A high-stiffness axial resonant probe for atomic force microscopy

A high-stiffness, (>500 N/m) resonant atomic force microscope probe was constructed to allow force measurements in the presence of large force gradients. The probe employs a piezoresistively detected, electrostatically driven resonant beam sensor oriented perpendicularly to the sample surface. This probe is distinguished from shear force microscopy and noncontact atomic force microscopy in that the design allows for a stationary probe tip for improved spatial resolution and measures forces rather than force gradients. Measured results show a force resolution of 9 nN in a 1-kHz bandwidth in air with an oscillation amplitude of 36 nm and a resonance quality of 20. In a 1-mtorr vacuum the force resolution in the same bandwidth improves to 200 pN with a resonance quality of 450 and oscillation amplitude of 53 nm. This resolution is limited by white noise of the piezoresistor, and scales as expected with amplitude and resonance quality     

Dynamic hybrid position/force control of a two degree-of-freedom flexible manipulator

In this article, a method is proposed whereby both contact force exerted by a flexible manipulator and position of end-effector while in contact with a surface are controlled. We approximate elastic deformations by means of B-spline functions and derive dynamic equations of joint angles, vibration of the flexible link, and constraint force. A controller for the hybrid position/force control of the flexible manipulator is designed on the basis of the singular perturbation method. Simulation results confirm that the controller performs remarkably well. © 3994 John Wiley & Sons, Inc.     

受时变约束柔性臂鲁棒RBF神经网络力/位置控制

研究了受时变约束的柔性臂系统，建立了分布参数模型，通过奇异摄动方法将该模型划分为表征系统刚性运动的集中参数子系统和表征系统振动的分布参数子系统．设计了集中参数子系统的鲁棒RBF神经网络力／位置控制算法和分布参数子系统的鲁棒自适应振动抑制控制算法．理论分析及仿真结果验证了该方法的有效性．     

基于振动力和风力作用的服装动态仿真*

为了真实地模拟服装的动态效果,本文提出了一种四元数产生振动运动的方法。本文首先介绍了四元数产生振动运动的过程,然后给出基于随机噪声函数构建随机风场的过程,调节不同的仿真参数,仿真出裙子在重力、振动力、风力作用下的动态效果。实验结果表明,该方法获得了不错的动态服装仿真效果。     

Haptics and graphic analogies for the understanding of atomic force microscopy

This paper aims to evaluate the benefits of using virtual reality and force-feedback to help teaching nanoscale applications. We propose a teaching aid that combines graphic analogies and haptics intended to improve the grasp of non-intuitive nanoscale phenomena for people without prior knowledge of nanophysics. We look specifically at the most important nanophysical phenomenon, namely, the behavior of the probe of an Atomic Force Microscope (AFM) as it approaches a sample. The results from experiments carried out with 45 students indicate that a “magnet-spring” analogy helped beginners to establish the link between the behavior of a probe and its force–distance curve. The addition of haptic feedback increased focus about forces and improved the interpretation of the effect of cantilever stiffness. Haptic feedback and the analogical representation were very much appreciated by the subjects and had an impact on the construction of a mental model. Taken together, our results show a positive influence of using haptic feedback and graphic analogies, especially when students are first exposed to the notions that are in effect at the nanoscale.     

正交各向异性叠层板的非线性主共振分析

研究了在四边简支的边界条件下,正交各向异性矩形叠层板在横向简谐激励作用下的非线性主共振及其稳定性问题．在给出了正交各向异性叠层板的振动微分方程的基础上,利用伽辽金法导出了相应的达芬型非线性强迫振动方程．应用平均法对主共振问题进行求解,得到了系统在稳态运动下的幅频响应方程．基于李雅普诺夫稳定性理论,得到了解的稳定性判定条件．作为算例,分别给出了不同条件下,系统运动的幅频响应曲线图、振幅-激励幅值响应曲线图和动相平面图,并对解的稳定性进行了分析,讨论了各参数对系统非线性振动特性的影响．     

Identification of a human walking force model based on dynamic monitoring data from pedestrian bridges

