Sensors and Actuators A-physical最新文献_第3页

Quasi-closed diaphragm based piezoelectric micromachined ultrasonic transducer with reduced Q and stress sensitivity for in-air rangefinding 基于准封闭隔膜的压电微机械超声波传感器，可降低 Q 值和应力灵敏度，用于空气测距

IF 4.1 3区工程技术 Q2 ENGINEERING, ELECTRICAL & ELECTRONIC

Sensors and Actuators A-physical

Pub Date : 2024-10-07 DOI: 10.1016/j.sna.2024.115938

Yan Wang , Peng Chen , Junning Zhang , Hongbin Yu

To improve the performance of the Piezoelectric Micromachined Ultrasonic Transducer (PMUT) based rangefinder and decrease its stress sensitivity, a novel design with quasi-closed structure is proposed. It adopts a circular piezoelectric composite diaphragm structure with clamped boundary, in which all the deposited stack layers in its central region are intentionally removed and additional cross-slits are created into the remaining silicon device layer. Due to the reduced mass and the enhanced thermal-viscous damping at slits, a 35.2 % decrease in quality factor Q has been achieved in the proposed PMUT when compared with the conventional design, resulting in a distinctly reduced blind area from 231.3 mm to 170.7 mm. At the same time, the proposed quasi-closed PMUT facilitates the release of accumulated stress in the device structure during fabrication and operation. As a result, an approximate 50 % reduction in frequency deviation between different as-fabricated PMUTs across the same wafer has been successfully obtained. Moreover, due to the increased linear operation range, the developed bare PMUT chip demonstrates a maximum detection distance of 3 m at the operation frequency of 71.5 kHz under 40 V_pp driving voltage. Given the advantages of lower Q, insensitivity to stress, good fabrication consistency and large linear operation range, the proposed quasi-closed PMUT design can well address the requirements on small blind area and large detection range for distance sensing applications.

为了提高基于压电微机械超声波传感器（PMUT）的测距仪性能并降低其应力灵敏度，我们提出了一种具有准封闭结构的新型设计。它采用了一种具有夹紧边界的圆形压电复合膜片结构，有意去除其中心区域的所有沉积叠层，并在剩余的硅器件层上开出额外的交叉缝隙。与传统设计相比，由于减少了质量并增强了缝隙处的热粘性阻尼，拟议的 PMUT 的品质因数 Q 降低了 35.2%，从而使盲区面积从 231.3 mm 显著减小到 170.7 mm。同时，所提出的准封闭式 PMUT 还有利于在制造和运行过程中释放器件结构中的累积应力。因此，在同一晶圆上，成功实现了将不同制作完成的 PMUT 之间的频率偏差降低约 50%。此外，由于增加了线性工作范围，所开发的裸 PMUT 芯片在 40 Vpp 驱动电压下工作频率为 71.5 kHz 时，最大探测距离可达 3 m。考虑到较低的 Q 值、对应力不敏感、良好的制造一致性和较大的线性工作范围等优点，所提出的准封闭 PMUT 设计可以很好地解决距离传感应用对小盲区和大检测范围的要求。

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引用次数: 0

Dynamic modeling of thermo-sensitive hydrogel describing its complex energy conversion mechanism with hysteresis nonlinearity 热敏水凝胶的动态建模，描述其具有滞后非线性的复杂能量转换机制

