Institutional Repository of Institute of Automation, CAS
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Carbon Black/PDMS Based Flexible Capacitive Tactile Sensor for Multi-Directional Force Sensing
No full textFlexible sensing tends to be widely exploited in the process of human–computer interactions of intelligent robots for its contact compliance and environmental adaptability. A novel flexible capacitive tactile sensor was proposed for multi-directional force sensing, which is based on carbon black/polydimethylsiloxane (PDMS) composite dielectric layer and upper and lower electrodes of carbon nanotubes/polydimethylsiloxane (CNTs/PDMS) composite layer. By changing the ratio of carbon black, the resolution of carbon black/PDMS composite layer increases at 4 wt%, and then decreases, which was explained according to the percolation theory of the conductive particles in the polymer matrix. Mathematical model of force and capacitance variance was established, which can be used to predict the value of the applied force. Then, the prototype with carbon black/PDMS composite dielectric layer was fabricated and characterized. SEM observation was conducted and a ratio was introduced in the composites material design. It was concluded that the resolution of carbon sensor can reach 0.1 N within 50 N in normal direction and 0.2 N in 0–10 N in tangential direction with good stability. Finally, the multi-directional force results were obtained. Compared with the individual directional force results, the output capacitance value of multi-directional force was lower, which indicated the amplitude decrease in capacity change in the normal and tangential direction. This might be caused by the deformation distribution in the normal and tangential direction under multi-directional force.</p
Codesign of Architecture, Control, and Scheduling of Modular Cyber-Physical Production Systems for Design Space Exploration
No full textDesign space exploration (DSE) of cyber-physical production systems (CPPS) is a search problem in the space of potential compositional configurations. Current design methodologies follow the separated design paradigm in which the architecture, control, and scheduling are separately designed. Optimization of each part considers only the corresponding goals of interest and overlooks other aspects by adopting gross assumptions, which makes it difficult to determine the global optimal solution for a given system. To address this problem, in this article, we propose a codesign method that considers the design spaces of architecture, control, and scheduling as monolithic, mixed discrete-continuous spaces. We formulate DSE as an optimization problem and propose a generic iterative algorithm schema involving simulation in the loop to solve the abovementioned new problem. To illustrate the effectiveness of the proposed method, a real single-stage reducer assembly production system is considered. The design results demonstrate that our method provides better solutions than does the separated design method
Isolation method of Saccharomyces cerevisiae from red blood cells based on the optically induced dielectrophoresis technique for the rapid detection of fungal infections
