Lanthanide coordinated multicolor fluorescent polymeric hydrogels(MFPHs)are quite promising for various applications because of their sharp fluorescence bands and high color purity.However,few attempts have been carri...Lanthanide coordinated multicolor fluorescent polymeric hydrogels(MFPHs)are quite promising for various applications because of their sharp fluorescence bands and high color purity.However,few attempts have been carried out to locally regulate their fluorescence switching or shape deforming behaviors,but such studies are very useful for patterned materials with disparate functions.Herein,the picolinate moieties that can sensitize Tb^(3+)/Eu^(3+)luminescence via antenna effect were chemically introduced into interpenetrating double networks to produce a robust kind of lanthanide coordinated MFPHs.Upon varying the doping ratio of Tb^(3+)/Eu^(3+),fluorescence colors of the obtained hydrogels were continuously regulated from green to orange and then red.Importantly,spatial fluorescence color control within the hydrogel matrix could be facilely realized by controlled diffusion of Tb^(3+)/Eu^(3+)ions,producing a number of 2D hydrogel objects with local multicolor fluorescent patterns.Furthermore,the differential swelling capacities between the fluorescent patterned and non-fluorescent parts led to interesting 2D-to-3D shape deformation to give well-defined multicolor fluorescent 3D hydrogel configurations.Based on these results,bio-inspired synergistic color/shape changeable actuators were demonstrated.The present study provided a promising strategy to achieve the local fluorescence and shape control within lanthanide coordinated hydrogels,and is expected to be expanded for fabricating useful patterned materials with disparate functions.展开更多
In order to improve the frequency response and anti-interference characteristics of the smart electromechanical actuator(EMA)system,and aiming at the force fighting problem when multiple actuators work synchronously,a...In order to improve the frequency response and anti-interference characteristics of the smart electromechanical actuator(EMA)system,and aiming at the force fighting problem when multiple actuators work synchronously,a multi input multi output(MIMO)position difference cross coupling control coordinated strategy based on double‑closed-loop load feedforward control is proposed and designed.In this strategy,the singular value method of return difference matrix is used to design the parameter range that meets the requirements of system stability margin,and the sensitivity function and the H_(∞)norm theory are used to design and determine the optimal solution in the obtained parameter stability region,so that the multi actuator system has excellent synchronization,stability and anti-interference.At the same time,the mathematical model of the integrated smart EMA system is established.According to the requirements of point-to-point control,the controller of double-loop control and load feedforward compensation is determined and designed to improve the frequency response and anti-interference ability of single actuator.Finally,the 270 V high-voltage smart EMA system experimental platform is built,and the frequency response,load feedforward compensation and coordinated control experiments are carried out to verify the correctness of the position difference cross coupling control strategy and the rationality of the parameter design,so that the system can reach the servo control indexes of bandwidth 6 Hz,the maximum output force 20000 N and the synchronization error≤0.1 mm,which effectively solves the problem of force fighting.展开更多
Dear Editor,This letter addresses the challenge of achieving robust global coordination in multi-agent systems(MASs)subject to heterogeneous actuator saturation and additive input disturbances.We develop a novel distr...Dear Editor,This letter addresses the challenge of achieving robust global coordination in multi-agent systems(MASs)subject to heterogeneous actuator saturation and additive input disturbances.We develop a novel distributed control framework that strategically integrates a redesigned saturation function to handle the nonlinear actuator constraint and a high-gain feedback mechanism for effective disturbance rejection.展开更多
Rehabilitation devices help to recover the physical abilities of patients. This study aims to develop a portable rehabilitation device that is safe to use when?patients are holding it by hands. In a previous study, to...Rehabilitation devices help to recover the physical abilities of patients. This study aims to develop a portable rehabilitation device that is safe to use when?patients are holding it by hands. In a previous study, to realize a home rehabilitation device, a flexible spherical actuator that can provide motion to patients was developed. In this study, to measure the relative position between both handling stages, a 3D coordinate measuring device using three wire-type linear potentiometers and an embedded controller was proposed and tested. In this paper, the spherical actuator with built-in 3D coordinate measuring device is described. The measuring method and experimental results obtained are also presented. The tracking position control of the actuator using the measuring device was carried out. As a result, the position of the handling stages can be successfully controlled using the feedback signal from the tested?measuring device.展开更多