IF 4.1 3区工程技术 Q2 ENGINEERING, ELECTRICAL & ELECTRONIC

Sensors and Actuators A-physical

Pub Date : 2024-10-06 DOI: 10.1016/j.sna.2024.115950

Yawu Wang , Xuancai Liu , Zhichao Xu , Jundong Wu , Chun-Yi Su

Thermo-sensitive hydrogel (TSH) demonstrates a lot of promise for soft robots. However, the TSH presents challenges for modeling due to its complex energy conversion mechanism and hysteresis nonlinearity. To address this issue, a dynamic model consisting of an electro-thermal model and a thermo-deformation model is developed in this paper. In which, the electro-thermal model is established for describing the relationship between the driving voltage and the temperature of the TSH. The thermo-deformation model consisting of a Prandtl-Ishlinskii model, a polynomial model and a transfer function model is established between the temperature and the deformation of the TSH. In addition, the thermo-deformation model describes the asymmetric and rate-dependent hysteresis nonlinearity of the TSH. Moreover, due to the analytic inverse of the thermo-deformation model, it is convenient to design a model-based controller to achieve the high-precision deformation control of the TSH. Next, unknown parameters in the above models are determined based on the nonlinear least squares algorithm by using the data from the experiment. Finally, model validations are performed, and the fit values are all greater than 89.40 %. Thus, the established dynamic model can accurately describe the complex energy conversion mechanism with hysteresis nonlinearity of the TSH and has great generalization ability.

热敏水凝胶（TSH）在软机器人领域大有可为。然而，由于其复杂的能量转换机制和滞后非线性，TSH 给建模带来了挑战。为了解决这个问题，本文开发了一个由电热模型和热变形模型组成的动态模型。其中，电热模型用于描述驱动电压与 TSH 温度之间的关系。热变形模型由普朗特-伊什林斯基模型、多项式模型和传递函数模型组成，用于描述 TSH 的温度与变形之间的关系。此外，热变形模型还描述了 TSH 的非对称和随速率变化的滞后非线性。此外，由于热变形模型的解析逆，可以方便地设计基于模型的控制器，实现 TSH 的高精度变形控制。接下来，利用实验数据，基于非线性最小二乘法算法确定上述模型中的未知参数。最后，进行模型验证，拟合值均大于 89.40%。因此，所建立的动态模型能准确描述 TSH 具有滞后非线性的复杂能量转换机制，并具有很强的普适性。

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引用次数: 0

Microwave-actuated robot sensor for non-contact solution detection 用于非接触式溶液检测的微波驱动机器人传感器

IF 4.1 3区工程技术 Q2 ENGINEERING, ELECTRICAL & ELECTRONIC

Sensors and Actuators A-physical

Pub Date : 2024-10-05 DOI: 10.1016/j.sna.2024.115953

Jin-Qiang Ma , Jun-Ge Liang , Jia-Kang Wu , Yi-Ran Song , En-Kang Wu , Tian Qiang , Xiao-Feng Gu , Cong Wang , Lei Wang

The realization of specific target detection based on micro-robots has garnered broad interest. It generally requires separate systems for actuation and sensing, and this paper presents for the first time a robot sensor scheme based on non-contact microwave control and detection for solution sensing. The key components of the robot are a shape memory alloy (SMA) coil spring and a monopole antenna, supported by a structure fabricated through 3D printing. First, electromagnetic waves at 2.45 GHz generated by the microwave generator are emitted to the monopole antenna. The electromagnetic energy is then converted into Joule heating, which drive the robot sensor toward the sensing position. Next, the monopole antenna acts as the sensing tag, while the horn antenna as the receiver, detecting methanol and acetone solutions with the sensitivity of 0.208 dB/% and 0.187 dB/%, respectively. The detection is mediator-free and in-time, with a range of 5 %-25 % for both methanol and acetone. The robot sensor can traverse up to 10 cm. By increasing the microwave generator’s output power, the robot's range of motion can be extended, offering a potential idea for non-contact robot sensor drive and detection.

