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Dai H, Zhang C, Hu H, Hu Z, Sun H, Liu K, Li T, Fu J, Zhao P, Yang H. Biomimetic Hydrodynamic Sensor with Whisker Array Architecture and Multidirectional Perception Ability. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2024:e2405276. [PMID: 39119873 DOI: 10.1002/advs.202405276] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/14/2024] [Revised: 07/16/2024] [Indexed: 08/10/2024]
Abstract
The rapid development of ocean exploration and underwater robot technology has put forward new requirements for underwater sensing methods, which can be used for hydrodynamic characteristics perception, underwater target tracking, and even underwater cluster communication. Here, inspired by the specialized undulated surface structure of the seal whisker and its ability to suppress vortex-induced vibration, a multidirectional hydrodynamic sensor based on biomimetic whisker array structure and magnetic 3D self-decoupling theory is introduced. The magnetic-based sensing method enables wireless connectivity between the magnetic functional structures and electronics, simplifying device design and endowing complete watertightness. The 3D self-decoupling capability enables the sensor, like a seal or other organisms, to perceive arbitrary whisker motions caused by the action of water flow without complex calibration and additional sensing units. The whisker sensor is capable of detecting a variety of hydrodynamic information, including the velocity (RMSE < 0.061 m s-1) and direction of the steady flow field, the frequency (error < 0.05 Hz) of the dynamic vortex wake, and the orientation (error < 7°) of the vortex wake source, demonstrating its extensive potential for underwater environmental perception and communication, especially in deep sea conditions.
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Affiliation(s)
- Huangzhe Dai
- The State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China
- The Key Laboratory of 3D Printing Process and Equipment of Zhejiang Province, College of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Chengqian Zhang
- The State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China
| | - Hao Hu
- The State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China
- The Key Laboratory of 3D Printing Process and Equipment of Zhejiang Province, College of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Zhezai Hu
- The State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China
- The Key Laboratory of 3D Printing Process and Equipment of Zhejiang Province, College of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Haonan Sun
- The State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China
- The Key Laboratory of 3D Printing Process and Equipment of Zhejiang Province, College of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Kan Liu
- The State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China
| | - Tiefeng Li
- The State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China
- Center for X-Mechanics, Department of Engineering Mechanics, Zhejiang University, Hangzhou, 310027, China
| | - Jianzhong Fu
- The State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China
- The Key Laboratory of 3D Printing Process and Equipment of Zhejiang Province, College of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Peng Zhao
- The State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China
- The Key Laboratory of 3D Printing Process and Equipment of Zhejiang Province, College of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Huayong Yang
- The State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China
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Zhao J, Zhou J, Zhang L, Sun J. State Space Representation of Jiles-Atherton Hysteresis Model and Application for Closed-Loop Control. MATERIALS (BASEL, SWITZERLAND) 2024; 17:3695. [PMID: 39124358 PMCID: PMC11313527 DOI: 10.3390/ma17153695] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/27/2024] [Revised: 07/22/2024] [Accepted: 07/24/2024] [Indexed: 08/12/2024]
Abstract
Hysteresis is a fundamental characteristic of magnetic materials. The Jiles-Atherton (J-A) hysteresis model, which is known for its few parameters and clear physical interpretations, has been widely employed in simulating hysteresis characteristics. To better analyze and compute hysteresis behavior, this study established a state space representation based on the primitive J-A model. First, based on the five fundamental equations of the J-A model, a state space representation was established through variable substitution and simplification. Furthermore, to address the singularity problem at zero crossings, local linearization was obtained through an approximation method based on the actual physical properties. Based on these, the state space model was implemented using the S-function. To validate the effectiveness of the state space model, the hysteresis loops were obtained through COMSOL finite element software and tested on a permalloy toroidal sample. The particle swarm optimization (PSO) method was used for parameter identification of the state space model, and the identification results show excellent agreement with the simulation and test results. Finally, a closed-loop control system was constructed based on the state space model, and trajectory tracking experiments were conducted. The results verify the feasibility of the state space representation of the J-A model, which holds significant practical implications in the development of magnetically shielded rooms, the suppression of magnetic interference in cold atom clocks, and various other applications.