A method combining rotor actuator disk model and embedded grid technique is presented in this paper, aimed at predicting the flow fields and aerodynamic characteristics of tilt rotor aircraft in conversion mode more e...A method combining rotor actuator disk model and embedded grid technique is presented in this paper, aimed at predicting the flow fields and aerodynamic characteristics of tilt rotor aircraft in conversion mode more efficiently and effectively. In this method, rotor＇s influence is considered in terms of the momentum it impacts to the fluid around it; transformation matrixes among different coordinate systems are deduced to extend actuator method＇s utility to conversion mode flow fields＇ calculation. Meanwhile, an embedded grid system is designed, in which grids generated around fuselage and actuator disk are regarded as background grid and minor grid respectively, and a new method is presented for ‘donor searching＇ and ‘hole cutting＇ during grid assembling. Based on the above methods, flow fields of tilt rotor aircraft in conversion mode are simulated, with threedimensional Navier–Stokes equations discretized by a second-order upwind finite-volume scheme and an implicit lower–upper symmetric Gauss–Seidel（LU-SGS） time-stepping scheme. Numerical results demonstrate that the proposed CFD method is very effective in simulating the conversion mode flow fields of tilt rotor aircraft.展开更多
In recent years, researchers have been actively pursuing research into developing robots that can be useful in many fields of industry （e.g., service, medical, and aging care）. Such robots must be safe and flexible ...In recent years, researchers have been actively pursuing research into developing robots that can be useful in many fields of industry （e.g., service, medical, and aging care）. Such robots must be safe and flexible so that they can coexist with people. Pneumatic actuators are useful for achieving this goal because they are lightweight units with natural compliance. Our research focuses on joint angle control for a pneumatically driven musculoskeletal model. In such a model, we use a one-degree-of-freedom joint model and a five-fingered robot hand as test beds. These models are driven by low pressure-driven pneumatic actuators, and mimic the mechanism of the human hand and musculoskeletal structure, which has an antagonistic muscle pair for each joint. We demonstrated a biologically inspired control method using the parameters antagonistic muscle ratio and antagonistic muscle activity. The concept of the method is based on coordination of an antagonistic muscle pair using these parameters. We have investigated the validity of the proposed method both theoretically and experimentally, developed a feedback control system, and conducted joint angle control by implementing the test beds.展开更多
基金supported by National Natural Science Foundation of China(No.52073297)the Sino-German mobility program(No.M-0424)+1 种基金Youth Innovation Promotion Association of Chinese Academy of Sciences(No.2019297)K.C.Wong Education Foundation(No.GJTD-2019-13)。
文摘Lanthanide coordinated multicolor fluorescent polymeric hydrogels(MFPHs)are quite promising for various applications because of their sharp fluorescence bands and high color purity.However,few attempts have been carried out to locally regulate their fluorescence switching or shape deforming behaviors,but such studies are very useful for patterned materials with disparate functions.Herein,the picolinate moieties that can sensitize Tb^(3+)/Eu^(3+)luminescence via antenna effect were chemically introduced into interpenetrating double networks to produce a robust kind of lanthanide coordinated MFPHs.Upon varying the doping ratio of Tb^(3+)/Eu^(3+),fluorescence colors of the obtained hydrogels were continuously regulated from green to orange and then red.Importantly,spatial fluorescence color control within the hydrogel matrix could be facilely realized by controlled diffusion of Tb^(3+)/Eu^(3+)ions,producing a number of 2D hydrogel objects with local multicolor fluorescent patterns.Furthermore,the differential swelling capacities between the fluorescent patterned and non-fluorescent parts led to interesting 2D-to-3D shape deformation to give well-defined multicolor fluorescent 3D hydrogel configurations.Based on these results,bio-inspired synergistic color/shape changeable actuators were demonstrated.The present study provided a promising strategy to achieve the local fluorescence and shape control within lanthanide coordinated hydrogels,and is expected to be expanded for fabricating useful patterned materials with disparate functions.
