Search Results (656)

This paper proposes an energy-efficient current control strategy for drive modules of permanent magnetic actuators (PMAs) to reduce the cost and volume of DC-link capacitors. The drive module of the PMA does not receive the input power from an external power source during operation. Instead, the externally charged DC-link capacitors are used as internal backup power sources to guarantee the reliable operation even in the case of an emergency. Therefore, it is important to use the charged energy efficiently within the limited DC-link capacitors. However, conventional control strategies using a voltage open loop have trouble reducing the energy waste. This is because the drive module with the voltage open loop uses unnecessary energy even after the PMA mover has finished its movement. To figure it out, the proposed control strategy adopts a current control loop to save energy even if the displacement of the PMA mover is unknown. In addition, the proposed strategy can ensure the successful operation of the PMA by using the driving force analysis. The efficacy of the proposed strategy is verified through the experimental test. It would be expected that the proposed strategy can reduce the cost and volume of the PMA drive system. Full article

In this paper, a robust optimized controller is implemented in the photovoltaic generator system (PVGS). The PVGS is composed of individual photovoltaic (PV) cells, which convert solar energy to electrical energy. To optimize the efficiency of the PVGS under variable solar irradiance and temperatures, a maximum power point tracking (MPPT) controller is necessary. Additionally, the PVGS output voltage is typically low for many applications. To achieve the MPPT and to gain the output voltage, an increasing boost converter (IBC) is employed. Then, two issues should be considered in MPPT. At first, a smooth control signal for adjusting the duty cycle of the IBC is important. Another critical issue is the PVGS and IBC unknown sections, i.e., the total system uncertainty. Therefore, to address the system uncertainties and to regulate the smooth duty cycle of the converter, a robust dynamic sliding mode control (DSMC) is proposed. In DSMC, a low-pass integrator is placed before the system to suppress chattering and to produce a smooth actuator signal. However, this integrator increases the system states, and hence, a sliding mode observer (SMO) is proposed to estimate this additional state. The stability of the proposed control scheme is demonstrated using the Lyapunov theory. Finally, to demonstrate the effectiveness of the proposed method and provide a reliable comparison, conventional sliding mode control (CSMC) with the same proposed SMO is also implemented. Full article

Two-dimensional (2D) materials have been proposed for use in a multitude of applications, with graphene being one of the most well-known 2D materials. Despite their potential to contribute to innovative solutions, the fabrication of such devices still faces significant challenges. One of the key challenges is the fabrication at a wafer-level scale, a fundamental step for allowing reliable and reproducible fabrication of a large volume of devices with predictable properties. Overcoming this barrier will allow further integration with sensors and actuators, as well as enabling the fabrication of complex circuits based on 2D materials. This work presents the fabrication steps for a process that allows the on-wafer fabrication of active and passive radiofrequency (RF) devices enabled by graphene. Two fabrication processes are presented. In the first one, graphene is transferred to a back gate surface using critical point drying to prevent cracks in the graphene. In the second process, graphene is transferred to a flat surface planarized by ion milling, with the gate being buried beneath the graphene. The fabrication employs a damascene-like process, ensuring a flat surface that preserves the graphene lattice. RF transistors, passive RF components, and antennas designed for backscatter applications are fabricated and measured, illustrating the versatility and potential of the proposed method for 2D material-based RF devices. The integration of graphene on devices is also demonstrated in an antenna. This aimed to demonstrate that graphene can also be used as a passive device. Through this device, it is possible to measure different backscatter responses according to the applied graphene gating voltage, demonstrating the possibility of wireless sensor development. With the proposed fabrication processes, a flat graphene with good quality is achieved, leading to the fabrication of RF active devices (graphene transistors) with intrinsic f_T and f_max of 14 GHz and 80 GHz, respectively. Excellent yield and reproducibility are achieved through these methods. Furthermore, since the graphene membranes are grown by Chemical Vapor Deposition (CVD), it is expected that this process can also be applied to other 2D materials. Full article

Lead zirconate titanate (PZT) piezoelectric ceramics are widely used functional materials due to their strong and stable piezoelectric properties. A leveling method based on lead zirconate titanate piezoelectric ceramics is proposed for the high level of accuracy required in microelectromechanical fields such as aerospace, industrial robotics, biomedical, and photolithography. A leveling mechanism consisting of core components such as piezoelectric ceramic actuators and sensors is designed. The closed-loop leveling of the working platform is performed using the electromechanical coupling effect of the PZT piezoelectric material. Combined with the theory of the dielectric inverse piezoelectric effect in electric fields, a simulation is used to analyze the four force and deformation cases generated by the drive legs when the load is attached at different positions of the working platform, and the leveling is realized by applying the drive voltage to generate micro-motion displacement. Simulation and calculation results show that the leveling method can reduce the tilt angle of the working platform by 60% when the driving voltage is in the range of 10~150 V. The feasibility of the leveling method and the uniformity of the theoretical calculation and simulation are verified. Full article

