensor are discussed.Firstly,the model of orthogonal parallel six-axis force/torque sensor based on improved Stewart platform architecture and its static mathematical model are proposed.Secondly,according to the actual working condition of the sensor,the sensor is optimized and the optimal solution is obtained.Then,the experimental prototype and calibration system is developed.Finally,the superiority of the sensor structure and the effectiveness of the optimization method are verified by calibration experiments.The results of the proposed method are useful for the further research and application of the orthogonal-parallel six-axis force/torque sensor.
基金supported by the National Key Research and Developmen Program of China(2022YFB3403100)。
文摘This article investigates the radial electromagnetic force,vibration,and noise phenomenon in a low-speed,hightorque density spoke-type permanent magnet synchronous machine(ST-PMSM)designed with assisted poles having symmetric and asymmetric topologies.Firstly,an analytical expression for the machine radial electromagnetic force(REMF)is derived to quickly estimate the REMF characteristics for the ST-PMSM with assisted poles having symmetric and asymmetric topologies.The 2D-Fourier decomposition method is applied to investigate the radial electromagnetic force harmonics(REMFHs).Secondly,Finite element(FE)models are designed for the machine structural analysis.Subsequently,the FE models and modal analysis are explored for different design cases of the analyzed machine.Lastly,vibration and noise behavior are investigated using an FE approach for the machine designs under symmetric and asymmetric assisted poles topologies.The findings indicate an increase in the richness of REMFHs,alongside a decrease in both the fundamental frequency and the lowest non-zero order of REMF,attributed to the presence of asymmetric assisted poles.Consequently,it is investigated that while considering the vibration and noise response in STPMSMs designed with asymmetric assisted poles topologies,it is essential to thoroughly account for induced non-zero low-order harmonics and their optimization for better vibration and noise performance.
基金supported in part by the National Key Research&Development(R&D)Program of China(Grant No.2022YFB3204800)National Natural Science Foundation of China(Grant Nos.U1909221 and 52305615)Chongqing Natural Science Basic Research Project(Grant No.cstc2021jcyj-msxmX0801).
文摘Miniaturized six-axis force/torque sensors have potential applications in robotic tactile sensing,minimally invasive surgery,and other narrow operating spaces,where currently available commercial sensors cannot meet the requirements because of their large size.In this study,a silicon-based capacitive six-axis force/torque sensing chip with a small size of 9.3×9.3×0.98 mm was designed,fabricated,and tested.A sandwich decoupling structure with a symmetrical layered arrangement of S-shaped beams,comb capacitors,and parallel capacitors was employed.A decoupling theory considering eccentricity and nonlinear effects was derived to realize low axial crosstalk.The proposed S-shaped beams achieved a large measurement range through stress optimization.The results of a coupled multiphysics field finite-element simulation agreed well with those of theoretical analyses.The test results show that the proposed sensing chip can detect six-axis force/torque separately,with all crosstalk errors less than 2.59%FS.Its force and torque measurement ranges can reach as much as 2.5 N and 12.5 N·mm,respectively.The sensing chip also has high sensitivities of 0.52 pF/N and 0.27 pF/(N·mm)for force and torque detection,respectively.
基金supported in part by the Universitat Politècnica de València under grant PAID-10-21supported through AMRITA Seed Grant(Proposal ID:ASG2022188)。
文摘Switched Reluctance Motors(SRMs),outfitted with rugged construction,good speed range,high torque density,and rare earth-free nature that outweigh induction motors(IM)and permanent magnet synchronous motor(PMSM),afford a broad range of applications in the domain of electric vehicles(EVs).Standard copper magnetic wire and low-carbon steel laminations are used to construct SRMs,which give them high efficiency in the range of 85-95%.Despite SRM's desirable features over traditional motor-speed drives,high torque ripples and radial distortions constrain their deployment in EVs.Precise rotor position is imperative for effective management of the speed and torque of SRMs.This paper provides an illustrative compendium on review of the torque-speed control and ripple mitigation techniques using design enhancements and control methods for SRM drives for EV applications.The various schemes were evaluated on their performance metricsoperational speed range,control complexity,practical realization,need for pre-stored parameters(look-up tables of current,inductance and torque profiles)and motor controller memory requirements.The findings provide valuable insights into balancing the gains and trade-offs associated with EV applications.Furthermore,they pinpoint opportunities for enhancement by analyzing the cost and technical aspects of different SRM controllers.
