基于加速度传感器的丝杠传动系统建模及控制研究

提出了基于加速度传感器的丝杠传动系统建模及控制策略 ,可以通过实验测量存在结构非刚性因素时丝杠系统的模型。基于该模型可以进一步设计基于加速度传感器的控制策略 ,加速度反馈可以抑制系统的扰动力对丝杠传动系统控制精度的影响 ,实验结果表明提出的方法可以有效地提高丝杠系统的性能。

加速度反馈控制抑制谐波传动系统振动的研究

在分析谐波传动系统特性的基础上，建立了谐波传动系统的基于加速度传感器反馈控制的数学模型，通过仿真分析和实验研究结果表明，加速度反馈控制能有效地换制谐波传动系统负载端的振动。

狭缝投影位置传感技术及其在精密定位中的应用

提出了一种基于狭缝投影的位置传感技术，阐述了此技术的传感原理及其在精密定位中的应用。准直激光束照明的投影狭缝由一个透镜以掠入射角度投影在被测物体上，狭缝投影经过被测物体表面的反射和另一个透镜的成像在探测双缝上形成投影狭缝像。探测双缝放大成像在双像限探测器上，投影狭缝像透过探测双缝的光强分别被双像限探测器的两个像限所接收，通过检测双像限探测器两个像限上的光强获得被测物体的位置。实验验证了此传感技术的可行性，其位置重复测量偏差小于32nm（1σ）。

基于U形塑料光纤的氧气传感器

报道了一种基于荧光猝灭原理的光纤氧气传感器.采用塑料光纤作为传感和传光元件进行氧气传感,传感头制成U形.以邻菲咯啉钌作为荧光标记物,用溶胶-凝胶法制备敏感材料.采用相移法来实现对荧光寿命的测定.测量了不同弯曲半径传感头对氧气传感的灵敏度,发现当U形光纤的弯曲半径较小时系统的灵敏度较高.对荧光寿命和氧气浓度的关系进行了测量,发现二者呈亚线性关系,提出双荧光体模型解释这一实验现象.

基于U型塑料光纤和邻啡咯啉钌的溶解氧传感器

本文提出了一种基于U型塑料光纤和邻啡咯啉钌的溶解氧传感器。光纤传感头放在样品池中，测量了不同氮氧体积比情况下荧光强度和寿命。研究了邻啡咯啉钌的浓度、传感头的退火时间和U型光纤的弯曲半径对系统灵敏度的影响。我们提出了双层模型来解释实验结果不符合S-V方程的实验现象，并用双层模型分析了弯曲半径对系统灵敏度的影响。通过对溶解氧浓度和荧光寿命亚线性曲线的拟合，我们得出敏感层的厚度和S-V系数分别为0.59和0.61。

A Simple and Inexpensive Method for Fabrication of Ultramicroelectrode Array and Its Application for the Detection of Dissolved Oxygen

Herein, we report a simple and inexpensive way for fabrication of ultra microelectrode arrays (UMEAs) and the relative characterization methods. The fabrication of UMEAs involves only a few steps of handwork. Since only metal wires and epoxy are used through the fabrication process, it is supposed to be a quite straightforward method for preparing UMEAs. A dissolved oxygen (DO) sensor based on UMEAs was constructed.

Electrochemiluminescence from tris(2,2 '-bipyridyl)ruthenium(II)-graphene-Nafion modified electrode

An electrochemiluminescence (ECL) sensor based on Ru(bpy)(3)(2+)-graphene-Nafion composite film was developed. The graphene sheet was produced by chemical conversion of graphite, and was characterized by atomic force microscopy (AFM), scanning electron microscopy (SEM), and Raman spectroscopy. The introduction of conductive graphene into Nafion not only greatly facilitates the electron transfer of Ru(bpy)(3)(2+), but also dramatically improves the long-term stability of the sensor by inhibiting the migration of Ru(bpy)(3)(2+) into the electrochemically inactive hydrophobic region of Nafion. The ECL sensor gives a good linear range over 1 x 10(-7) to 1 x 10(-4) M with a detection limit of 50 nM towards the determination of tripropylamine (TPA), comparable to that obtained by Nafion-CNT.

Organic-inorganic hybrid material for the cells immobilization: Long-term viability mechanism and application in BOD sensors

In this paper, organic-inorganic hybrid material, which is composed of silica and the grafting copolymer of poly (vinyl alcohol) and 4-vinylpyridine (PVA-g-P(4-VP)), was employed to immobilize Trichosporon cutaneum strain 2.570 cells. Cells entrapped into the hybrid material were found to keep a long-term viability. The mechanism of such a long-term viability was investigated by using confocal laser scanning microscopy (CLSM). Our studies revealed that arthroconidia produced in the extracellular material might play an important role in keeping the long-term viability of the immobilized microorganism. After the arthroconidia were activated, an electrochemical biochemical oxygen demand (BOD) sensor based on cell/hybrid material-modified supporting membrane was constructed for verifying the proposed mechanism.