A general investigation procedure for the vibration serviceability of pedestrian bridges is accomplished by comparing the dynamic response of structures to vibration effects on serviceability limiting states. The purposes of this study were to investigate the dynamic response characteristics of pedestrian bridges and to develop a human walking force model to assist in the development and design of pedestrian bridges. Human walking force parameters were identified by a genetic algorithm (GA) from experimental forced vibration data. The results of the dynamic response obtained by the GA were in agreement with the experimental results. Therefore, the GA system was useful in the identification of pedestrian walking forces, and from the experimental and calculated results, it is considered that the walking force model identified by the GA is substantially accurate.     

时滞反馈作用下压电梁的参数共振分析

基于Hamilton原理建立了受控压电梁的参数振动方程,研究了轴向激励压电梁时滞速度反馈控制的主参数共振.采用非线性振动的多尺度法研究了压电梁的亚谐波主参数共振,并对其稳定域进行分析.通过算例分析得到了不同时滞,控制增益,轴力影响下压电梁参数共振的稳定域和时程曲线.结果表明:时滞值增大,系统承受轴向力减小,相对于控制增益则反之.同时,随着轴向力增大,在一定范围内主动阻尼增加,时滞反馈能有效降低响应幅值.随着时滞值增大,减振效果变差.     

Actual reaction force separation method of surgical tool by fuzzy logic based SMCSPO

To estimate the actual reaction force of a surgical instrument-tip in minimally invasive surgery (MIS), this paper proposes a method to separate the uncertain and nonlinear dynamic effects by adding fuzzy logic in sliding mode control with sliding perturbation observer (SMCSPO) algorithm. To evaluate the validity of the proposed method, a 3 DOF robot, which carries the surgical instrument, was formed. The simulation and experimental results showed that the proposed method can isolate the disturbance effects and therefore, the estimated perturbation is closer to the actual reaction force compared to the estimation of the classical sliding perturbation observer (SPO).     

Shear force feedback control of a single-link flexible robot with arevolute joint

In this paper we present a shear force feedback control method for a single-link flexible robot arm with a revolute joint for which it has been shown that direct bending strain feedback can suppress its vibration. Our primary concern is the stability analysis of the closed-loop equation which has not appeared in the literature. We show the existence of a unique solution and the exponential stability of this solution by doing spectral analysis and estimating the norm of the resolvent operator associated with this equation. Some experiments are also conducted to verify these theoretical developments     

Magnetically induced vibration of a flexible rotating disk-spindle system due to the internal magnetic force arising from the spindle motor of a HDD

This paper investigates the magnetically induced vibration of a flexible rotating disk-spindle system and stationary stator-base due to the internal excitation of the local magnetic force arising from the spindle motor of a HDD. A three-dimensional magnetic finite element model of the spindle motor is developed, and the Maxwell stress tensor method is applied to calculate the local magnetic force acting on the stationary teeth and rotating permanent magnet of the spindle motor. Also, a three-dimensional structural finite element model is developed and local magnetic force is applied to teeth and permanent magnet. The simulated forced vibration of the base plate matched well with the measured one. The dominant frequency component of local magnetic force is the 12th harmonic corresponding to the number of poles, but the dominant frequency component of vibration is the 36th harmonic corresponding to the least common multiple of the number of poles and slots because the 12 and 24th harmonics in local force are canceled out when they are summed up along the air gap. The 12th, 24th and 36th harmonics of the axial vibration are mostly affected by the axial magnetic force, and the amplitudes of those harmonics are increased with the increase of stator eccentricity.     

Position and force tracking of a two‐manipulator system manipulating a flexible beam

This article discusses the issue of hybrid position and force control of a two‐manipulator system manipulating a flexible beam in trajectory tracking. Unlike our previous approach of set‐point position control in the trajectory tracking, the system coordinates are hard to be regulated to the desired states with nonzero tracking velocities under continuous feedback control. In this study, we design a hybrid position and force tracking controller while using saturation control to compensate for the effect of beam vibration dynamics on the tracking performance. All parameters and states used in the controller are readily available so that the proposed method is feasible to implement. Under the proposed controller, the tracking error asymptotically converges to a predetermined boundary. Simulation results demonstrate the validity of the proposed approach. © 2001 John Wiley & Sons, Inc.     

