Tactile display with tangential and normal skin displacement for robot-assisted surgery

This paper proposes a tactile display providing both shear and normal feedback to the fingertip for generating three-axis tactile feedback during teleoperation of a surgical robot. The display is composed of five balloons actuated by controlling the pneumatic pressure. The implemented display is 18?mm?×?18?mm?×?15?mm. This size is suitable for mounting the display onto the master controls of a surgical robot. The maximum normal and shear displacements are 2 and 1.3?mm, respectively. The proposed tactile display may provide perceivable stimuli to a human finger pad in all five directions: normal, distal, proximal, radial, and ulnar. This paper also reports on the results of psychophysical measurement of the minimum perceivable movement of the developed tactile display for each of the five directions.     

Surface morphology control of immiscible polymer-blend thin films

The effects of the molecular weights (molecular weight of polystyrene, M_w,PS, varying from 2.9 to 129 k) on the surface morphologies of spin-coated and annealed polystyrene/poly (methyl methacrylate) (PS/PMMA=50/50, w/w) blend films were investigated by atomic force microscopy and X-ray photoelectron spectroscopy. For the spin-coated films, when the M_w,PS varied from 2.9 to 129 k, three different kinds of surface morphologies (a nanophase-separated morphology, a PMMA cellular or network-like morphology whose meshes filled with PS, a sea-island like morphology) were observed and their formation mechanisms are discussed, respectively. Upon annealing, two different morphology-evolution processes were observed. It is found that a upper PS-rich phase layer is formed when M_w,PS<4 k, and this behavior is mainly attributed to the low interfacial tension between PS and PMMA component. When M_w,PS>4 k, the PS-rich phase forms droplets on top of the PMMA-rich phase layer which wets the SiO_x substrate. These results indicate that the surface morphology of the polymer blend films can be controlled by the polymer molecular weight and annealing conditions.     

Bumpy Particle Adhesion and Removal in Turbulent Flows Including Electrostatic and Capillary Forces

The effect of electrostatic and capillary forces on bumpy particle adhesion and removal in turbulent flows is studied. We use the JKR theory and account for the increase of adhesion by capillary force. The effects of electrostatic forces and nonlinear hydrodynamic drag are included in the analyses. The criteria for incipient rolling and sliding detachments and electrostatic lifting removal are evaluated. A turbulence burst model is used for evaluating the peak air velocity near the substrate. The critical shear velocities for detaching particles of different sizes under different conditions are evaluated. The electric field strength needed for electrostatic removal of particles with different charges is also estimated. The results are compared with those obtained in the absence of the capillary force. Comparisons of the model predictions with the available experimental data are also presented.     

基于AD7884的分离脱落电连接器机械分离力测试台的设计

基于分级型模数转换器AD7884对分离脱落电连接器的分离力进行测量,采用8位单片机W77E58与之接口,进行数据处理并通过485串口传输到上位机。实现了对分离脱落电连接器的分离力进行测量,系统运行稳定,且与上位机数据交互简单、可靠。     

浅析SRT-Ⅳ裂解炉炉管弯曲及断裂原因

主要分析计算了裂解炉炉管受力情况，进而得出结论：裂解炉自身结构的相互约束力和炉管渗碳是导致炉管弯曲、断裂的主要原因，并提出了相应的解决措施。     

六维腕力传感器非线性正解耦方法设计

多维力传感器利用其多个转换单元完成测量加载于其结构上未知负载的作用效果,解耦是其设计的重要组成部分。针对传统静态线性解耦方法的不足,试图将传统线性解耦方程扩展为多项式结构,受其多元高次方式通解形式的启发,构造了一种多项式非线性静态正解耦方程,该方法无需传统线性解耦方法中的曲线拟合、逆解,不依赖以系统是线性为前提,且方程可以扩展成任意结构的多项式。实验结果表明:该方法能降低输出耦合误差。     

微孔发泡过程中聚合物/超临界CO2均相体系形成的研究

阐述以超临界CO2为发泡剂的微孔发泡中均相体系的形成过程，研究聚合物熔体和气体的混合机理，并分析影响均相体系形成过程的因素。结果表明，聚合物和气体本身的结构和性质、工艺条件、加工设备、外力场等均影响均相体系的形成，振动力场的引入可以提高多相体系的混合程度，在聚合物／气体均相体系的形成过程中引入振动力场是一个全新的研究方向。     

Surface characterization of cross-linked elastomers by shear modulation force microscopy

Brominated poly(isobutylene-co-4-methylstyrene) (BIMS) is a synthetic terpolymer which can be stoichiometrically cross-linked by N,N′-dicinnamylidene-1,6-hexanediamine (DIAK). The degree of cross-links on bulk samples was determined by measuring the low frequency shear modulus with parallel plate method. The surface modulus of the same samples was measured using a new method, shear modulation force microscopy (SMFM). The moduli of the bulk sample and the surface were found to have the same scaling with the cross-link density, and good agreement with rubber elasticity theory was obtained in both cases. The SMFM was then used to monitor the cross-linking process, as a function of DIAK concentration and curing time, in thin films where standard rheological methods cannot be applied. The results show that in all cases the cross-linking reaction at the surface reaches saturation in less than 10 min as compared to at least 1 h in the bulk samples.     

A comparison of atomic force microscope friction and phase imaging for the characterization of an immiscible polystyrene/poly(methyl methacrylate) blend film

Three different forms of atomic force microscope (AFM) measurement, topography, friction force and phase imaging, have been used to investigate the surface morphology and local composition of an immiscible polystyrene (PS)/poly(methyl methacrylate) (PMMA) blend film. This sample forms discrete, micron-size domains in a continuous matrix, which is attributed to the segregation of PMMA in PS. When the samples were imaged in air, contrast in friction and phase images was caused by variations in sample topography only. When the samples were imaged under water, however, both friction and phase imaging yielded non-topographic contrast between domains. We ascribe the contrast in both of these imaging modes to preferential softening of the hydrophilic, PMMA-rich domains and to stronger tip-sample adhesive forces, highlighting the AFM's utility for probing local elastic properties and for compositional mapping of soft polymer samples.     

Structures and morphologies of cast and plastically strained polyamide 6 films as evidenced by confocal Raman microspectroscopy and atomic force microscopy

Both confocal Raman microspectroscopy and atomic force microscopy (AFM) have been undertaken to study the crystalline and the morphological aspects of cast PA 6 films at a sub-microscopic scale. The percentages of the different crystalline structures present within PA 6 cast films, i.e. the monoclinic α, the pseudo-hexagonal β, and the monoclinic γ, have been measured by confocal Raman microspectroscopy. In cast films, the prevailing structure is the β one. AFM has been used to characterize the morphology of the PA 6 films. Simultaneously, the deformed state has been considered as well. Our main interest has been to follow the evolution of the percentage of each crystalline structure as a function of the plastic deformation mechanisms which are responsible of the yielding of PA 6 films: shear banding for temperatures T lower than 160 °C and formation of fibrils for