A mica-modified quartz resonator for a quartz crystal microbalance study

Mica, as a bridge of the study for combining between quartz crystal microbalance (QCM) and atomic force microscope (AFM), was successfully modified onto the piezoelectric quartz crystal (PQC). This mica-modified piezoelectric quartz crystal (mica-PQC) can be stably oscillated with a shift frequency of +/-1 Hz per half an hour in air. Using this mica-PQC, the processes of DNA adsorbed onto the mica surface were studied in liquid phase. The results show that a bivalent cation, such as Mn2+, can be used as an ionic bridge to immobilize DNA on mica surface. The image of DNA on the mica surface was also obtained by AFM. Mica-PQC gives the possibility of a combination between QCM and AFM in situ.

Preparation of polyimide-BaTiO3 hybrid films by a dispersion process and their microstructure

Barium titanate (BaTiO3) powders with particle sizes of 30 similar to 50 nm were prepared from barium stearate, titanium alkoxides and stearic acid by stearic acid-gel method. Dispersing the agglomerate of BaTiO3 nanoparticles into poly(amic acid) solution followed by curing led to the formation of polyimide hybrid films. The hybrid films were transparent and well distributed with BaTiO3 nanoparticles when the BaTiO3 content was less than 1 wt%. Highly loaded hybrid film containing 30 wit % BaTiO3 was tough, had a smooth surface and possessed much higher dielectric and piezoelectric constants than the parent polyimide.

Characterization of neodymium bisphthalocyanine Langmuir-Blodgett films for gas-sensibility

The deposition of Langmuir-Blodgett film of neodymium bisphthalocyanine derivatives is reported for the first time. Optical absorption data reveal that these films call be deposited in a reproducible manner; results are also presented showing the extreme sensitivity and selectivity of their electrical conductivity to NH3 in room temperature. The Nd bisphthalocyanine LB film is a sensitive, reproducible. rapid and stable gas sensor. Neodymium bisphthalocyanine derivatives will be candidates for thin film gas-sensitive materials. (C) 1998 Elsevier Science S.A. All rights reserved.

Cryoimmobilized enzyme for biosensor construction

A new immobilization material and an immobilization method for a glucose sensor with HEFc (hydroxyethylferrocene) as mediator is described. In the course of three months, the enzyme electrode shows almost no deterioration in its response characteristics. The response time is less than 30 s. The electrode has a wide linear range up to 10 mmol l(-1) with good repeatability. The kinetic parameters have also been calculated.

A NEW HYDROGEN SENSOR WITH RARE-EARTH COMPLEX FLUORIDE

A new type of solid-state galvanic cell for detecting a small amount of hydrogen in air at room temperature is proposed. The sensor cell is a potentiometric cell using Ce0.95Ca0.05F2.95 as solid-state electrolyte. The cell exhibits good sensing properties to hydrogen in air at room temperature.

使用补偿策略的机器人遥操作系统的控制研究

利用混杂动态系统的思想通过同时采用事件和时间驱动的执行器方案来弥补机器人遥操作系统中的不确定时延现象。即作为控制节点的操作者的控制决策发出时间是事件驱动的(满足一定条件下),执行器节点的接收也是事件驱动的,但是执行则是时间驱动的。通过这样的方法确保网络遥操作系统在每一采样周期内都能得到新的控制信号,从而补偿网络延迟。

多层式智能结构中压电元件的最优配置

　　基于压电元件的传感和驱动特性,给出了多层式压电智能结构的受控系统模型。提出了一种模态可观测性的度量方法,基于模态可控度和模态可观测度建立了多层结构压电元件最优定位的目标函数,并采用广义遗传算法进行求解。采用子空间迭代法对振动方程进行了求解。仿真和实验结果表明最优定位结果是合理的。

一种具有纳米定位精度的四自由度微动平台的研制

本文介绍了采用压电陶瓷管作为驱动器的四自由度微型移动平台的结构设计、运动机理 ,并对系统的动态特性进行了分析和探讨 .最后对纳米微动平台在不同负载、不同材质介面上进行了试验 ,并给出了试验结果 .该平台具有移动范围广、控制简单、步距可调、具有较大负载支撑能力等特点 ,经实验证明 ,本系统所采用的移动机理是可行的