基于微型机器人实现特定目标检测已引起广泛关注。本文首次提出了一种基于非接触式微波控制和检测的机器人传感器方案，用于溶液检测。机器人的关键部件是形状记忆合金（SMA）螺旋弹簧和单极天线，由三维打印结构支撑。首先，微波发生器产生的 2.45 GHz 电磁波被发射到单极天线。然后，电磁能被转化为焦耳热，从而推动机器人传感器向感应位置移动。接下来，单极天线充当传感标签，喇叭天线充当接收器，检测甲醇和丙酮溶液，灵敏度分别为 0.208 dB/% 和 0.187 dB/%。检测不需要介质，而且及时，甲醇和丙酮的检测范围为 5 %-25 %。机器人传感器的移动距离可达 10 厘米。通过增加微波发生器的输出功率，机器人的运动范围可以扩大，这为非接触式机器人传感器的驱动和检测提供了一个潜在的思路。

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引用次数: 0

An FBG-based slip recognition and monitoring method for non-destructive grasping of flexible manipulator 基于光纤光栅的滑移识别和监测方法，用于柔性机械手的无损抓取

IF 4.1 3区工程技术 Q2 ENGINEERING, ELECTRICAL & ELECTRONIC

Sensors and Actuators A-physical

Pub Date : 2024-10-05 DOI: 10.1016/j.sna.2024.115954

Qiulin Hou, Yanling Fu, Mingzhen Luo, Zhen Sun, Honggen Zhou, Guochao Li

Slip sensation is an important aspect of tactile perception for robots. Real-time slip monitoring is crucial for stable grasping. However, the existing slip sensors still have some limitations in materials, structure, and detection methods. Especially some large-sized and inflexible sensors are not easy to integrate and affect the movement of manipulators. In this paper, we use a fiber Bragg grating (FBG) sensor integrated into each flexible fingertip to detect and monitor the contact status between the flexible manipulator and objects. Firstly, the contact process between the flexible finger and the rigid plane from rest to relative sliding can determine the slip criterion by simulation analysis. The slip criterion is that the moment when the maximum tangential force occurs is the critical slip point. Then, the critical slip point in the corresponding FBG signal is determined by the variation of the tangential force in the three-directional force sensor. We verify the reliability of the recognition method under different contact conditions, same speed but different forces, same force but different speeds, and different roughness. Lastly, we develop the wavelet transformation-maximum root mean square discrepancy (WM) algorithm to monitor and predict the critical slip point in the FBG signal. Besides, its prediction time is about 0.7 s earlier than its monitoring time providing sufficient adjustment time for the control system to prevent overall slip. Therefore, the study has great application prospects in the non-destructive grasping of soft robots.

滑动感是机器人触觉感知的一个重要方面。实时滑动监测对于稳定抓取至关重要。然而，现有的滑动传感器在材料、结构和检测方法上仍存在一些局限性。特别是一些体积大、柔性差的传感器不易集成，影响机械手的运动。本文利用集成在每个柔性指尖上的光纤布拉格光栅（FBG）传感器来检测和监控柔性机械手与物体的接触状态。首先，通过模拟分析柔性手指与刚性平面从静止到相对滑动的接触过程，可以确定滑移准则。滑移准则是指发生最大切向力的时刻为临界滑移点。然后，通过三向力传感器中切向力的变化来确定相应 FBG 信号中的临界滑移点。我们验证了该识别方法在不同接触条件、同速不同力、同力不同速和不同粗糙度下的可靠性。最后，我们开发了小波变换-最大均方根差异（WM）算法来监测和预测 FBG 信号中的临界滑移点。此外，该算法的预测时间比监测时间提前了约 0.7 秒，为控制系统防止整体滑移提供了充足的调整时间。因此，该研究在软机器人的无损抓取方面具有广阔的应用前景。

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引用次数: 0

Microfluidic device with three-dimensional microtip electrodes for efficient capture and concentration of bacteria-sized microparticles using dielectrophoresis 利用介电泳技术高效捕获和浓缩细菌大小微粒的三维微尖电极微流体装置