No full textSaccharomyces cerevisiae (S. cerevisiae) has been classically used to treat diarrhea and diarrhea-related diseases. However, in the past two decades, fungal infections caused by S. cerevisiae have been increasing among immunocompromised patients, and it takes too long to isolate S. cerevisiae from blood to diagnose it in time. In this paper, a new method for the isolation and selection of S. cerevisiae from red blood cells (RBC) is proposed by designing a microfluidic chip with an optically-induced dielectrophoresis (ODEP) system. It was verified by theory and experiments that the magnitude and direction of the dielectrophoresis force applied on RBCs and S. cerevisiae are different, which determine that the S. cerevisiae can be isolated from RBCs by the ODEP system. By designing the specific light images and the dynamic separation mode, the optimal operating conditions were experimentally achieved for acquiring higher purity of S. cerevisiae. The purity ranges were up to 95.9%-97.3%. This work demonstrates a promising tool for efficient and effective purification of S. cerevisiae from RBCs and provides a novel method of S. cerevisiae isolation for the timely diagnosis of fungal infections.</p
Engineering Biological Tissues from the Bottom-Up: Recent Advances and Future Prospects
No full textTissue engineering provides a powerful solution for current organ shortages, and researchers have cultured blood vessels, heart tissues, and bone tissues in vitro. However, traditional top-down tissue engineering has suffered two challenges: vascularization and reconfigurability of functional units. With the continuous development of micro-nano technology and biomaterial technology, bottom-up tissue engineering as a promising approach for organ and tissue modular reconstruction has gradually developed. In this article, relevant advances in living blocks fabrication and assembly techniques for creation of higher-order bioarchitectures are described. After a critical overview of this technology, a discussion of practical challenges is provided, and future development prospects are proposed
一种水下机器人用伸缩光纤浮包对接装置
No full text本发明属于水下机器人技术领域，特别涉及一种水下机器人用伸缩光纤浮包对接装置。包括上伸缩软管、浮包、下伸缩软管及光纤；浮包的上端通过上连接件与上伸缩软管可分离连接；浮包的下端通过下连接件与下伸缩软管固定连接；光纤依次穿过上伸缩软管、浮包及下伸缩软管。本发明通过在危险环境下将光纤放置在装置内而达到保护的目的，提高了光纤的安全性，减少了因光纤问题而影响潜次的次数，提高了水下机器人布放的成功率
一种螺旋桨优化设计方法
No full text本发明涉及飞行器领域，具体地说是一种螺旋桨优化设计方法，包括如下步骤，步骤一：以桨叶外形参数为设计变量并建立约束条件，并在变量空间范围内随机生成N个个体构成的种群；步骤二：对桨叶进行空气动力学分析，得到个体的适应度；步骤三：计算种群个体的惯性质量；步骤四：计算每个个体不同方向的受力总和和加速度；步骤五：更新种群位置和速度，并计算新种群个体的适应度；步骤六：终止条件判断，达到最大迭代次数或者最新种群中存在适应度满足要求的个体时，进行步骤七，否则返回步骤三；步骤七：将得到的变量参数作为最终桨叶设计方案。本发明借鉴引力搜索算法并作出改进，解决了其在优化过程中容易陷入局部最优的问题
一种基于物理散射模型的图像恢复方法
No full text本发明涉及一种基于真实物理参数散射物理模型的图像恢复方法。建立了一种不同于通用大气光散射模型的新的散射模型，能对每一个散射环境给出相对应的物理解释，阐述了光源位置和散射情况的关系，解决了非均匀光照下的散射去除问题。首先使用积分球来去除相机暗角，然后通过改进的类暗通道先验方法找出纯散射部分，最后根据散射介质的光衰减和后向散射分布计算天顶角、方位角、消光系数和其他相关物理量来消除后向散射和光的衰减。理论上，该模型可以用于任何均匀散射介质，如水下和雾环境，并且在高密度介质中工作良好。最终的实验结果表明，该模型解决了强散射介质下的后向散射去除问题，是正确的、有效的，并且具有实际的物理意义
一种用于高速切削刀具实验的机械装置
No full text本发明涉及实验装置，具体地说是一种用于高速切削刀具实验的机械装置，包括支撑台立杆机构、承载电机驱动机构及切削刀轴机构，支撑台立杆机构包括支撑台底座、支撑台立杆及支撑台立杆支座，支撑台立杆的下端与支撑台底座连接，上端与支撑台立杆支座相连；承载电机驱动机构包括电机底座、电机支座及驱动电机，电机底座的一侧安装于支撑台立杆支座上，另一侧与电机支座的下端固接，电机支座的上端安装有驱动电机；切削刀轴机构包括刀轴及联轴器，刀轴转动安装于电机底座上，刀轴的下端与高速切削刀具相连，上端通过联轴器与驱动电机的输出轴连接。本发明稳定性好，定位精度高，不需要很大的实验场地而且制作成本低，特别适合大多数小型实验
一种七自由度协作机器人构型优化综合方法
No full text本发明涉及协作机器人领域，具体地说是一种七自由度协作机器人构型优化综合方法，包括以下步骤，步骤一：建立七自由度机器人运动学模型及运动学性能评价指标；步骤二：对七自由度机器人进行构型综合，将七自由度机器人拆分为“肩肘”和“腕”两部分，并利用步骤一中的运动学性能评价指标分别对“肩肘”部和“腕”部进行构型综合，获得最优的“肩肘”部构型和“腕”部构型，并通过构型优化综合，将最优的“肩肘”部构型和“腕”部构型分别组合，并对组合后的七自由度机器人构型进行评估，获得最优的七自由度构型；步骤三：对步骤二中获得的最优七自由度构型进行尺寸优化。本发明简化了构型综合过程，可用于指导七自由度协作机器人的设计
一种混合动力倾转旋翼无人飞行器
No full text本发明涉及无人飞行器技术领域，特别涉及一种混合动力倾转旋翼无人飞行器。包括机身及设置于机身上的尾翼和两个机翼，其中机身的前端下部设有涵道风扇；机翼包括内翼段和倾转外翼段，内翼段的一端与机身固定连接，另一端与倾转外翼段转动连接，尾翼为V型结构。本发明的机身前下部装有涵道风扇，可提供升力，并且能显著的提升飞行器的纵向配平特性；该飞行器可垂直起降，不受限于场地即可起飞降落，同时可长航时高速巡航，满足测绘、巡逻、运输、警用等需求