基金financially supported by the National Natural Science Foundation of China(Nos.52272160,U2330112,and 52002254)Sichuan Science and Technology Foundation(Nos.2020YJ0262,2021YFH0127,2022YFH0083,2022YFSY0045,and 2023YFSY0002)+1 种基金the Chunhui Plan of Ministry of Education,Fundamental Research Funds for the Central Universities,China(No.YJ201893)the Foundation of Key Laboratory of Lidar and Device,Sichuan Province,China(No.LLD2023-006)。
文摘Nowadays,force sensors play an important role in industrial production,electronic information,medical health,and many other fields.Two-dimensional material-based filed effect transistor(2D-FET)sensors are competitive with nano-level size,lower power consumption,and accurate response.However,few of them has the capability of impulse detection which is a path function,expressing the cumulative effect of the force on the particle over a period of time.Herein we fabricated the flexible polymethyl methacrylate(PMMA)gate dielectric MoS_(2)-FET for force and impulse sensor application.We systematically investigated the responses of the sensor to constant force and varying forces,and achieved the conversion factors of the drain current signals(I_(ds))to the detected impulse(I).The applied force was detected and recorded by I_(ds)with a low power consumption of~30 nW.The sensitivity of the device can reach~8000%and the 4×1 sensor array is able to detect and locate the normal force applied on it.Moreover,there was almost no performance loss for the device as left in the air for two months.
基金supported in part by financial support from the National Key R&D Program of China(No.2023YFB3407003)the National Natural Science Foundation of China(No.52375378).
文摘A new analytical model for geometric size and forming force prediction in incremental flanging(IF)is presented in this work.The complex deformation characteristics of IF are considered in the modeling process,which can accurately describe the strain and stress states in IF.Based on strain analysis,the model can predict the material thickness distribution and neck height after IF.By considering contact area,strain characteristics,material thickness changes,and friction,the model can predict specific moments and corresponding values of maximum axial forming force and maximum horizontal forming force during IF.In addition,an IF experiment involving different tool diameters,flanging diameters,and opening hole diameters is conducted.On the basis of the experimental strain paths,the strain characteristics of different deformation zones are studied,and the stable strain ratio is quantitatively described through two dimensionless parameters:relative tool diameter and relative hole diameter.Then,the changing of material thickness and forming force in IF,and the variation of minimum material thickness,neck height,maximum axial forming force,and maximum horizontal forming force with flanging parameters are studied,and the reliability of the analytical model is verified in this process.Finally,the influence of the horizontal forming force on the tool design and the fluctuation of the forming force are explained.
基金supported by the National Natural Science Foundation of China(Grant Nos.42172159 and 42302143)the Postdoctora Fellowship Program of the China Postdoctoral Science Foundation(CPSF)(Grant No.GZB20230864).
文摘Forced imbibition,the invasion of a wetting fluid into porous rocks,plays an important role in the effective exploitation of hydrocarbon resources and the geological sequestration of carbon dioxide.However,the interface dynamics influenced by complex topology commonly leads to non-wetting fluid trapping.Particularly,the underlying mechanisms under viscously unfavorable conditions remain unclear.This study employs a direct numerical simulation method to simulate forced imbibition through the reconstructed digital rocks of sandstone.The interface dynamics and fluid–fluid interactions are investigated through transient simulations,while the pore topology metrics are introduced to analyze the impact on steady-state residual fluid distribution obtained by a pseudo-transient scheme.The results show that the cooperative pore-filling process promoted by corner flow is dominant at low capillary numbers.This leads to unstable inlet pressure,mass flow,and interface curvature,which correspond to complicated interface dynamics and higher residual fluid saturation.During forced imbibition,the interface curvature gradually increases,with the pore-filling mechanisms involving the cooperation of main terminal meniscus movement and arc menisci filling.Complex topology with small diameter pores may result in the destabilization of interface curvature.The residual fluid saturation is negatively correlated with porosity and pore throat size,and positively correlated with tortuosity and aspect ratio.A large mean coordination number characterizing global connectivity promotes imbibition.However,high connectivity characterized by the standardized Euler number corresponding to small pores is associated with a high probability of non-wetting fluid trapping.
