SVD‐Based Accurate Identification and Compensation of the Coupling Hysteresis and Creep Dynamics in Piezoelectric Actuators

In this paper, the coupling hysteresis and creep in piezoelectric actuators are identified and compensated for accurate tracking. First, we present the coupling hysteresis and creep model in smart actuators. Next, a complete identification strategy is designed according to the properties of the Preisach model. Then, an approach for parameter updating of the coupling model is provided. With the identified hysteresis and creep, the model‐based inversion compensation is designed. Finally, we apply the model identification and compensation to a piezoelectric stage to demonstrate the effectiveness of the proposed approaches. Significant reduction of the tracking error is achieved with the model‐based inversion feedforward compensator in which the relative errors at 10 Hz and 50 Hz are reduced to 1.85% and 4.53%, respectively. In addition, the model‐based feedforward is augmented with an integral feedback controller. With the composite controller, the relative errors at 10 Hz and 50 Hz are reduced to 0.42% and 3.04%, respectively.     

Binary blends of nylons with ethylene vinyl alcohol copolymers: Morphological,thermal, rheological,and mechanical behavior

Binary blends of ethylene vinyl alcohol copolymers, containing 62 (EVOH-62) and 71 (EVOH-71) mole percent vinyl alcohols, with nylons (nylon-6, nylon-6/12, and nylon-12) have been prepared from melt mixing in a twin screw compounding machine. Morphological, thermal, rheological, and mechanical properties were determined. EVOH-62/nylon-6 and EVOH-71/nylon-6 blends showed homogeneous phase morphologies in the nylon-6-rich region, and fine phase separations (c.a. 2 × 10^?7 m) in the EVOH-rich region. Melting point depression, positive deviations in viscosity and flexural modulus, and negative deviation in impact strength from the simple additive rule were generally observed. And the results were possibly interpreted in terms of compatibility and increased nylon/EVOH interactions over the nylon/nylon interactions. On the contrary, clean phase separations in large domains were observed from EVOH-71/nylon-6/12 and EVOH-71 /nylon-12 blends. Fibrillation was also obtained from EVOH rich blends. Probably due to the incompatible nature of these blends, yield at low rate of shear and a mechanical property drop were also observed.     

用动态剪切模量估算NR与SBR硫化胶的化学交联密度

用美国Ｍｏｎｓａｎｔｏ公司的橡胶加工过程分析仪测定ＮＲ和ＳＢＲ硫化胶或混炼胶料的动态剪切模量（Ｇ＇），进而根据Ｇ＿Ｎ￣０＝ｇ×２Ｘ＿０ＲＴ和Ｇｅ＝ｇ＇×２Ｘ＿（ｐｈ）ＲＴ估算其硫化胶的化学交联密度（Ｘ＿ｃｈ），结果发现：ＮＲ／过氧化二异丙苯体系硫化胶和混炼胶料的Ｇ＇是不同的，但用Ｇ＇估算的Ｘ＿ｃｈ与用化学分析法测定的结果基本相近；对ＳＢＲ／促进剂ＴＭＴＤ体系，用这种方法估算的Ｘ＿（ｃｈ）接近用应力－应变法和ＮＭＲ法的估算值；对ＮＲ／促进剂ＴＭＴＭ体系，用Ｇ＇估算的Ｘ＿（ｃｈ）与用溶胀法获得的数据基本接近。用Ｇ＇估算Ｘ＿（ｃｈ）法，十分简单、方便。     

核交换法对禾草类木质素结构的研究

本文采用核交换法对麦草粉、Nkny－HCHO－AQ（SFP－AQ）浆、NaOH—Na2SO3一AQ（ASP—AQ）浆和NaOH—AQ（AP—AQ）浆中残余木质素的化学结构特性进行了研究。通过核交换法结合硝基苯氧化反应，测定麦草原本木质素和浆中残余本质素的各类型酚核的数量。结果表明麦草原本木质素主要由25．35mol％非缩聚G单元，17．60mol％非缩聚S单元和57．05mol％缩聚G单元所组成。与AP—AQ浆相比，SFP浆含有较少的DPM结构单元，这可能是SFP浆漂白性能好的原因之一。     

Humidity‐sensitive properties of new polyelectrolytes based on the copolymers containing phosphonium salt and phosphine function