IF 4.1 3区工程技术 Q2 ENGINEERING, ELECTRICAL & ELECTRONIC

Sensors and Actuators A-physical

Pub Date : 2024-10-05 DOI: 10.1016/j.sna.2024.115957

Young-Ho Nam , Seok-Young Lee , Seung-Ki Lee , Jong-Ho Kim , Jae-Hyoung Park

Microfluidics-based systems have gained considerable attention in the lab-on-chip field owing to their ability to separate, concentrate, and analyze microparticles. Concentrating microparticles is crucial for the high-sensitivity measurement of biomarkers in the analysis of cells or bacteria. This study presents a microfluidic chip using dielectrophoresis (DEP) to capture bacterial microparticles. The chip features a vertically arranged microtip electrode and an indium tin oxide (ITO) electrode, enhancing the electric field concentration effect and enabling optical analysis of the collected particles. The device was designed and fabricated using microfabrication techniques that incorporate a patterned array of microtip electrodes on a polydimethylsiloxane (PDMS) substrate. Experimental studies and numerical simulations were conducted to evaluate the device performance. The fabricated device was applied to the concentration of fluorescent beads with various variables such as particle size, frequency, voltage, and flow rate. The experimental results demonstrated the successful trapping and concentration of microparticles using DEP forces. The recovery rates of the 2.29 µm and 4.42 µm PS beads, when introduced at a flow rate of 1 μL/min and subjected to an applied alternating current (AC) voltage of 200 kHz and 10 V_pp at the microtip electrode, were measured to be 85.50±2.69 % and 91.83±0.63 %, respectively. Additionally, to assess the applicability of the microtip electrode-based DEP device proposed here for bacteria concentration, capture experiments were conducted using Escherichia coli, demonstrating a recovery rate performance of 77.93±7.31 %. These findings highlight the potential of the proposed microfluidic chip for the concentration and measurement of bacteria, such as E. coli.

基于微流控技术的系统能够分离、浓缩和分析微颗粒，因此在片上实验室领域备受关注。在分析细胞或细菌时，浓缩微颗粒对于高灵敏度测量生物标记物至关重要。本研究介绍了一种利用介电泳（DEP）捕获细菌微颗粒的微流体芯片。该芯片采用垂直排列的微尖电极和氧化铟锡（ITO）电极，增强了电场集聚效应，可对收集到的微粒进行光学分析。该装置的设计和制造采用了微加工技术，在聚二甲基硅氧烷（PDMS）基底上集成了图案化的微尖电极阵列。为评估该装置的性能，进行了实验研究和数值模拟。所制造的装置被应用于荧光珠的浓缩，其中包含各种变量，如粒度、频率、电压和流速。实验结果表明，利用 DEP 力能成功捕获和浓缩微颗粒。当以 1 μL/min 的流速引入 2.29 µm 和 4.42 µm 的 PS 粒子，并在微尖电极上施加 200 kHz 和 10 Vpp 的交流电压时，测得的回收率分别为 85.50±2.69 % 和 91.83±0.63%。此外，为了评估本文提出的基于微尖电极的 DEP 设备在细菌浓缩方面的适用性，还使用大肠杆菌进行了捕获实验，结果表明回收率为 77.93±7.31%。这些发现凸显了所提出的微流控芯片在细菌（如大肠杆菌）浓缩和测量方面的潜力。

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引用次数: 0

Voiceprint-based method for sensing droplet generation and mode transition from a coaxial microfluidic device 基于声纹的同轴微流体设备液滴生成和模式转换传感方法

IF 4.1 3区工程技术 Q2 ENGINEERING, ELECTRICAL & ELECTRONIC

Sensors and Actuators A-physical

Pub Date : 2024-10-05 DOI: 10.1016/j.sna.2024.115943

Peng-Nian Chen, Jin-Jia Hu, Chia-Hung Dylan Tsai

A voiceprint-based method is proposed for sensing microdroplets generated from a coaxial microfluidic device in this study. Microdroplet holds significant utility in various fields, such as drug delivery and molecular biology. Real-time sensing of droplet generation is crucial for ensuring droplet quality control. Current sensing techniques, such as high-speed vision, are hindered by cost and system complexity limitations. In our approach, voiceprint features were extracted from the sound accompanying microdroplet generation using the short-time Fourier transform (STFT). These features were employed to determine droplet generation frequency and mode transitions. Experimental validation was conducted using a coaxial capillary microfluidic device capable of generating sub-100-micron droplets via controlled flowrates of water and nitrogen gas in the inner and outer capillaries, respectively. The generation frequency from hundreds to thousands hertz were successfully detected in the experiment. Additionally, real-time detections of dripping-jetting and jetting-dripping mode transition were successfully achieved using the proposed voiceprint method. This work offers a simple, robust and cost-effective solution for sensing microdroplets generated from a microfluidic device.

