Quantitative Analysis of the Degradation Behavior of Silicon Solar Cell Irradiated by 1 MeV Electron Beams Using Photocarrier Radiometry Combined with Lock-in Carrierography

Silicon solar cells with cover glass irradiated by 1 MeV electron beams at various fluences were investigated using photocarrier radiometry (PCR) combined with lock-in carrierography (LIC, spectrally gated dynamic photoluminescence). The minority carrier transport properties (i.e., minority carrier lifetime τ, diffusion coefficient D, surface recombination velocities S) and the degradation of these properties were studied using PCR. The relative damage coefficient obtained by LIC was consistent with the PCR measurement. The local series resistance of the solar cell before and after irradiation was characterized by LIC. The results showed that the series resistance increased with electron fluences.     

SkinGest: artificial skin for gesture recognition via filmy stretchable strain sensors*

ABSTRACT

Stretchable sensors are promising in the field of wearable robotics. To date, it is still a challenge to design an artificial skin with thin and sensitive stretchable sensors. In this paper, we present a new artificial skin, SkinGest, integrating filmy stretchable strain sensors and machine learning algorithms for gesture recognition of human hands. The presented sensor has a sandwich structure consisting of two elastomer layers on the outside and one soft electrode layer in the middle. Based on the improved fabrication process, we make the sensor’s thickness down to 150?µm, while keeping the gauge factor (GF) up to 8. Then, we integrate the machine learning algorithms (using LDA, KNN and SVM classifiers) with the stretchable sensors in our SkinGest system for gesture recognition. Supported by the experimental data from different subjects, our SkinGest system succeeds in identifying American sign language 0–9 with an average accuracy of 98%. The results demonstrate that the proposed SkinGest system provides a promising platform for future potential virtual reality and sign language recognition applications.     

Physical human-robot interaction estimation based control scheme for a hydraulically actuated exoskeleton designed for power amplification

We proposed a lower extremity exoskeleton for power amplification that perceives intended human motion via humanexoskeleton interaction signals measured by biomedical or mechanical sensors, and estimates human gait trajectories to implement corresponding actions quickly and accurately. In this study, torque sensors mounted on the exoskeleton links are proposed for obtaining physical human-robot interaction (pHRI) torque information directly. A Kalman smoother is adopted for eliminating noise and smoothing the signal data. Simultaneously, the mapping from the pHRI torque to the human gait trajectory is defined. The mapping is derived from the real-time state of the robotic exoskeleton during movement. The walking phase is identified by the threshold approach using ground reaction force. Based on phase identification, the human gait can be estimated by applying the proposed algorithm, and then the gait is regarded as the reference input for the controller. A proportional-integral-derivative control strategy is constructed to drive the robotic exoskeleton to follow the human gait trajectory. Experiments were performed on a human subject who walked on the floor at a natural speed wearing the robotic exoskeleton. Experimental results show the effectiveness of the proposed strategy.     

Effect of head swing motion on hydrodynamic performance of fishlike robot propulsion

This paper studies the effect of the head swing motion on the fishlike robot swimming performance numerically.Two critical parameters are employed in describing the kinematics of the head swing: the leading edge amplitude of the head and the trailing edge amplitude of the head.Three-dimensional Navier-Stokes equations are used to compute the viscous flow over the robot.The user-defined functions and the dynamic mesh technology are used to simulate the fishlike swimming with the head swing motion.The results reveal that it is of great benefit for the fish to improve the thrust and also the propulsive efficiency by increasing the two amplitudes properly.Superior hydrodynamic performance can be achieved at the leading edge amplitudes of 0.05L( L is the fish length) and the trailing edge amplitudes of 0.08 L.The unsteady flow fields clearly indicate the evolution process of the flow structures along the swimming fish.Thrust-indicative flow structures with two pairs of pressure cores in a uniform mode are generated in the superior performance case with an appropriate head swing,rather than with one pair of pressure cores in the case of no head swing.The findings suggest that the swimming biological device design may improve its hydrodynamic performance through the head swing motion.     

月球车轮地相互作用力学模型解耦及其应用

针对高度耦合的月球车轮地相互作用力学积分模型很难在实际中应用的问题,采用应力分布线性化、忽略比重较小的耦合项等方法,推导了解耦的封闭解析模型.利用轮地相互作用测试平台,对具有不同尺寸和不同轮刺的6种车轮进行试验.基于解耦模型研究了土壤参数的辨识方法,对轮地作用过程中的8个未知参数进行了辨识,并利用试验数据验证了该方法的...     