Transmission of vibration through glove materials: effects of contact force

This study investigated effects of applied force on the apparent mass of the hand, the dynamic stiffness of glove materials and the transmission of vibration through gloves to the hand. For 10 subjects, 3 glove materials and 3 contact forces, apparent masses and glove transmissibilities were measured at the palm and at a finger at frequencies in the range 5–300 Hz. The dynamic stiffnesses of the materials were also measured. With increasing force, the dynamic stiffnesses of the materials increased, the apparent mass at the palm increased at frequencies greater than the resonance and the apparent mass at the finger increased at low frequencies. The effects of force on transmissibilities therefore differed between materials and depended on vibration frequency, but changes in apparent mass and dynamic stiffness had predictable effects on material transmissibility. Depending on the glove material, the transmission of vibration through a glove can be increased or decreased when increasing the applied force.

Practitioner summary: Increasing the contact force (i.e. push force or grip force) can increase or decrease the transmission of vibration through a glove. The vibration transmissibilities of gloves should be assessed with a range of contact forces to understand their likely influence on the exposure of the hand and fingers to vibration.     

Optical detection of the Coriolis force on a silicon micromachined gyroscope

In this paper, we report on the optical characterization of a micromachined gyroscope prototype for automotive applications, by means of feedback interferometry. In order to directly detect the rotation-induced Coriolis force, we have developed a compact and stable interferometric setup, which has been positioned inside a small vacuum bell, mounted on a rotating table. By this setup, which has a noise limit of the order of 10/sup -11/ m/(Hz)/sup 1/2/, we have measured the gyro responsivity curve, demonstrating the feasibility of the optical interferometric detection of the in-plane response of a MEMS sensor. In addition, we have carried out the full mechanical characterization of the device at different pressures, and we have performed the matching of the gyro resonance frequencies by the interferometric monitoring. Our gyro had a resonance frequency of 3986 Hz for both axes after tuning; at a pressure of 7 10/sup -2/ torr, the quality factor were Q=18000 for the driving axis and Q=1800 for the sensing axis, while the measured responsivity was 7 10/sup -10/ m/(/spl deg//s). The optical characterization represents an important feedback to the designer and is especially powerful in the case of prototypes for which the on-board electronics is not yet available.     

Design principle of micro-mechanical probe for lateral-deflection-controlled friction force microscopy

Design principles of lateral-deflection-controlled friction force microscopy (FFM) are presented. Lateral-deflection-controlled FFM can overcome a fundamental problem of dual-axis FFM and can provide higher lateral resolution by compensating for friction force and providing effectively high rigidity to the probe. In this paper, key micro components are investigated: micro structures for detection of lateral probe deflection and for lateral drive of the probe. The micro structure for deflection detection is fabricated at the end of the probe and is used in combination with an optical lever method. The micro structure that reflects light (positive type) can provide higher sensitivity than a conventional structure that does not reflect light (negative type). For the probe lateral drive, a micro conduction structure that connects the probe with a support beam is used. A micro electrical conduction structure using stiction is introduced, and its feasibility is experimentally confirmed. These micro structures can improve the measurement accuracy.     

Bifurcation and chaos analysis of atomic force microscope system

Atomic force microscope (AFM) is a very high-resolution type of scanning probe microscope, which is an essential characterization and actuation tool in modern nanoscience or engineering. This paper investigates the bifurcation and chaos behavior of the probe tip from AFM system by the differential transformation method (DTM). The dynamic behavior of the probe tip is characterized by reference to bifurcation diagrams, phase portraits, power spectra, Poincaré maps and maximum Lyapunov exponent plots produced using the time-series data obtained from DTM. The results indicate that the probe tip behavior is significantly dependent on the magnitude of the vibrational amplitude. Specifically, the probe tip motion changes from T-periodic to 3T-periodic, then from 2T-periodic to multi-periodic, and finally to chaotic motion with windows of periodic motion as the vibrational amplitude is increased from 0 to 2.0. Furthermore, it is demonstrated that the DTM is in good agreement for the considered system.     