本研究提出了一种基于声纹的方法，用于感知同轴微流体装置产生的微滴。微液滴在药物输送和分子生物学等多个领域具有重要用途。实时感知微滴的生成对于确保微滴质量控制至关重要。目前的传感技术，如高速视觉，受到成本和系统复杂性的限制。在我们的方法中，使用短时傅立叶变换（STFT）从伴随微液滴产生的声音中提取声纹特征。这些特征用于确定液滴生成频率和模式转换。实验验证使用了一个同轴毛细管微流体设备，该设备能够通过控制内毛细管和外毛细管中水和氮气的流速分别生成 100 微米以下的液滴。实验中成功检测到了几百到几千赫兹的生成频率。此外，利用所提出的声纹方法，还成功实现了对滴-喷和喷-滴模式转换的实时检测。这项工作为传感微流体设备产生的微滴提供了一种简单、稳健且经济高效的解决方案。

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引用次数: 0

High performance ternary organic photomultiplication detectors based on non-fullerene acceptor ITIC 基于非富勒烯受体 ITIC 的高性能三元有机光电倍增探测器

IF 4.1 3区工程技术 Q2 ENGINEERING, ELECTRICAL & ELECTRONIC

Sensors and Actuators A-physical

Pub Date : 2024-10-05 DOI: 10.1016/j.sna.2024.115958

Yao Li , Xiaogang Chen , Jun Lan , Fenqiang Wang , Kailiang Bai , Hu Liu , Feiping Lu

To extend response spectrum to near infrared region, one non-fullerene acceptor ITIC was doped into P3HT:PC₆₁BM blends, and the organic photomultiplication detectors (OPMDs) with structure of ITO/PEDOT:PSS/P3HT:ITIC:PC₆₁BM(100:x:1, wt/wt/wt)/Al were prepared. The absorption and photoluminescence spectra of the active layer films and the current density-voltage characteristics of the devices were measured and analyzed, and the photomultiplication principle of the devices was studied. The results showed that a wide spectral response of 400–850 nm is realized in the ternary P3HT:ITIC:PC₆₁BM active layer, and the external quantum efficiency, responsivity and specific detectivity of the ternary OPMDs based on P3HT:ITIC:PC₆₁BM are all larger than those of the binary ones based on P3HT:PC₆₁BM, and a maximum external quantum efficiency of 1113.71 %, specific detectivity of 6.42 × 10¹³ Jones and photoresponsivity of 762.99 A/W are obtained at 850 nm and under −16 V bias when the ITIC mass ratio in the ternary active layer is 4 % (i.e., x = 4). Such a considerable performance can be due to the fact that doping ITIC into P3HT:PC₆₁BM can widen absorption spectrum of active layer to near infrared area, and increase electron trap density and exciton dissociation interfaces in active layer and create cascade energy levels for better carrier transport.