Quantum dot electrochemiluminescence in aqueous solution at lower potential and its sensing application

The unique strategy for electrochemiluminescence (ECL) sensor based on the quantum dots (QDs) oxidation in aqueous solution to detect amines is proposed for the first time. Actually, there existed two QDs ECL peaks in anhydrous solution, one at high positive potential and another at high negative potential. However, here we introduced the QDs oxidation ECL in aqueous solution to fabricate a novel ECL sensor. Such sensor needed only lower positive potential to produce ECL, which could prevent the interferences resulted from high potential as that of QDs reduction ECL in aqueous solution. Therefore, the present work not only extended the QDs oxidation ECL application field from anhydrous to aqueous solution but also enriched the variety of ECL system in aqueous solution. Furthermore, we investigated the QDs oxidation ECL toward different kinds of amines, and found that both aliphatic alkyl and hydroxy groups could lead to the enhancement of ECL intensity. Among these amines, 2-(dibutylamino)ethanol (DBAE) is the most effective one, and accordingly, the first ECL sensing application of the QDs oxidation ECL toward DBAE is developed; the as-prepared ECL sensor shows wide linear range, high sensitivity, and good stability.

Electrogenerated chemiluminescence sensors using Ru(bpy)(3)(2+) doped in silica nanoparticles

A novel electrogenerated chemiluminescence (ECL) sensor based on Ru(bpy)(3)(2+)-doped silica (RuDS) nanoparticles conjugated with a biopolymer chitosan membrane was developed. These uniform RuDS nanoparticles ( similar to 40 nm) were prepared by a water-in-oil microemulsion method and were characterized by electrochemical and transmission electron microscopy technology. The Ru( bpy)(3)(2+)-doped interior maintained its high ECL efficiency, while the exterior nanosilica prevented the luminophor from leaching out into the aqueous solution due to the electrostatic interaction. This is the first attempt to branch out the application of RuDS nanoparticles into the field of ECL, and since a large amout of Ru(bpy)(3)(2+) was immobilized three-dimensionally on the electrode, the Ru( bpy)(3)(2+) ECL signal could be enhanced greatly, which finally resulted in the increased sensitivity. This sensor shows a detection limit of 2.8 nM for tripropylamine, which is 3 orders of magnitude lower than that observed at a Nafion-based ECL sensor. Furthermore, the present ECL sensor displays outstanding long-term stability.

基于自调整神经元的无人直升机航向控制方法

直升机航向动力学包含输入非线性、时变参数和主-尾旋翼之间的强耦合,传统的比例积分微分(Proportional integral differential,PID)方法很难达到良好的控制性能。基于以上原因,通过把自调整神经元与滑模控制相结合,提出一种能够解决带有输入非线性的航向自适应控制方法。与常规自适应控制相比,用滑模条件代替误差函数作为目标函数,使控制器在保证闭环稳定性的同时,能够进一步使跟踪误差满足期望精度。证明了该方法的稳定性,针对实际模型直升机试验平台航向动力学模型的仿真结果,以及与传统PID方法的比较都表明了该方法的有效性。

基于结构变形的大型并联六维力传感器精度研究

为了研究结构变形对大型六维力传感器精度的影响,基于螺旋理论及影响系数方法,并借助位姿解建立了考虑结构整体变形条件下Stewart平台六维力传感器测量误差模型,推导出并联六维力传感器测量的I,II类误差表达式,分析了在不同外载下,六维力传感器Ⅰ,Ⅱ类误差,总结了结构变形和平台自重对传感器测量精度的影响规律,为具有普通球形铰链大型Stewart平台六维力传感器标定方案的选择和精度的改善提供了理论基础。

基于神经网络的六维力传感器静态标定方法研究

利用BP神经网络研究了六维力传感器的静态标定方法.良好的泛化能力是基于神经网络标定方法的关键,而现有基于神经网络的传感器标定方法对网络的泛化能力鲜有考虑.针对上述问题,以提高神经网络泛化能力为目的,对神经网络的训练样本、训练期望误差值和网络隐层单元数等的选取进行了研究.实验及计算机仿真表明,当选取样本数据具有遍历性时,利用神经网络标定后进行补偿计算可提高六维力传感器的测量精度.

基于视觉和超声信息的机器人行为控制

随着机器人应用范围的不断扩展,机器人所面临的工作环境也越来越复杂,多数是未知的、动态的和非结构化的。通过对基于行为的机器人控制技术的研究,设计了一种用于完成多目标任务的移动机器人行为控制系统。将基于行为的控制技术融合进模糊控制的思想中,使移动机器人的行为通过运用模糊控制和基于优先度的行为决策来实现,并且通过视觉信息使机器人能够完成面向目标的任务。

基于Stewart平台六维力传感器的分区静态标定方法

基于Stewart平台的六维力传感器具有结构紧凑、刚度大、量程宽等特点,它在工业机器人、空间站对接等领域具有广泛的应用前景。好的标定方法是正确使用传感器的基础。由于基于Stewart平台的六维力传感器是一个复杂的非线性系统,所以采用常规的线性标定方法必将带来较大的标定误差从而影响其使用性能。标定的实质是,由测量值空间到理论值空间的映射函数的确定过程。由函数逼近理论可知,当只在已知点集上给出函数值时,可用多项式或分段多项式等较简单函数逼近待定函数。基于上述思想,本文将整个测量空间划分为若干连续的子测量空间,再对每个子空间进行线性标定,从而提高了整个测量系统的标定精度。实验分析结果表明了该标定方法有效。