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Affiliation(s)
- Jiye Zhao
- School of Instrumentation Science and Optoelectronics Engineering, Beihang University, Beijing 100191, China;
- Hangzhou Institute of National Extremely-Weak Magnetic Field Infrastructure, Hangzhou 310028, China
| | - Jiqiang Zhou
- Key Laboratory of Ultra-Weak Magnetic Field Measurement Technology, Ministry of Education, Beihang University, Beijing 100191, China;
- Zhejiang Provincial Key Laboratory of Ultra-Weak Magnetic-Field Space and Applied Technology, Hangzhou Innovation Institute, Beihang University, Hangzhou 310051, China
| | - Lu Zhang
- School of Instrumentation Science and Optoelectronics Engineering, Beihang University, Beijing 100191, China;
- Key Laboratory of Ultra-Weak Magnetic Field Measurement Technology, Ministry of Education, Beihang University, Beijing 100191, China;
- Zhejiang Provincial Key Laboratory of Ultra-Weak Magnetic-Field Space and Applied Technology, Hangzhou Innovation Institute, Beihang University, Hangzhou 310051, China
| | - Jinji Sun
- School of Instrumentation Science and Optoelectronics Engineering, Beihang University, Beijing 100191, China;
- Key Laboratory of Ultra-Weak Magnetic Field Measurement Technology, Ministry of Education, Beihang University, Beijing 100191, China;
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Yuan J, Gao X, Xie M, Shi Z, Cao Z, Wang Y. Optical proximity sensors using multiple quantum well didoes. OPTICS EXPRESS 2024; 32:13955-13964. [PMID: 38859353 DOI: 10.1364/oe.522548] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/28/2024] [Accepted: 03/25/2024] [Indexed: 06/12/2024]
Abstract
InGaN/GaN multiple quantum well (MQW) diodes perform multiple functions, such as optical emission, modulation and reception. In particular, the partially overlapping spectral region between the electroluminescence (EL) and responsivity spectra of each diode results in each diode being able to sense light from another diode of the same MQW structure. Here, we present a noncontact, optical proximity sensing system by integrating an MQW-based light transmitter and detector into a tiny GaN-on-sapphire chip. Changes in the external environment modulate the light emitted from the transmitter. Reflected light is received by the on-chip MQW detector, wherein the carried external modulation information is converted into electrical signals that can be extracted. The maximum detection proximity is approximately 17 mm, and the displacement detection accuracy is within 1 mm. Based on the detection of distance, we extend the application of the sensor to vibration and pressure detection. This monolithic integration design can replace external discrete light transmitter and detector systems to miniaturize reflective sensor architectures, enabling the development of novel optical sensors.
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Man J, Jin Z, Chen J. Magnetic Tactile Sensor with Bionic Hair Array for Sliding Sensing and Object Recognition. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2024; 11:e2306832. [PMID: 38236170 DOI: 10.1002/advs.202306832] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/18/2023] [Revised: 01/09/2024] [Indexed: 01/19/2024]
Abstract
Due to the high application value in intelligent robots, tactile sensors with large sensing area and multi-dimensional sensing ability have attracted the attention of researchers in recent years. Inspired by bionics of hairs on human skin, a flexible tactile sensor based on magnetic cilia array is developed, showing extremely high sensitivity and stability. The upper layers of the sensor are multiple magnetic cilia containing magnetic particles, while the lower layer is a serpentine flexible circuit board with a magnetic sensor array. When magnetic cilia are bent under force, the magnetic sensor array can detect changes in the magnetic field, thereby the magnitude and direction of external force can be obtained. The proposed sensor has a resolution of 0.2 mN with a working range of 0-19.5 mN and can distinguish the direction of external force. The large sensing area and short response time make this sensor suitable for sliding tactile detection, and experiments show that the sensor can be also applied in object recognition with a success accuracy of 97%. In addition to the shape of objects, the sensor can identify whether there is magnetism inside objects, making it of significant value in intelligent robots and modern medicine.
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Affiliation(s)
- Jiandong Man
- State Key Laboratory of Transducer Technology, Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing, 100190, P. R. China
- School of Electronic, Electrical and Communication Engineering, University of Chinese Academy of Sciences, Beijing, 100049, P. R. China
| | - Zhenhu Jin
- State Key Laboratory of Transducer Technology, Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing, 100190, P. R. China
| | - Jiamin Chen
- State Key Laboratory of Transducer Technology, Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing, 100190, P. R. China
- School of Electronic, Electrical and Communication Engineering, University of Chinese Academy of Sciences, Beijing, 100049, P. R. China
- College of Materials Sciences and Opto-Electronic Technology, University of Chinese Academy of Sciences, Beijing, 100049, P. R. China
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Dai H, Zhang C, Pan C, Hu H, Ji K, Sun H, Lyu C, Tang D, Li T, Fu J, Zhao P. Split-Type Magnetic Soft Tactile Sensor with 3D Force Decoupling. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2310145. [PMID: 38016424 DOI: 10.1002/adma.202310145] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/30/2023] [Revised: 11/15/2023] [Indexed: 11/30/2023]
Abstract
Tactile sensory organs for sensing 3D force, such as human skin and fish lateral lines, are indispensable for organisms. With their sensory properties enhanced by layered structures, typical sensory organs can achieve excellent perception as well as protection under frequent mechanical contact. Here, inspired by these layered structures, a split-type magnetic soft tactile sensor with wireless 3D force sensing and a high accuracy (1.33%) fabricated by developing a centripetal magnetization arrangement and theoretical decoupling model is introduced. The 3D force decoupling capability enables it to achieve a perception close to that of human skin in multiple dimensions without complex calibration. Benefiting from the 3D force decoupling capability and split design with a long effective distance (>20 mm), several sensors are assembled in air and water to achieve delicate robotic operation and water flow-based navigation with an offset <1.03%, illustrating the extensive potential of magnetic tactile sensors in flexible electronics, human-machine interactions, and bionic robots.