基金supported by the National Natural Science Foundation of China(52476200,52106244)the Guangdong Basic and Applied Basic Research Foundation(2024A1515030124)+1 种基金the Science and Technology Project of China Southern Power Grid under Grant GDKJXM20230246(030100KC23020017)the Fundamental Research Funds for the Central Universities。
文摘Due to batteries inconsistencies and potential faults in battery management systems,slight overcharging remains a common yet insufficiently understood safety risk,lacking effective warning methods.To illuminate the degradation behavior and failure mechanism of various overcharged states(100%SOC,105%SOC,110%SOC,and 115%SOC),multiple advanced in-situ characterization techniques(accelerating rate calorimeter,electrochemical impedance spectroscopy,ultrasonic scanning,and expansion instrument)were utilized.Additionally,re-overcharge-induced thermal runaway(TR)tests were conducted,with a specific emphasis on the evolution of the expansion force signal.Results indicated significant degradation at 110%SOC including conductivity loss,loss of lithium inventory,and loss of active material accompanied by internal gas generation.These failure behaviors slow down the expansion force rate during reovercharging,reducing the efficacy of active warnings that depend on rate thresholds of expansion force.Specifically,the warning time for 115%SOC battery is only 144 s,which is 740 s shorter than that for fresh battery,and the time to TR is advanced by 9 min.Moreover,the initial self-heating temperature(T1)is reduced by 62.4℃compared to that of fresh battery,reaching only 70.8℃.To address the low safety of overcharged batteries,a passive overcharge warning method utilizing relaxation expansion force was proposed,based on the continued gas generation after stopping charging,leading to a sustained increase in force.Compared to active methods that rely on thresholds of expansion force rate,the passive method can issue warnings 115 s earlier.By combining the passive and active warning methods,guaranteed effective overcharge warning can be issued 863-884 s before TR.This study introduces a novel perspective for enhancing the safety of batteries.
文摘Astronomical extreme events or phenomena include black holes as well as nebulae systems that resemble the Milky Way. Meteorological extreme events or phenomena include tornadoes and tropical cyclones. The new high energy state of matter expanding outwards by spin jets from the two poles of an astronomical black hole, the new high energy state of matter in a funnel-shaped vortex showed a meteorological tornado expanding downwards from a rotated disk of cumulonimbus clouds, the new high energy state of matter in a tropical cyclone and the new high energy state of a nebulae system converging celestial materials are phenomena across disciplines and multiple time-space scales that have not yet been physically explained. In this paper, the theory of orthogonal collision in the rotational contraction continuum is used to unify the understanding of diverse extreme events or phenomena through a single dynamical mechanism, offering insights into natural processes across disciplines. In the field of astronomy, the orthogonal collision of two-beam rotating and contracting particles or stars associated with centripetal forces forms a new high-energy state of matter at the collision point and the new high-energy particles have expanding forces outward to both sides of the collision plane. In the field of meteorology, the orthogonal collision of multiple horizontally rotating and contracting airflows associated with centripetal forces forms a new high energy state of matter at the collision point as well as an updraft force and a downdraft force vertically. The updraft force and downdraft force formed by the collision of anomalous wet airflows in the lower atmosphere can well indicate tornado, thunderstorm and extreme precipitation. The orthogonal collision theory can be applied to explain new states of matter in disciplines from the astronomical scale to the meteorological scale and the Planck scale.
文摘Geological deformations are generally attributed to compressional, extensional and strike-slip processes. Since the breakup of Gondwana, torque deformation has been responsible for the current configuration of the western coasts of Africa and the eastern shore of South America and the morphotectonic geometry of the rift basins of South America, conditioning the morphostructure of the Andean chain and the current geoforms of the foreland.
