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Structural damage detection based on nonlinear vibro-acoustic modulations observed in shear horizontal wave propagation 基于剪切水平波传播中非线性振动声调制的结构损伤检测
Wojciech Trubulec, R. Radecki, M. Osika, A. Ziaja-Sujdak, W. Staszewski
Recent years have brought more attention to new damage detection approaches based on nonlinear phenomena associated with Shear Horizontal (SH) waves. Many nonlinear effects–previously observed in ultrasonic wave propagation–have been considered for structural damage detection. The major effort has been put on classical nonlinear effects, such as higher harmonic generation. More recently, nonlinear vibro-acoustic modulation and modulation transfer mechanisms have been also observed in SH wave propagation. However, these phenomena have not been used for structural damage detection. The paper attempts to fulfill this gap. The proposed method involves two excitation waves. The low-frequency pumping wave is used for damage perturbation. In addition, high-frequency SH wave is used as a probing wave. The probing wave is modulated by the pumping wave in the presence of structural damage. The method is used in the paper for fatigue crack detection in metallic structural components. The results demonstrate that the proposed approach has a potential for structural damage detection. Previous research work demonstrates that classical nonlinear effects (e.g., higher harmonic generation) observed in SH waves offer better sensitivity to material microdefects than similar effects observed in longitudinal wave propagation. Therefore, it is anticipated that non-classical nonlinear affects associated with SH wave propagation will show similar potential. However, more research work is needed to confirm this assumption.
近年来,基于水平剪切波非线性现象的损伤检测方法受到了越来越多的关注。许多非线性效应-以前观察到的超声波传播-已被考虑用于结构损伤检测。主要的工作放在经典的非线性效应上,如高次谐波的产生。最近,在SH波传播中也观察到非线性振动声调制和调制传递机制。然而,这些现象尚未用于结构损伤检测。本文试图填补这一空白。该方法涉及两个激励波。采用低频抽运波进行损伤扰动。另外,利用高频SH波作为探测波。在结构损伤存在的情况下,探测波被抽运波调制。本文将该方法用于金属结构构件的疲劳裂纹检测。结果表明,该方法在结构损伤检测中具有一定的应用潜力。先前的研究工作表明,在SH波中观察到的经典非线性效应(例如高谐波产生)比在纵波传播中观察到的类似效应对材料微缺陷具有更好的灵敏度。因此,可以预见与SH波传播相关的非经典非线性影响也将显示出类似的潜力。然而,需要更多的研究工作来证实这一假设。
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引用次数: 0
Experimental analysis on nonlinear elastic wave characteristics of metallic origami cylinder 金属折纸筒非线性弹性波特性实验分析
H. Park, J. H. Han, Jinkyu Yang
This paper presents an experimental investigation on the origami patterned cylinder made of Tachi-Miura Polyhedron (TMP) unit cell. The unit cell shows strain-softening behavior under compression load. To analyze the effect of nonlinear behavior on the elastic wave propagation in TMP cylinder, fabrication of metallic origami cylinder and impact test were conducted. The thin metallic structure was fabricated using the vacuum bag method. The pressure was applied evenly to the aluminum facets, which have compliant hinges that behave like torsional springs. The first unit cell of the cylinder structure was connected to the dynamic shaker and the pulse load was applied. To measure the dynamic behavior of unit cells during elastic wave propagation, the stereo pattern recognition (SPR) camera system was employed. The experimental result shows that the compressive wave, induced by impact load, was attenuated due to the nonlinear characteristics of the TMP unit cell. Furthermore, the tensile wave, which emerged later, arrived first on the last unit cell. It means that the tensile wave overtook the compressive wave. The speed of the elastic wave is affected by the stiffness of the structure. Based on the strain-softening behavior of the TMP unit cell, the compressive wave is slower than the tensile wave. It induced the attenuation of compressive impact and overtaking of tensile elastic wave. We can expect that this nonlinear characteristic of the origami-based structure can be applied to the shock mitigation structure.
