水热法制备锰锌铁氧体纳米晶

以水热法制备了粒径为20－40nm的锰锌铁氧体纳米晶，以XRD、SEM、磁强计等对产物做了表征，分析了影响锰锌铁氧体纳米晶的因素。结果表明，在T≥150℃,t≥5h条件下，均能得到阵锌铁氧体纳米晶粉末。T＝450℃时制备的纳米晶的磁强度最高；添加剂能改善水热体系的均匀性，使产物分布均匀、晶相单一、团聚少。     

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.     

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.     

Virtual target tracking of mobile robot and its application to formation control

A virtual target tracking approach is proposed for kinematic control of mobile robot. In the controller, linear and angular velocity inputs are generated by using the local data of robot position and orientation along with the estimated velocity of target object. Applying the proposed approach to a cooperative robot group with arbitrary number of multiple mobile robots, it is possible to create various robot formations for cooperative navigation and tracking of moving object. The developed controller is shown to be stable and convergent through theoretical proof and a series of experiments.     

Leakage current in a Si-based nanopore structure and its influence on noise characteristics

We have measured leakage current in a silicon substrate-based nanopore membrane device immersed in an aqueous environment which typically shows the current level of few nA. This current level is compared with the measured current density (400 nA/cm² at 1 V) from the pristine Si wafer (p-type, 10¹⁶/cm³ boron doping) indicating that the exposed Si surface in a nanopore membrane device acts as an electrochemical reaction site. The leakage current is drastically reduced from >10 nA to <100 pA at 1 V by the deposition of a dielectric layer to the Si-based nanopore membrane device. We also noted that the root-mean-square noise of the ionic current is also reduced from 38 to 28 pA in correlation with the reduction of leakage current, indicating that electrochemical reaction provides one of the major sources of noise.