基金supported by the National Natural Science Foundation of China(No.52077100)the Aviation Science Foundation(No.201958052001)
文摘In order to improve the frequency response and anti-interference characteristics of the smart electromechanical actuator(EMA)system,and aiming at the force fighting problem when multiple actuators work synchronously,a multi input multi output(MIMO)position difference cross coupling control coordinated strategy based on double‑closed-loop load feedforward control is proposed and designed.In this strategy,the singular value method of return difference matrix is used to design the parameter range that meets the requirements of system stability margin,and the sensitivity function and the H_(∞)norm theory are used to design and determine the optimal solution in the obtained parameter stability region,so that the multi actuator system has excellent synchronization,stability and anti-interference.At the same time,the mathematical model of the integrated smart EMA system is established.According to the requirements of point-to-point control,the controller of double-loop control and load feedforward compensation is determined and designed to improve the frequency response and anti-interference ability of single actuator.Finally,the 270 V high-voltage smart EMA system experimental platform is built,and the frequency response,load feedforward compensation and coordinated control experiments are carried out to verify the correctness of the position difference cross coupling control strategy and the rationality of the parameter design,so that the system can reach the servo control indexes of bandwidth 6 Hz,the maximum output force 20000 N and the synchronization error≤0.1 mm,which effectively solves the problem of force fighting.
基金supported in part by the National Natural Science Foundation of China(62522313,62473207,U25A20301)the Fundamental Research Funds for the Central Universities(2024SMECP03)。
文摘Dear Editor,This letter addresses the challenge of achieving robust global coordination in multi-agent systems(MASs)subject to heterogeneous actuator saturation and additive input disturbances.We develop a novel distributed control framework that strategically integrates a redesigned saturation function to handle the nonlinear actuator constraint and a high-gain feedback mechanism for effective disturbance rejection.
文摘Rehabilitation devices help to recover the physical abilities of patients. This study aims to develop a portable rehabilitation device that is safe to use when?patients are holding it by hands. In a previous study, to realize a home rehabilitation device, a flexible spherical actuator that can provide motion to patients was developed. In this study, to measure the relative position between both handling stages, a 3D coordinate measuring device using three wire-type linear potentiometers and an embedded controller was proposed and tested. In this paper, the spherical actuator with built-in 3D coordinate measuring device is described. The measuring method and experimental results obtained are also presented. The tracking position control of the actuator using the measuring device was carried out. As a result, the position of the handling stages can be successfully controlled using the feedback signal from the tested?measuring device.
文摘A method combining rotor actuator disk model and embedded grid technique is presented in this paper, aimed at predicting the flow fields and aerodynamic characteristics of tilt rotor aircraft in conversion mode more efficiently and effectively. In this method, rotor＇s influence is considered in terms of the momentum it impacts to the fluid around it; transformation matrixes among different coordinate systems are deduced to extend actuator method＇s utility to conversion mode flow fields＇ calculation. Meanwhile, an embedded grid system is designed, in which grids generated around fuselage and actuator disk are regarded as background grid and minor grid respectively, and a new method is presented for ‘donor searching＇ and ‘hole cutting＇ during grid assembling. Based on the above methods, flow fields of tilt rotor aircraft in conversion mode are simulated, with threedimensional Navier–Stokes equations discretized by a second-order upwind finite-volume scheme and an implicit lower–upper symmetric Gauss–Seidel（LU-SGS） time-stepping scheme. Numerical results demonstrate that the proposed CFD method is very effective in simulating the conversion mode flow fields of tilt rotor aircraft.
文摘In recent years, researchers have been actively pursuing research into developing robots that can be useful in many fields of industry （e.g., service, medical, and aging care）. Such robots must be safe and flexible so that they can coexist with people. Pneumatic actuators are useful for achieving this goal because they are lightweight units with natural compliance. Our research focuses on joint angle control for a pneumatically driven musculoskeletal model. In such a model, we use a one-degree-of-freedom joint model and a five-fingered robot hand as test beds. These models are driven by low pressure-driven pneumatic actuators, and mimic the mechanism of the human hand and musculoskeletal structure, which has an antagonistic muscle pair for each joint. We demonstrated a biologically inspired control method using the parameters antagonistic muscle ratio and antagonistic muscle activity. The concept of the method is based on coordination of an antagonistic muscle pair using these parameters. We have investigated the validity of the proposed method both theoretically and experimentally, developed a feedback control system, and conducted joint angle control by implementing the test beds.