本文对由Tachi-Miura多面体(TMP)单元格制成的折纸图案圆柱体进行了实验研究。单元胞在压缩荷载作用下表现出应变软化行为。为了分析非线性行为对TMP圆柱体弹性波传播的影响,进行了金属折纸圆柱体的制作和冲击试验。采用真空袋法制备薄金属结构。压力被均匀地施加到铝面,它有顺从的铰链,表现得像扭转弹簧。将圆柱结构的第一个单元格连接到动激振器上,施加脉冲载荷。为了测量弹性波传播过程中单元胞的动态行为,采用立体模式识别(SPR)相机系统。实验结果表明,由于TMP单元胞的非线性特性,冲击载荷诱导的压缩波被衰减。此外,出现较晚的张力波首先到达最后一个单元胞。这意味着拉伸波超过了压缩波。弹性波的速度受结构刚度的影响。基于TMP单元胞的应变软化特性,压缩波比拉伸波慢。它引起了压缩冲击的衰减和拉伸弹性波的超车。我们可以预期,折纸结构的这种非线性特性可以应用于减震结构。
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引用次数: 0
Ultrasonic piezoelectric transducer design with concave surface 凹面超声压电换能器的设计
C. Lim, Youngsu Cha
This paper introduces an ultrasonic piezoelectric transducer consisted of a concave shaped piezoelectric film and a support with an air cavity for vibration. The high flexibility and sensitivity of the transducer are guaranteed by utilization of Polyvinylidene fluoride (PVDF), and these are important in designing transducers of good acoustic performance. Ultrasound pressure results of the transducer are measured from frequency sweep inputs. From the results, we observe that the concave case generates several resonant peaks within a specific frequency range. Additionally, the sound pressure change of the transducers with different radii of curvature is investigated. The experimental results demonstrate that radius of curvature contributes to the sound pressure magnitude significantly.
本文介绍了一种由凹形压电薄膜和带振动腔的支架组成的超声压电换能器。利用聚偏氟乙烯(PVDF)保证了换能器的高灵活性和高灵敏度,这对设计具有良好声学性能的换能器具有重要意义。换能器的超声波压力结果是通过频率扫描输入来测量的。结果表明,凹腔在特定的频率范围内产生了多个共振峰。此外,还研究了不同曲率半径下换能器的声压变化。实验结果表明,曲率半径对声压大小有显著影响。
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引用次数: 0
Free-standing tubular DEAs for multi-directional bending 用于多向弯曲的独立式管式dea
Markus Koenigsdorff, J. Mersch, G. Gerlach
Highly anisotropic, fiber-based structures are a successful concept in nature. Usual dielectric elastomer actuators are entirely soft and rely on the integration of stiff carrier frames for the fragile dielectric membranes. Within this work, a completely soft, fiber-reinforced free-standing tubular actuator concept is presented. The circumferentially running carbon fibers are integrated into the inner electrode of the DEA and stabilize the cross-section, while having negligible impact on the mechanical stiffness in the axial direction. Through the segmentation of the outer electrode of the actuator, active bending in the corresponding directions is achieved. Moreover, if all segments are activated simultaneously, the actuator expands axially. The presented manufacturing approach allows for the adjustment of the dimensions over a wide range of diameters and lengths. Furthermore, the local stiffness of actuators can be tailored by varying the amount of fibers incorporated into the electrode. The electroactive deformation of actuators with different diameter-to-length ratios and fiber densities is investigated.
高度各向异性的纤维基结构在自然界是一个成功的概念。通常的介电弹性体致动器是完全软的,并且依赖于脆性介电膜的刚性载体框架的集成。在这项工作中,提出了一种完全柔软的、纤维增强的独立式管状执行器概念。周向运行的碳纤维融入到DEA的内电极中,稳定了截面,同时对轴向机械刚度的影响可以忽略不计。通过对执行器外电极的分割,实现相应方向的主动弯曲。此外,如果所有部分同时激活,执行器将向轴向扩展。提出的制造方法允许在直径和长度的大范围内调整尺寸。此外,执行器的局部刚度可以通过改变纳入电极的纤维量来定制。研究了不同径长比和纤维密度致动器的电致变形。
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引用次数: 0
An experimental investigation of dynamic motions of a small-scale magnetoactive soft robot undergoing large nonlinear movements 小尺度磁动软机器人大非线性运动的动力学研究
S. Moezi, R. Sedaghati, S. Rakheja
Small-scale magnetoactive soft robots (MSRs) with multimodal locomotion and wireless actuation capabilities have emerged in recent years for various highly sensitive and precise biomedical tasks such as targeted drug delivery and minimally invasive therapies. MSRs comprise magnetoactive elastomers consisting of micron-sized hard magnetic particles, such as neodymium-iron-boron (NdFeB), suspended or arranged into an elastomeric matrix. These robots generally exhibit large deformation under an applied magnetics stimulus, which is considered favorable for the aforementioned applications. Only limited efforts, however, have been reported on characterization of such robots. This is likely due to their nonlinear dynamics, especially under large deformations and hysteretic stress-strain characteristics, which strongly depend on the magnitude and frequency of the external magnetic stimuli. This study experimentally investigated and analyzed the real-time nonlinear and hysteretic responses of a MSR fabricated in the form of a cantilever beam made of a magnetoactive elastomer. An experiment was designed to characterize dynamic responses of the MSR under different magnetic stimuli at relatively higher frequencies to evaluate the rate-dependent hysteresis effect. A hardware-in-the-loop technique in conjunction with a PID controller was implemented, which permitted the generation of a precise and uniform magnetic field. The MSR was subjected to uniform magnetic loading perpendicular to the robot’s length leading to large amplitudes and rates of harmonic movements of the MSR. The experiments were performed under different intensities, ranging from 2 to 30 mT, at frequencies up to 3 Hz. The measured data were analyzed to obtain response time-histories and frequency response characteristics of the MSR, apart from the motion snapshots.
