为了对连杆空间力矩传感器进行动态补偿,提出了适用于求取串联机器人任意连杆中任意一点处所受的内力和内力矩的算法.该算法采用连杆假想截断原理利用牛顿-欧拉方程推导而出.推导过程综合考虑了串联机器人是否处于静态以及末端是否受外...为了对连杆空间力矩传感器进行动态补偿,提出了适用于求取串联机器人任意连杆中任意一点处所受的内力和内力矩的算法.该算法采用连杆假想截断原理利用牛顿-欧拉方程推导而出.推导过程综合考虑了串联机器人是否处于静态以及末端是否受外力作用的情况,以及串联机器人的关节是否是回转关节的情况.然后利用该算法计算动态补偿值,构建了基于连杆力矩传感器动态补偿的笛卡儿阻抗控制器.最后在HIT/DLR Hand II五指灵巧手上进行了实验验证.实验结果一方面验证了该算法的有效性,另一方面也验证了本文所构建的笛卡儿阻抗控制器的有效性.展开更多
Slight plastic deformation of 0 to 1% by cold rolling is proposed as a treatment which may modify the responses of magnetoimpedance （MI） sensor with an amorphous ribbon used as a sensitive element. The dependence of...Slight plastic deformation of 0 to 1% by cold rolling is proposed as a treatment which may modify the responses of magnetoimpedance （MI） sensor with an amorphous ribbon used as a sensitive element. The dependence of the magnetic properties of melt spun Fe3Co67Cr3Si15B12 amorphous ribbons and their MI responses in the initial state and after slight plastic deformation on the value of the deformation were comparatively analysed. The shape of the hysteresis loops shows a clear correlation with the value of the deformation. The variations of the total impedance, the real and the imaginary components, are measured for the current intensity of 1.S mA for the frequency of lO MHz. Slight plastic deformation affects both real and imaginary components and allows a control of the shape of the MI curves in a small field in a range usually used in biomedical applications. The proposed deformation treatments can be useful for the construction of the MI sensitive elements with a new type of the responses.展开更多
This study proposes a novel AC vector magnetometer developed using a low-resource magneto-impedance sensor for China’s Feng-Yun meteorological satellite(FY-3E).It was calibrated and characterized to determine its per...This study proposes a novel AC vector magnetometer developed using a low-resource magneto-impedance sensor for China’s Feng-Yun meteorological satellite(FY-3E).It was calibrated and characterized to determine its performance parameters.The total weight of the AC vector magnetometer is 51 g(the aluminum box excluded),while the total power consumption is 310 m W.The proposed AC vector magnetometer can detect magnetic field variations in the range of±1000 nT and noise power spectral density of≤50 pT/Hz^(1/2)@1 Hz.Furthermore,the proposed device has a maximum nonlinearity of≤0.71‰over the entire range and a nonorthogonality error of 3.07 nT or 0.15%(root mean square).The total dose hardness of the sensor is≥30 krad(Si).Furthermore,we propose the first survey results of a magnetometer equipped aboard a Chinese FY-3E satellite in a Sunsynchronous orbit.The data revealed that the AC vector magnetometer can detect transient physical signals such as quasistatic field-aligned currents(~50 nT)and waves at the auroral latitudes.These features render the proposed AC vector magnetometer suitable for space-based applications,particularly those involving the study of geomagnetic activity.展开更多
The humidity sensing properties of the thin films of an organic semiconductor material orange dye （OD） and its composite with CNTs deposited at high gravity conditions have been reported. Impedance, phase angle, ca-...The humidity sensing properties of the thin films of an organic semiconductor material orange dye （OD） and its composite with CNTs deposited at high gravity conditions have been reported. Impedance, phase angle, ca- pacitance and dissipation of the samples were measured at 1 kHz and room temperature conditions. The impedance decreases and capacitance increases with an increase in the humidity level. It was found that the sensitivity of the OD-based thin film samples deposited at high gravity condition is higher than the samples deposited at low gravity condition. The impedances and capacitance sensitivities of the of the samples deposited under high gravity condition are 6.1 times and 1.6 times higher than the films deposited under low gravity condition.展开更多
We report for the first time a cleavage phenomenon in the resonant peak of a piezoelectric quartz crystal(PQC) in liquid phase.In the presence of a strong longitudinal wave effect,an additional resonant peak appears i...We report for the first time a cleavage phenomenon in the resonant peak of a piezoelectric quartz crystal(PQC) in liquid phase.In the presence of a strong longitudinal wave effect,an additional resonant peak appears in the conductance-frequency curve.With gradually increasing liquid density,the additional peak moves from low to high frequency region then disappears.The frequency of the additional resonant peak is sensitive to the change in liquid density.The frequency shift of the additional peak is linear with the liquid density in a given range.For a 5 MHz PQC with a reflection distance of 16 mm for longitudinal wave,the sensitivity to liquid density is 2.61×10^6 Hz g^-1 cm^3.The overlap between the primary resonant peak and the additional resonant peak causes a decrease in the intensity of the former and an increase in the intensity of the latter.In a combined impedance analysis method,the changes in surface mass loading,density and viscosity of the liquid were monitored simultaneously by a PQC sensor.展开更多
文摘为了对连杆空间力矩传感器进行动态补偿,提出了适用于求取串联机器人任意连杆中任意一点处所受的内力和内力矩的算法.该算法采用连杆假想截断原理利用牛顿-欧拉方程推导而出.推导过程综合考虑了串联机器人是否处于静态以及末端是否受外力作用的情况,以及串联机器人的关节是否是回转关节的情况.然后利用该算法计算动态补偿值,构建了基于连杆力矩传感器动态补偿的笛卡儿阻抗控制器.最后在HIT/DLR Hand II五指灵巧手上进行了实验验证.实验结果一方面验证了该算法的有效性,另一方面也验证了本文所构建的笛卡儿阻抗控制器的有效性.