为了将响应光谱扩展到近红外区域，在 P3HT:PC61BM 共混物中掺入了一种非富勒烯受体 ITIC，制备了结构为 ITO/PEDOT:PSS/P3HT:ITIC:PC61BM(100:x:1, wt/wt/wt)/Al 的有机光放大探测器（OPMD）。测量和分析了活性层薄膜的吸收光谱和光致发光光谱以及器件的电流密度-电压特性，并研究了器件的光放大原理。结果表明，三元 P3HT:ITIC:PC61BM 有源层实现了 400-850 nm 的宽光谱响应，基于 P3HT:ITIC:PC61BM 的三元 OPMD 的外量子效率、响应度和比检测度均大于基于 P3HT:PC61BM 的二元 OPMD，最大外量子效率为 1113.当三元有源层中 ITIC 的质量比为 4 %（即 x = 4）时，在 850 nm 波长和 -16 V 偏置下可获得 71 % 的最大外部量子效率、6.42 × 1013 Jones 的特定检测率和 762.99 A/W 的光致发光率、x = 4).之所以能取得如此显著的性能，是因为在 P3HT:PC61BM 中掺入 ITIC 可以将有源层的吸收光谱扩大到近红外区域，并增加有源层中的电子陷阱密度和激子解离界面，形成级联能级，从而实现更好的载流子传输。

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引用次数: 0

Trace gas detection system based on multi-reflection differential Helmholtz cell and VMD-airPLS algorithm 基于多反射差分亥姆霍兹电池和 VMD-airPLS 算法的痕量气体检测系统

IF 4.1 3区工程技术 Q2 ENGINEERING, ELECTRICAL & ELECTRONIC

Sensors and Actuators A-physical

Pub Date : 2024-10-03 DOI: 10.1016/j.sna.2024.115939

Minghui Liu , Lei Li , Zhechen Fan, Yalan Luo, Shen Tian, Pengbo Chen, Yingying Qiao, Chongxin Shan

In this paper, a photoacoustic spectroscopy sensor based on multi-reflection differential Helmholtz cell and Variational Mode Decomposition-adaptive iteratively reweighted penalized least squares (VMD-airPLS) algorithm is proposed to improve the signal-to-noise ratio (SNR) and reduce the response time of the system. The Helmholtz photoacoustic cell, fabricated from brass, allows multiple reflections of the laser light within its resonant cavity, effectively increasing the gas absorption path by a factor of ∼ 6. The VMD-airPLS algorithm suppresses incoherent noise and slowly varying baseline noise over time. To validate the performance of the system, methane is measured using a laser with a wavelength of 1653.7 nm. Experimental results demonstrate a significant enhancement in the sensitivity of system, up to approximately 2.2 times, and an improvement in the SNR by up to approximately 4.2 times compared to single-pass system. The minimum detection limit for methane is ∼ 96.79 ppb.

本文提出了一种基于多反射差分亥姆霍兹单元和变异模态分解-自适应迭代重权重化最小二乘法（VMD-airPLS）算法的光声光谱传感器，以提高信噪比（SNR）并缩短系统的响应时间。黄铜制成的亥姆霍兹光声电池允许激光在其谐振腔内多次反射，从而有效地将气体吸收路径增加了 ∼ 6 倍。VMD-airPLS 算法可抑制非相干噪声和随时间缓慢变化的基线噪声。为了验证该系统的性能，使用波长为 1653.7 nm 的激光对甲烷进行了测量。实验结果表明，与单通道系统相比，该系统的灵敏度大幅提高，最高可达约 2.2 倍，信噪比最高可达约 4.2 倍。甲烷的最低检测限为 ∼ 96.79 ppb。

引用次数: 0

Design of photonic crystals for nanokelvin-resolution thermometry 设计用于纳米开尔文分辨率测温的光子晶体