具有多模式运动和无线驱动能力的小型磁活性软机器人(MSRs)近年来出现在各种高敏感和精确的生物医学任务中,如靶向药物输送和微创治疗。msr包括磁性活性弹性体,由微米级的硬磁性颗粒组成,如钕铁硼(NdFeB),悬浮或排列在弹性体基体中。这些机器人通常在施加的磁刺激下表现出很大的变形,这被认为有利于上述应用。然而,只有有限的努力已经报道了这种机器人的特征。这可能是由于它们的非线性动力学,特别是在大变形和滞后应力-应变特性下,这强烈依赖于外部磁刺激的幅度和频率。本文通过实验研究和分析了磁活性弹性体悬臂梁形式的MSR的实时非线性和滞后响应。通过实验表征不同频率磁刺激下MSR的动态响应,以评价磁滞效应的速率依赖性。硬件在环技术与PID控制器相结合,允许产生精确和均匀的磁场。磁阻器受到垂直于机器人长度的均匀磁载荷,导致磁阻器的谐波运动幅度和速率较大。实验在不同强度下进行,范围从2到30 mT,频率高达3 Hz。对测量数据进行分析,得到了除运动快照外,MSR的响应时程和频响特性。
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引用次数: 0
Electrode filling using capillary action of 3D printed elastomer microchannels 利用毛细管作用的3D打印弹性体微通道的电极填充
Taylor Stark, Daewon Kim
Soft polymer actuators are in increasing demand due to their more fluid like motion and flexibility when actuated than compared with rigid actuators, which makes them valuable in diverse engineering applications. One of the main types of soft polymer actuators is the dielectric elastomer actuator, whose working principle is to apply a voltage potential difference between electrodes to reduce the thickness of the elastomeric material while expanding its area. This paper looks at manufacturing a micro soft polymer dielectric elastomer actuator utilizing two-photon polymerization 3D printing. The actuator contains micro channels that are filled with an electrode by using capillary action. A complex helical geometry is designed, printed, and tested for electrode filling capabilities. Quite a few obstacles are described in this paper including the use of a newly released two-photon polymerization resin which has limited supporting resources, as well as the complex helical geometry having a large compliance that vastly complicates its fabrication, post-processing, handling, electrode filling, electrode integration, and actuation testing. However, these challenges are overcome by using the standard printing recipes currently available for the resins, adding electrode isolation layers, and printing thicker elastomer zones for more structural support. The results found solidify the approach of filling microchannels with electrodes through capillary action and lead to further the focus and creation of multi-functional micro soft actuators.