文摘Slight plastic deformation of 0 to 1% by cold rolling is proposed as a treatment which may modify the responses of magnetoimpedance （MI） sensor with an amorphous ribbon used as a sensitive element. The dependence of the magnetic properties of melt spun Fe3Co67Cr3Si15B12 amorphous ribbons and their MI responses in the initial state and after slight plastic deformation on the value of the deformation were comparatively analysed. The shape of the hysteresis loops shows a clear correlation with the value of the deformation. The variations of the total impedance, the real and the imaginary components, are measured for the current intensity of 1.S mA for the frequency of lO MHz. Slight plastic deformation affects both real and imaginary components and allows a control of the shape of the MI curves in a small field in a range usually used in biomedical applications. The proposed deformation treatments can be useful for the construction of the MI sensitive elements with a new type of the responses.
基金supported by the National Natural Science Foundation of China (Grant No.42074223)。
文摘This study proposes a novel AC vector magnetometer developed using a low-resource magneto-impedance sensor for China’s Feng-Yun meteorological satellite(FY-3E).It was calibrated and characterized to determine its performance parameters.The total weight of the AC vector magnetometer is 51 g(the aluminum box excluded),while the total power consumption is 310 m W.The proposed AC vector magnetometer can detect magnetic field variations in the range of±1000 nT and noise power spectral density of≤50 pT/Hz^(1/2)@1 Hz.Furthermore,the proposed device has a maximum nonlinearity of≤0.71‰over the entire range and a nonorthogonality error of 3.07 nT or 0.15%(root mean square).The total dose hardness of the sensor is≥30 krad(Si).Furthermore,we propose the first survey results of a magnetometer equipped aboard a Chinese FY-3E satellite in a Sunsynchronous orbit.The data revealed that the AC vector magnetometer can detect transient physical signals such as quasistatic field-aligned currents(~50 nT)and waves at the auroral latitudes.These features render the proposed AC vector magnetometer suitable for space-based applications,particularly those involving the study of geomagnetic activity.
文摘The humidity sensing properties of the thin films of an organic semiconductor material orange dye （OD） and its composite with CNTs deposited at high gravity conditions have been reported. Impedance, phase angle, ca- pacitance and dissipation of the samples were measured at 1 kHz and room temperature conditions. The impedance decreases and capacitance increases with an increase in the humidity level. It was found that the sensitivity of the OD-based thin film samples deposited at high gravity condition is higher than the samples deposited at low gravity condition. The impedances and capacitance sensitivities of the of the samples deposited under high gravity condition are 6.1 times and 1.6 times higher than the films deposited under low gravity condition.
基金supported by the National Natural Science Foundation of China(Nos.20775045,20975063)open foundation of the State Key Laboratory of Chemo/Biosensing and Chemometrics,Hunan University(No.2008012)
文摘We report for the first time a cleavage phenomenon in the resonant peak of a piezoelectric quartz crystal(PQC) in liquid phase.In the presence of a strong longitudinal wave effect,an additional resonant peak appears in the conductance-frequency curve.With gradually increasing liquid density,the additional peak moves from low to high frequency region then disappears.The frequency of the additional resonant peak is sensitive to the change in liquid density.The frequency shift of the additional peak is linear with the liquid density in a given range.For a 5 MHz PQC with a reflection distance of 16 mm for longitudinal wave,the sensitivity to liquid density is 2.61×10^6 Hz g^-1 cm^3.The overlap between the primary resonant peak and the additional resonant peak causes a decrease in the intensity of the former and an increase in the intensity of the latter.In a combined impedance analysis method,the changes in surface mass loading,density and viscosity of the liquid were monitored simultaneously by a PQC sensor.