A simple strategy was developed based on a new reactive function‐ and a salt‐containing new monomer, 4‐vinylbenzyl dimethyl 2‐(dimethylphosphino)ethyl phosphonium chloride (VDEPC), to obtain stable humidity‐sensitive membranes. The major ingredient of a humid membrane is crosslinked polyelectrolytes obtained from copolymers of VDEPC/2‐ethylhexyl acrylate (2‐EHA) = 1/0, 4/1, and 2/1. Isothermal humidity absorption experiments were performed for the estimation of humidity‐sensing materials. The crosslinked copolymers prepared from the reaction of VDEPC/2‐EHA = 4/1 with 1,4‐dichlorobutane showed an average impedance of 595, 39.1, and 3.9 KΩ at 30, 60, and 90% RH, respectively. Their hysteresis, temperature dependence, frequency dependence, and response time were measured. The reliability including water resistance and a long‐term stability were estimated for the application of the common humidity sensor. © 2003 Wiley Periodicals, Inc. J Appl Polym Sci 89: 1062–1070, 2003     

Formation control of mobile robots with obstacle avoidance based on GOACM using onboard sensors

This paper deals with the problem of formation control for nonholonomic mobile robots under a cluttered environment. When the obstacles are not detected, the follower robot calculates its waypoint to track, based on the leader robot’s state. The proposed geometric obstacle avoidance control method (GOACM) guarantees that the robot avoids the static and dynamic obstacles using onboard sensors. Due to the difficulty for the robot to simultaneously get overall safe boundary of an obstacle in practice, a safe line, which is perpendicular to the obstacle surface, is used instead of the safe boundary. Since GOACM is executed to find a safe waypoint for the robot, GOACM can effectively cooperate with the formation control method. Moreover, the adaptive controllers guarantee that the trajectory and velocity tracking errors converge to zero with the consideration of the parametric uncertainties of both kinematic and dynamic models. Simulation and experiment results present that the robots effectively form and maintain formation avoiding the obstacles.     

Illumination invariant object tracking with adaptive sparse representation

Since the introduction of the sparse representation-based tracking method named ?₁ tracker, there have been further studies into this tracking framework with promised results in challenging video sequences. However, in the situation of large illumination changes and shadow casting, the tracked object cannot be modeled efficiently by sparse representation templates. To overcome this problem, we propose a new illumination invariant tracker based on photometric normalization techniques and the sparse representation framework. With photometric normalization methods, we designed a new illumination invariant template presentation for tracking that eliminates the illumination influences, such as brightness variation and shadow casting. For a higher tracking accuracy, we introduced a strategy that adaptively selects the optimum template presentation at the update step of the tracking process. The experiments show that our approach outperforms the previous ?₁ and some state-of-the-art algorithms in tracking sequences with severe illumination effects.     

Scaled Jacobian transpose based control for robotic manipulators

This paper presents a scaled Jacobian transpose based control method for robotic manipulators as a modification of a conventional Jacobian transpose based method. The proposed method has several advantages such as it shows faster convergence and better tracking performance than the conventional method, furthermore, it does not have any singularity problem similar to the conventional method. The scaled Jacobian transpose is obtained by collecting each pseudoinverse of the column vector of the Jacobian matrix. The proposed method performs a given task well under singular configurations while minimizing the task error. Finally, a few comparative studies with the conventional method are provided to show the effectiveness of the proposed method through simulations.     

Direct equivalence between geometric conditions and algebraic conditions for discrete-time nonlinear observer

Unlike the continuous-time case, algebraic necessary and sufficient conditions for a single output discrete-time system to be state equivalent to a nonlinear observer canonical form have been found and are easier to verify for those who are not accustomed to differential geometry. The geometric conditions look very different from the algebraic conditions. In this paper, we show direct equivalence of the geometric conditions and the algebraic conditions in order to enhance the understanding of the geometric conditions.     

A microfluidic device for thermal particle detection

We demonstrate the use of heat to count microscopic particles. A thermal particle detector (TPD) was fabricated by combining a 500-nm-thick silicon nitride membrane containing a thin-film resistive temperature detector with a silicone elastomer microchannel. Particles with diameters of 90 and 200 μm created relative temperature changes of 0.11 and ?0.44 K, respectively, as they flowed by the sensor. A first-order lumped thermal model was developed to predict the temperature changes. Multiple particles were counted in series to demonstrate the utility of the TPD as a particle counter.