载人潜器半物理虚拟仿真系统及其性能分析

为了缩短深海载人潜器控制系统的开发周期,测试系统性能,根据载人潜器的自身特点,构建和实现了载人潜器所有传感器、执行器设备模拟,以及潜器在海底实景的运动状态的半物理虚拟仿真系统。首先,以仿真系统的硬件架构和数据流程为基础,重点介绍了潜器设备模拟的软件体系结构;其次,在仿真平台上测试了各种网络数据的传输延迟,分析了其整体性能;最后,得出了潜器控制器设计的时间约束。现阶段整个系统已经开发成功,并投入运行到潜器控制系统的安装调试中。

机器人化三腿磨削机床的研制

以钢坯修磨为实用目的研制的一台机器人化三腿机床，具有刚度大、负载能力强、机构简单、工作空间大、无运动耦合及奇异位形等优点，首次解决了钢坯局部修磨自动化问题，配以其它加工执行器还可实现多种工艺要求。建立了该机床的运动学逆、正解方程，对其工作空间和受力分析进行了介绍，并介绍了局部修磨自动化控制系统

基于加速度传感器的机器人最优学习控制

为工业机器人提出了一种最优学习控制法。这种控制法用加速度误差校正驱动器运动。并提出了一种基于几何级数的极限条件估计学习控制过程收敛条件的理论方法。所提出学习控制法的有效性通过PUMA562机器人的计算机仿真结果得到了证实。

Paradigms for Structure in an Amorphous Computer

Recent developments in microfabrication and nanotechnology will enable the inexpensive manufacturing of massive numbers of tiny computing elements with sensors and actuators. New programming paradigms are required for obtaining organized and coherent behavior from the cooperation of large numbers of unreliable processing elements that are interconnected in unknown, irregular, and possibly time-varying ways. Amorphous computing is the study of developing and programming such ultrascale computing environments. This paper presents an approach to programming an amorphous computer by spontaneously organizing an unstructured collection of processing elements into cooperative groups and hierarchies. This paper introduces a structure called an AC Hierarchy, which logically organizes processors into groups at different levels of granularity. The AC hierarchy simplifies programming of an amorphous computer through new language abstractions, facilitates the design of efficient and robust algorithms, and simplifies the analysis of their performance. Several example applications are presented that greatly benefit from the AC hierarchy. This paper introduces three algorithms for constructing multiple levels of the hierarchy from an unstructured collection of processors.

An Algorithm for Group Formation and Maximal Independent Set in an Amorphous Computer

Amorphous computing is the study of programming ultra-scale computing environments of smart sensors and actuators cite{white-paper}. The individual elements are identical, asynchronous, randomly placed, embedded and communicate locally via wireless broadcast. Aggregating the processors into groups is a useful paradigm for programming an amorphous computer because groups can be used for specialization, increased robustness, and efficient resource allocation. This paper presents a new algorithm, called the clubs algorithm, for efficiently aggregating processors into groups in an amorphous computer, in time proportional to the local density of processors. The clubs algorithm is well-suited to the unique characteristics of an amorphous computer. In addition, the algorithm derives two properties from the physical embedding of the amorphous computer: an upper bound on the number of groups formed and a constant upper bound on the density of groups. The clubs algorithm can also be extended to find the maximal independent set (MIS) and $Delta + 1$ vertex coloring in an amorphous computer in $O(log N)$ rounds, where $N$ is the total number of elements and $Delta$ is the maximum degree.

Towards Intelligent Structures: Active Control of Buckling

The buckling of compressively-loaded members is one of the most important factors limiting the overall strength and stability of a structure. I have developed novel techniques for using active control to wiggle a structural element in such a way that buckling is prevented. I present the results of analysis, simulation, and experimentation to show that buckling can be prevented through computer-controlled adjustment of dynamical behavior.sI have constructed a small-scale railroad-style truss bridge that contains compressive members that actively resist buckling through the use of piezo-electric actuators. I have also constructed a prototype actively controlled column in which the control forces are applied by tendons, as well as a composite steel column that incorporates piezo-ceramic actuators that are used to counteract buckling. Active control of buckling allows this composite column to support 5.6 times more load than would otherwise be possible.sThese techniques promise to lead to intelligent physical structures that are both stronger and lighter than would otherwise be possible.

Tactile Sensing for Mechatronics: A State of the Art Survey

Lee M.H. and Nicholls H.R., Tactile Sensing for Mechatronics: A State of the Art Survey, Mechatronics, 9, Jan 1999, pp1-31.