A ring type standing wave ultrasonic motor using cantilever type longitudinal transducers

The disadvantages of classic ring type ultrasonic motor were analyzed.To obtain large mechanical output power,a ring type standing wave ultrasonic motor using cantilever type longitudinal transducers was proposed.There are four pairs of cantilevers on one side of the ring,and four PZT ceramics are set between each pair of cantilevers.A screw fastened the PZT ceramics and cantilevers together to form a longitudinal transducer.The bending vibration mode of the ring is excited by the stretching vibration of the PZT ceramics.Thus,linear simple harmonic motions are achieved at the particle on the teeth.And the driving force is the frictional force between rotor and stator.The working principle of the proposed motor was analyzed.The ring and the longitudinal transducer were designed with FEM.The sensitive parameters of resonant frequency of the transducer and ring could be gained with modal analysis.The longitudinal vibration modal of transducer and bending vibration modal of ring were degenerated,and the motion trajectories of nodes on the teeth were analyzed.The results of this paper could guide the development of this new type of motor.     

Development of Chinese large-scale space end-effector

In order to achieve large tolerance capture and high stiffness connection for space payload operations,a Chinese large-scale space end-effector (EER) was developed.Three flexible steel cables were adopted to capture the payload with large capture allowance.Ball screw transmission mechanism and plane shape-constraint four bar linkage mechanism were utilized to connect the payload with high stiffness.The experiments show that capture tolerances in X,Y,Z,Pitch,Yaw,Roll directions are 100 mm,100 mm,120 mm,10.5°...     

Cutting surface quality analysis in micro ball end-milling of KDP crystal considering size effect and minimum undeformed chip thickness

Potassium dihydrogen phosphate (KH₂PO₄ or KDP) crystal is a typical soft-brittle optical crystal, and the size effect and brittle cutting mode are easy to appear in micro ball end-milling of KDP crystal. In this paper, micro-grooving experiments are conducted to study the size effect and brittle cutting in micro ball end-milling of KDP crystal with different feed rate and depth of cut. The cutting force, machined groove base quality and chip morphology are collected and analyzed carefully. The size effect is discovered by the phenomena of the existence of oscillations and relaxations in cutting force and hyper-proportional increase of specific cutting force, when the ratio of feed per tooth to cutting edge radius f_t/r_e is less than 1. While the brittle cutting mode is detected through the existence of sharp fluctuations in cutting force and cracks on the groove base when the ratio f_t/r_e is larger than 2. From the further comprehensive analysis of cutting force, specific cutting force, machined groove base quality and chip morphology, the cutting parameters with ratios of the maximum undeformed chip thickness in one cutting circle to cutting edge radius h_max/r_e around 0.14, 0.2 and 0.4 are regarded as size effect, optimal and brittle cutting points, respectively. The size effect, ductile cutting and brittle cutting zones are divided by the size effect and brittle cutting boundaries (points). Among the optimal points, the depth of cut of 2 μm with the ratio f_t/r_e of 1 is the optimal cutting parameter for micro ball end-milling of KDP crystal.     

Active disturbance rejection control based human gait tracking for lower extremity rehabilitation exoskeleton

This paper presents an active disturbance rejection control (ADRC) based strategy, which is applied to track the human gait trajectory for a lower limb rehabilitation exoskeleton. The desired human gait trajectory is derived from the Clinical Gait Analysis (CGA). In ADRC, the total external disturbance can be estimated by the extended state observer (ESO) and canceled by the designed control law. The observer bandwidth and the controller bandwidth are determined by the practical principles. We simulated the proposed methodology in MATLAB. The numerical simulation shows the tracking error comparison and the estimated errors of the extended state observer. Two experimental tests were carried out to prove the performance of the algorithm presented in this paper. The experiment results show that the proposed ADRC behaves a better performance than the regular proportional integral derivative (PID) controller. With the proposed ADRC, the rehabilitation system is capable of tracking the target gait more accurately.     

一种连续型肠道机器人的通过性研究与仿真

在仿真环境下研究一种线驱动连续型肠道机器人的通过性.这种机器人没有传统刚性机器人的刚性关节和连杆,无法利用传统D-H(Denavit-Hartenberg)法对其进行运动学分析.因此利用几何分析法提出了一种简练的运动学算法.采用医学上的肠道统计数据,基于Microsoft Visual C++6.0和OpenGL建立了肠道模型和机器人原理模型.在此基础上采用一种几何相交算法,对不同关节长度的机器人进行了肠道通过性研究与仿真,展示了这种连续型肠道机器人的运动能力,并对其通过肠道时的误差进行了分析.仿真结果验证了该算法的正确性并得出了机器人通过肠道的必要条件.