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Affiliation(s)
- Huangzhe Dai
- The State Key Laboratory of Fluid Power and Mechatronic Systems, College of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
- The Key Laboratory of 3D Printing Process and Equipment of Zhejiang Province, College of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Chengqian Zhang
- The State Key Laboratory of Fluid Power and Mechatronic Systems, College of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
- Center for X-Mechanics, Department of Engineering Mechanics, Zhejiang University, Hangzhou, 310027, China
| | - Chengfeng Pan
- The State Key Laboratory of Fluid Power and Mechatronic Systems, College of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
- The Key Laboratory of 3D Printing Process and Equipment of Zhejiang Province, College of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Hao Hu
- The State Key Laboratory of Fluid Power and Mechatronic Systems, College of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
- The Key Laboratory of 3D Printing Process and Equipment of Zhejiang Province, College of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Kaipeng Ji
- The State Key Laboratory of Fluid Power and Mechatronic Systems, College of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
- The Key Laboratory of 3D Printing Process and Equipment of Zhejiang Province, College of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Haonan Sun
- The State Key Laboratory of Fluid Power and Mechatronic Systems, College of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
- The Key Laboratory of 3D Printing Process and Equipment of Zhejiang Province, College of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Chenxin Lyu
- The State Key Laboratory of Fluid Power and Mechatronic Systems, College of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
- The Key Laboratory of 3D Printing Process and Equipment of Zhejiang Province, College of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Daofan Tang
- The State Key Laboratory of Fluid Power and Mechatronic Systems, College of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
- The Key Laboratory of 3D Printing Process and Equipment of Zhejiang Province, College of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Tiefeng Li
- The State Key Laboratory of Fluid Power and Mechatronic Systems, College of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
- Center for X-Mechanics, Department of Engineering Mechanics, Zhejiang University, Hangzhou, 310027, China
| | - Jianzhong Fu
- The State Key Laboratory of Fluid Power and Mechatronic Systems, College of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
- The Key Laboratory of 3D Printing Process and Equipment of Zhejiang Province, College of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Peng Zhao
- The State Key Laboratory of Fluid Power and Mechatronic Systems, College of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
- The Key Laboratory of 3D Printing Process and Equipment of Zhejiang Province, College of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
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Bica I, Iacobescu GE. Composites Based on Cotton Microfibers Impregnated with Magnetic Liquid for Magneto-Tactile Sensors. MATERIALS (BASEL, SWITZERLAND) 2023; 16:3222. [PMID: 37110059 PMCID: PMC10142589 DOI: 10.3390/ma16083222] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 03/29/2023] [Revised: 04/14/2023] [Accepted: 04/17/2023] [Indexed: 06/19/2023]
Abstract
In this paper, we report the preparation of two new composite materials based on cotton fibers and magnetic liquid consisting of magnetite nanoparticles and light mineral oil. Using the composites and two simple textolite plates plated with copper foil assembled with self-adhesive tape, electrical devices are manufactured. By using an original experimental setup, we measured the electrical capacitance and the loss tangent in a medium-frequency electric field superimposed on a magnetic field. We found that in the presence of the magnetic field, the electrical capacity and the electrical resistance of the device change significantly with the increase of the magnetic field, then, the electrical device is suitable to be used as a magnetic sensor. Furthermore, the electrical response functions of the sensor, for fixed values of the magnetic flux density, change linearly with the increase in the value of the mechanical deformation stress, which gives it a tactile function. When applying mechanical stresses of fixed values, by increasing the value of the magnetic flux density, the capacitive and resistive functions of the electrical device change significantly. So, by using the external magnetic field, the sensitivity of the magneto-tactile sensor increases, therefore the electrical response of this device can be amplified in the case of low values of mechanical tension. This makes the new composites promising candidates for the fabrication of magneto-tactile sensors.
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Affiliation(s)
- Ioan Bica
- Advanced Environmental Research Institute, West University of Timisoara, Bd. V. Parvan, Nr. 4, 300223 Timisoara, Romania;
- Department of Physics, University of Craiova, Str. A. I. Cuza, Nr. 13, 200585 Craiova, Romania
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