由于与刚性致动器相比,软聚合物致动器具有更流畅的运动和灵活性,因此对其的需求越来越大,这使得它们在各种工程应用中具有重要价值。软聚合物致动器的主要类型之一是介电弹性体致动器,其工作原理是在电极之间施加电压电位差来减小弹性体材料的厚度,同时扩大其面积。本文研究了利用双光子聚合3D打印技术制造微软聚合物介电弹性体致动器。执行器包含微通道,通过毛细管作用填充电极。一个复杂的螺旋几何设计,印刷,并测试电极填充能力。本文描述了相当多的障碍,包括使用新发布的双光子聚合树脂,其支持资源有限,以及复杂的螺旋几何形状,具有很大的顺应性,使其制造,后处理,处理,电极填充,电极集成和驱动测试变得非常复杂。然而,通过使用目前可用于树脂的标准打印配方,增加电极隔离层,以及打印更厚的弹性体区域以获得更多的结构支撑,这些挑战都得到了克服。研究结果巩固了毛细管作用下电极填充微通道的途径,为多功能微软执行器的研究和开发奠定了基础。
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引用次数: 0
For dielectric elastomers, fringe-sensing is not as quirky as it sounds 对于介电弹性体来说,条纹传感并不像听起来那么古怪
M. H. Mahmoudinezhad, Iain A. Anderson, S. Rosset
Capacitive dielectric elastomer sensors (DES) are well-known in robotic sensing applications due to their sensitivity and stability under tensile strain. These sensors rely on changes in geometry to detect deformation. Since DES are thin, they are resistant to out-of-plane compression and this is made more difficult if they are bonded to a rigid surface. Here, we present a new type of DES that detects changes in the fringe field between interdigitated electrodes (IDEs). This is made possible using a compression sensitive silicone/carbon black composite that sits atop the electrodes. The IDEs create a fringing field extending into the composite whose relative permittivity can change by 250% when compressed. As a result, there is no longer any design challenges brought on by the incompressibility of elastomers. Additionally, since compliant electrodes are not required in this configuration, and the electrodes are kept in a single plane on a commercial PCB, the fabrication process is simple. This sensor is convenient to be used as a tactile sensor for either conventional rigid or soft robotic grippers, allowing the safe manipulation of soft and delicate objects.
电容式介电弹性体传感器(DES)因其在拉伸应变下的灵敏度和稳定性而在机器人传感应用中享有盛名。这些传感器依靠几何形状的变化来检测变形。由于DES很薄,它们可以抵抗面外压缩,如果它们粘接在刚性表面上,这就变得更加困难。在这里,我们提出了一种新型的DES,可以检测交错电极(IDEs)之间的条纹场变化。这可以使用电极顶部的压缩敏感硅/炭黑复合材料。ide产生一个延伸到复合材料中的边缘场,压缩后其相对介电常数可变化250%。因此,不再有弹性体的不可压缩性带来的任何设计挑战。此外,由于在这种配置中不需要兼容电极,并且电极保持在商业PCB上的单个平面上,因此制造过程很简单。该传感器可以方便地用作传统刚性或软机器人抓手的触觉传感器,从而可以安全地操作柔软和精致的物体。
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引用次数: 0
Piezoelectric ring-stack actuator design for high-frequency valve 高频阀用压电环叠作动器设计
Sydney A. Giannuzzi, A. M. Rodríguez, Seth P. Pietrowski, Jeffrey L. Kauffman
This paper presents a fundamental non-contact valve design developed by integrating a ring-stack piezoelectric actuator into a converging nozzle design to impart harmonic flow. The paper also outlines the governing equations as well as limiting factors that constrain the design and operating performance. The converging nozzle design achieves choked flow at the valve exit when the nozzle is fully open. Valve actuation centers around piezoelectric ring stacks: the piezoelectric stack is fixed within the valve on one end to the base plate and has a conical nozzle tip attached to the opposite end of the stack. When the stack fully displaces to its maximum length, the nozzle tip is in the closed position where minimal flow passes through the valve exit. The flow area between the nozzle tip and casing wall achieves maximum mass flow rate when the piezoelectric stack is at minimum length. The change in flow cross-sectional area due to the piezoelectric stack displacement generates a change in mass flow rate through the valve. Due to the small-scale displacement of piezoelectric stacks, different angles of the nozzle cone and casing are required to achieve a greater desired mass flow rate. This model is adjustable to accommodate various piezoelectric stack sizes and displacements or to alter the exit mass flow rate to best suit a particular application.