基金financially supported by the National Natural Science Foundation of China(Nos.92160301,92060203,52175415 and 52205475)the Science Center for Gas Turbine Project(Nos.P2022-AB-Ⅳ-002-001 and P2023-B-Ⅳ-003-001)+3 种基金the Jiangsu Key Laboratory of Precision and Micro-Manufacturing Technology(No.JSKL2223K01)the Natural Science Foundation of Jiangsu Province(No.BK20210295)the Superior Postdoctoral Project of Jiangsu Province(No.2022ZB215)the Henan Science and Technology Public Relations Project(No.212102210445).
文摘The undeformed chip thickness and grinding force are key parameters for revealing the material removal mechanism in the grinding process.However,they are difficult to be well expressed due to the ununiformed protrusion height and random position distribution of abrasive grains on the abrasive wheel surface.This study investigated the distribution of undeformed chip thickness and grinding force considering the non-uniform characteristics of abrasive wheel in the grinding of K4002 nickel-based superalloy.First,a novel grinding force model was established through a kinematic-geometric analysis and a grain-workpiece contact analysis.Then,a series of grinding experiments were conducted for verifying the model.The results indicate that the distribution of undeformed chip thickness is highly consistent with the Gaussian distribution formula.The increase in the grinding depth mainly leads to an increase in the average value of Gaussian distribution.On the contrary,the increase in the workpiece infeed speed or the decrease in the grinding speed mainly increases the standard deviation of Gaussian distribution.The average and maximum errors of the grinding force model are 4.9%and 14.6%respectively,indicating that the model is of high predication accuracy.
文摘Vascular smooth muscle cells (VSMCs) in the arterial walls play important roles in regulating vascular contraction and dilation. VSMCs actively remodel the arterial walls and dedifferentiate from the contractile to the synthetic phenotype under pathological conditions. The mechanism underlying phenotypic transition of VSMCs is important for understanding its role in the pathophysiology of disease. Although numerous studies have reported various biochemical pathways that stimulate the phenotypic transition of VSMCs, very little is known about relation between their phenotypic transition and cellular traction force, which affects many cellular functions. In this study, we induced the differentiation of cultured VSMCs from the synthetic to the contractile phenotype by a low-serum cultivation and investigated changes in the cell traction forces using traction force microscopy technique. The expression of α-SMA, a contractile phenotype marker protein, was significantly upregulated with maturation of actin stress fibers in the low-serum culture, indicating VSMC differentiation was promoted in our experiments. The cells changed their morphology to an elongated bipolar shape, and the direction of the cell traction forces tended to align in the direction of the cell’s major axis. Despite the promotion of contractile differentiation in VSMCs, the overall cell traction forces were significantly reduced, indicating that excessive cell mechanical tension, which might induce cell proliferation and migration, was suppressed during contractile differentiation. These results suggest that suppression of cell traction force and enhanced force polarity might be key factors in VSMC differentiation induced by low serum culture.
基金supported by Natural Science Foundation of China(52178441)the Scientific Research Projects of the China Academy of Railway Sciences Co.,Ltd.(Grant No.2022YJ043).
文摘Rail weld irregularities are one of the primary excitation sources for vehicle-track interaction dynamics in modern high-speed railways.They can cause significant wheel-rail dynamic interactions,leading to wheel-rail noise,component damage,and deterioration.Few researchers have employed the vehicle-track interaction dynamic model to study the dynamic interactions between wheel and rail induced by rail weld geometry irregularities.However,the cosine wave model used to simulate rail weld irregularities mainly focuses on the maximum value and neglects the geometric shape.In this study,novel theoretical models were developed for three categories of rail weld irregularities,based on measurements of the high-speed railway from Beijing to Shanghai.The vertical dynamic forces in the time and frequency domains were compared under different running speeds.These forces generated by the rail weld irregularities that were measured and modeled,respectively,were compared to validate the accuracy of the proposed model.Finally,based on the numerical study,the impact force due to rail weld irrregularity is modeled using an Artificial Neural Network(ANN),and the optimum combination of parameters for this model is found.The results showed that the proposed model provided a more accurate wheel/rail dynamic evaluation caused by rail weld irregularities than that established in the literature.The ANN model used in this paper can effectively predict the impact force due to rail weld irrregularity while reducing the computation time.