基于正弦力激励的预紧压电式力传感器的研究

为了校准预紧的压电式力传感器动态灵敏度并研究其频响特性和预紧结构的设计,首先介绍了正弦力激励的方法并建立校准数学模型。分别在传感器正立和倒立安装方式下进行测试,通过对比试验研究传感器端部等效质量引入的惯性力对传感器动态灵敏度的影响。然后根据传感器固有频率的落球测试方法,将传感器和附加质量块安装于振动系统。通过白噪声激励得到系统安装谐振频率,进而研究传感器有效频率范围和测量精度与安装谐振频率的关系。最后通过理论分析,说明传感器非对称设计的原因。试验结果表明,当附加质量块质量约为传感器质量的121倍时,可忽略端部等效质量对灵敏度标定的影响;压电式力传感器固有频率高达46kHz,但其有效使用频率范围受安装谐振频率限制,当试验频率与安装谐振频率比 时,压电式传感器精度等级为1%;传感器两端等效质量不同,预紧结构是非对称的,用于动态测试时要将端部等效质量轻的一端连接到被测物体。本研究结果可为开展传感器的现场标定和预紧结构的设计提供理论依据。     

一种新型实用的小型振动样品磁强计的研制

文章介绍了一种新型实用的小型振动样品磁强计 (VSM )。该磁强计主要用来测量软磁或饱和磁化强度较小(<1 0T)磁性材料微量样品 (<10 0mg)的磁滞回线。本磁强计利用高质量扬声器对样品进行激振 ,利用外磁场对振动样品进行磁化 ,同时利用计算机及数据采集卡实时采集相关信号 ,并绘出磁性材料的磁滞回线。使用结果表明 ,在无特殊实验条件要求的情况下 ,实验结果和昂贵的超导磁强计相同。     

分段阻尼隔振系统的动力学特性分析

针对传统线性隔振器在降低共振峰值的同时会牺牲隔振性能的矛盾,设计了一种含分段阻尼的隔振器.首先,采用移动凸轮变阻尼装置,通过凸轮廓线的设计使系统的垂向阻尼系数的受振动位移大小控制并呈现分段线性特征,分析了该装置的阻尼特性.然后将分段阻尼装置应用于隔振器中,建立了含分段阻尼的积极隔振系统模型及其动力学方程,通过能量等效原理求出了分段阻尼系统的等效线性阻尼系数,求解了简谐力激励下系统响应的理论解,并用四阶龙格-库塔法数值仿真验证了理论解的正确性.最后研究了分段阻尼隔振系统的动态特性,分析了主要参数对幅频响应特性与力传递率特性的影响.结果表明,通过合理的参数选择,分段阻尼隔振器可兼顾无阻尼隔振器与线性阻尼隔振器的优点,既能有效降低系统的共振峰值,又能保证高频区域的优秀隔振性能,为新型非线性隔振器的设计提供了理论依据.     

波纹辊轧机辊系主共振时滞反馈控制

金属复合板波纹辊轧制成形是一项变革技术,在复合板轧制成形的过程中,轧制界面的非线性阻尼以及上下波纹辊之间的非线性刚度都可能导致主共振的发生,造成辊缝的波动.考虑了波纹辊轧机波纹界面间的非线性阻尼和非线性刚度,建立了波纹辊轧机两自由度垂直非线性数学模型.利用奇异值理论和相平面法讨论了波纹辊轧机辊系自治下的稳定性,运用多尺度法求解了波纹辊轧机辊系在波纹界面激励下主共振的解析近似解和幅频特性方程.分析了非线性刚度系数、非线性阻尼系数、系统阻尼系数、轧制力的幅值等参数对主共振的影响.设计了线性和非线性复合作用的时滞反馈控制器来对波纹辊系的主共振进行控制,并且通过数值仿真验证了控制器设计的正确性和可行性.