本文提出了一种基本的非接触阀设计,该设计将环叠压电驱动器集成到收敛喷嘴设计中以传递谐波流。本文还概述了控制方程以及制约设计和运行性能的限制因素。当喷嘴完全打开时,会聚喷嘴设计实现了阀门出口的堵塞流动。阀门的驱动以压电环堆为中心:压电堆一端固定在阀门内部的底板上,锥形喷嘴尖端附着在环堆的另一端。当堆完全置换到最大长度时,喷嘴尖端处于关闭位置,通过阀门出口的流量最小。当压电堆长度最小时,喷嘴尖端与机匣壁之间的流动面积达到最大质量流量。由于压电堆位移引起的流动截面积的变化产生了通过阀门的质量流量的变化。由于压电堆的位移较小,为了获得更大的期望质量流量,需要不同的喷嘴锥和机匣角度。该模型可调节,以适应各种压电堆叠尺寸和位移或改变出口质量流量,以最适合特定应用。
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引用次数: 0
A vibro-impact triboelectric energy harvester with magnetic bistability for wide bandwidth 宽带磁双稳振动冲击摩擦电能量采集器
Qais Qaseem, Alwathiqbellah Ibrahim
Energy from mechanical vibrations is prevalent in the ambient, which can be effectively harvested using triboelectric generators. However, the efficiency of the harvesters is limited by the narrow bandwidth. Herein, we propose combining Vibro-impact and magnetic nonlinearity for Polydimethylsiloxane-based triboelectric energy harvesters to extend the operation bandwidth and enhance the efficiency of the traditional triboelectric harvesters. Our harvester design consists of a cantilever beam with a tip magnet facing another fixed magnet at the same polarity, inducing a nonlinear magnetic repulsive force. The lower surface of the tip magnet acts as an upper electrode of a triboelectric harvester, while the lower electrode with attached Polydimethylsiloxane (PDMS) insulator. Under the effect of base excitation, the system can vibrate in monostable or bistable oscillations by varying the distance between the two magnets, causing an impact on the triboelectric electrodes, and an alternative electrical signal is generated at a wide range of frequencies. The harvester’s static and dynamic behaviors are investigated theoretically and experimentally validated at different separation distances between the two magnets. We achieved higher bandwidth by combining Vibro-impact with magnetic nonlinearity, and triboelectric energy harvesters show promising applications for future wireless sensor networks at wider operation frequency bandwidth.
来自机械振动的能量在环境中很普遍,可以使用摩擦发电机有效地收集。然而,收割机的效率受到窄带宽的限制。为此,我们提出将振动冲击和磁非线性结合在聚二甲基硅氧烷摩擦电能量采集器上,以扩大传统摩擦电能量采集器的工作带宽并提高其效率。我们的收割机设计包括一个悬臂梁,其尖端磁铁与另一个相同极性的固定磁铁相对,产生非线性磁排斥力。顶端磁铁的下表面作为摩擦电收割机的上电极,而下电极与附着的聚二甲基硅氧烷(PDMS)绝缘体。在基极激励的作用下,通过改变两个磁体之间的距离,使摩擦电极产生冲击,系统可以在单稳态或双稳态振荡中振动,并在很宽的频率范围内产生替代电信号。研究了两磁体在不同分离距离下的静、动态特性,并进行了实验验证。通过将振动冲击与磁非线性相结合,我们实现了更高的带宽,摩擦电能量采集器在更宽的工作频率带宽下,在未来的无线传感器网络中显示出很好的应用前景。
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引用次数: 0
Advances in autonomous materials and structures 自主材料与结构研究进展
Qianyun Zhang, Amir H. Alavi
The ceaseless quest to realize novel classes of functional materials has provided new road maps to material autonomy. Autonomous materials and structures offer advanced functionalities such as sensing, actuation, selfhealing, communication, and computing to create a sense–decide–respond loop. They have numerous applications in robotics, human-machine interfacing, micro/nano-electromechanical systems, and flexible electronics. During the past decades, tremendous effort has been made to push the development of autonomous materials and structures. This paper presents an overview of the recent progresses, challenges and futures trends in autonomous materials and structures. In the area of material autonomy, active multifunctional metamaterials appear to open enormous field of study. Their scalability is an important feature to create building blocks for multiscale autonomous structures. Thus, this review paper provides an insight into their developments and future trends. The foreseeable challenges are further discussed.
对实现新型功能材料的不断探索为材料自主提供了新的路线图。自主材料和结构提供先进的功能,如传感、驱动、自愈、通信和计算,以创建一个感知-决定-响应循环。它们在机器人、人机接口、微/纳米机电系统和柔性电子领域有许多应用。在过去的几十年里,人们为推动自主材料和结构的发展做出了巨大的努力。本文概述了自主材料和结构的最新进展、挑战和未来趋势。在材料自主领域,活性多功能超材料的出现开辟了广阔的研究领域。它们的可扩展性是创建多尺度自治结构构建块的重要特征。因此,本文综述了它们的发展和未来趋势。进一步讨论了可预见的挑战。
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引用次数: 0
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Smart structures and materials. Nondestructive evaluation for health monitoring and diagnostics
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