IF 4.1 3区工程技术 Q2 ENGINEERING, ELECTRICAL & ELECTRONIC

Sensors and Actuators A-physical

Pub Date : 2024-10-03 DOI: 10.1016/j.sna.2024.115949

Mohammad Shoghi Tekmedash , Amin Reihani

High-resolution thermometry is key for the development of calorimeters, bolometers, and high-stability light sources, as well as for probing dissipation and transport in microelectronics and quantum devices. Achieving nanokelvin-level temperature resolution at room temperature requires using large optical cavities, which are unsuitable for microscale integration. Here we computationally design a one-dimensional photonic crystal Band Edge Thermometer that achieves significant temperature sensitivity by combining: (i) the abrupt variation in optical properties of a direct bandgap semiconductor at the band edge, and (ii) a large quality factor in a resonant photonic structure. Two devices are designed which are constructed from GaAs/AlAs and GaN/AlN multilayer structures. The optimal sensor design features an extremely large thermoreflectance coefficient of 60.6 K⁻¹ and a thermal time constant of 1.1 µs, with a sensor thickness of only 6.7 µm. The projected thermometry noise floor is 84 nK.Hz^-½ for the GaAs/AlAs sensor and 35 nK.Hz^-½ for the GaN/AlN sensor. The designed sensor architecture is expected to enable a broad range of applications in microcalorimetry and bolometry where a high temperature resolution combined with microscale sensor footprint is required.

高分辨率测温是开发热量计、波长计和高稳定性光源以及探测微电子和量子设备中耗散和传输的关键。要在室温下实现纳开尔文级的温度分辨率，需要使用大型光腔，而这种光腔不适合微尺度集成。在这里，我们通过计算设计了一种一维光子晶体带边温度计，它通过结合以下两方面实现了显著的温度灵敏度：(i) 带边直接带隙半导体光学特性的突然变化；(ii) 共振光子结构中的大品质因数。我们设计了由 GaAs/AlAs 和 GaN/AlN 多层结构构成的两种装置。最佳传感器设计具有 60.6 K-1 的超大热反射系数和 1.1 µs 的热时间常数，传感器厚度仅为 6.7 µm。砷化镓/砷化镓传感器的预计测温本底噪声为 84 nK.Hz-½，氮化镓/氮化铝传感器为 35 nK.Hz-½。所设计的传感器结构有望在微量热测量和螺栓测量等需要高温度分辨率和微小传感器尺寸的领域得到广泛应用。

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引用次数: 0

Design of multimodal transformable wheels for amphibious robotic vehicles 为两栖机器人车辆设计多模式可变换车轮

IF 4.1 3区工程技术 Q2 ENGINEERING, ELECTRICAL & ELECTRONIC

Sensors and Actuators A-physical

Pub Date : 2024-10-03 DOI: 10.1016/j.sna.2024.115952

Zhangyuan Wang , Bing Luo , Weicheng Cui , Wei Li

Amphibious vehicles are versatile for locomotion on both water and land; to reduce the complexities of structure and control, an amphibious vehicle is expected to use a single propulsion system without additional screw propellers or water jets; as vehicles are typically driven by wheels that are efficient for smooth land locomotion, how to make the wheels also as water propellors for multimodal transformations is meaningful, while such wheels are less explored. From this motivation, in this short article, we report the design of a multimodal transformable wheel with three driving modes (wheel mode, forward-propellor mode, and backward-propellor mode) and the integrated mode-locks for each driving mode. To achieve the multimodal transformations of the wheel, we design the integrated mode-transform mechanism and mode-lock mechanism, the two mechanical implementations are driven by only two actuators and are compact with low inertia and low control complexity, with the kinematic properties provided during the wheel transformations.

水陆两栖车辆是在水上和陆地上行驶的多功能车辆；为了降低结构和控制的复杂性，水陆两栖车辆应使用单一的推进系统，而不需要额外的螺旋推进器或喷水装置；由于车辆通常由车轮驱动，而车轮在平稳的陆地行驶中效率很高，因此如何使车轮也能作为水上推进器进行多模式转换是很有意义的，而对这种车轮的探索较少。基于这一动机，我们在这篇短文中报告了一种具有三种驱动模式（车轮模式、前进推进器模式和后退推进器模式）的多模态可变换车轮的设计，以及每种驱动模式的集成模式锁。为了实现车轮的多模态变换，我们设计了集成模式变换机构和模式锁定机构，这两种机械实现方式仅由两个执行器驱动，结构紧凑，惯性小，控制复杂度低，在车轮变换过程中提供了运动学特性。

引用次数: 0