This paper presents a modeling framework for hysteretically nonlinear piezoelectric composite beams using functional differential equations (FDEs). While linear piezoelectric models are well established, they fail to capture the complex nonlinear behaviors that emerge at higher electric field strengths, particularly history-dependent hysteresis effects. This paper develops a cascade model that integrates a high-dimensional linear piezoelectric composite beam representation with a nonlinear Krasnosel’skii–Pokrovskii (KP) hysteresis operator. The resulting system is formulated using a state-space model where the input voltage undergoes a history-dependent transformation. Through modal expansion and discretization of the Preisach plane, we derive a tractable numerical implementation that preserves essential nonlinear phenomena. Numerical investigations demonstrate how system parameters, including the input voltage amplitude, and hysteresis parameters significantly influence the dynamic response, particularly the shape and amplitude of limit cycles. The results reveal that while the model accurately captures memory-dependent nonlinearities, it depends on numerous real and distributed parameters, highlighting the need for efficient reduced-order modeling approaches. This work provides a foundation for understanding and predicting the complex behavior of piezoelectric systems with hysteresis, with potential applications in vibration control, energy harvesting, and precision actuation. Full article

An active rotor with trailing edge flaps (TEFs) is an effective method for helicopter vibration elimination. The nonlinear hysteresis of piezoelectric actuators used to drive TEFs can adversely affect helicopter vibration control performance. In this paper, a hysteresis modeling and compensation study is performed for piezoelectric actuators used in TEFs. Firstly, the hysteresis characteristics of a rhombic frame actuator with input voltages at different frequencies are investigated by bench-top tests. Subsequently, the Bouc–Wen model is adopted to establish the hysteresis model of the piezoelectric actuator, with its parameters identified through the particle swarm optimization (PSO) algorithm. Experimental results demonstrate that the proposed model is capable of accurately capturing the hysteresis phenomenon of the piezoelectric actuator within the frequency range of 10–60 Hz. Finally, a compound control regime is established by integrating inverse Bouc–Wen model control with fuzzy PID feedback control. The experimental results indicate that the developed compound control regime can significantly suppress the piezoelectric actuator hysteresis of TEFs within the frequency bandwidth of 10–60 Hz, which lays the foundation for improving the vibration control performance of the active rotor with TEFs in the future. Full article

Adopting mobile robots for high voltage (HV) live-line operations can mitigate personnel casualties and enhance operational efficiency. However, conventional mechanical arms cannot inspect concealed spaces in the power cable tunnel because their joint integrates metallic motors or hydraulic serial-drive mechanisms, which limit the arm’s length and insulation performance. Therefore, this study proposes a 7-degree-of-freedom (7-DOF) bionic mechanical arm with rigid-flexible coupling, mimicking human arm joints (shoulder, elbow, and wrist) designed for HV live-line operations in concealed cable tunnels. The arm employs a tendon-driven mechanism to remotely actuate joints, analogous to human musculoskeletal dynamics, thereby physically isolating conductive components (e.g., motors) from the mechanical arm. The arm’s structure utilizes dielectric materials and insulation-optimized geometries to reduce peak electric field intensity and increase creepage distance, achieving intrinsic self-insulation. Furthermore, the mechanical design addresses challenges posed by concealed spaces (e.g., shield tunnels and multi-circuit cable layouts) through the analysis of joint kinematics, drive mechanisms, and dielectric performance. The workspace of the proposed arm is an oblate ellipsoid with minor and major axes measuring 1.25 m and 1.65 m, respectively, covering the concealed space in the cable tunnel, while the arm’s quality is 4.7 kg. The maximum electric field intensity is 74.3 kV/m under 220 kV operating voltage. The field value is less than the air breakdown threshold. The proposed mechanical arm design significantly improves spatial adaptability, operational efficiency, and reliability in HV live-line inspection, offering theoretical and practical advancements for intelligent maintenance in cable tunnel environments. Full article

This study presents the design and experimental testing of a two-degrees-of-freedom (2DOF) elbow prosthesis prototype designed to replicate the movement patterns of a native or normal human elbow. Two methods of the control of the prosthesis, namely, the proportional–integral–derivative method (PID; a well-established method) and a combination of sliding mode control with a time base generator strategy (SMC + TBG; an advanced method), were compared on the basis of various performance metrics of the prosthesis, as obtained in laboratory tests. Among these metrics were the angular displacement and velocity as a function of time. The mechanical design combined 3D-printed components with custom-designed joints, featuring a worm gear transmission with a crown gear for flexion–extension, enhanced by torsional springs, and a pinion gear with a crown gear for pronation–supination and control. Sensors for voltage and current data acquisition enabled real-time monitoring and control. The prosthesis was tested in the laboratory with a range of motion of 100–120° for flexion–extension, 50° for supination, and 75° for pronation, demonstrating the adaptability of the actuators and validating their autonomy through battery-powered operation. The results showed that control using SMC + TBG resulted in biomimetic patterns for angular displacement and angular velocity of the prosthesis, whereas control using PID did not. Thus, the prosthesis with control provided using an SMC + TBG strategy may have been promised for use by people who have undergone transhumeral amputation. Full article

The creation of quick-reacting electrically conductive polymers for use as actuators driven by low electrical currents is now seen as an important issue. Enhancing the electrical conductivity of hydrogels through the incorporation of conductive fillers, like salts, can reduce the necessary actuating voltage. However, several important questions arise about how the type of salt chosen and its concentration will affect not only the activation efficiency of the actuators but also the structure of the hydrogels utilized. In this study, to enhance the electrical conductivity of the hydrogel and lower the necessary activation voltage of the hydrogel actuators, lithium chloride (LiCl) and sodium chloride (NaCl) were incorporated as conductive fillers into the polyvinyl alcohol (PVA) polymer matrix. To determine the deformation of actuators, as well as the activation and relaxation times and efficiencies during activation, linear actuators capable of being activated through extension/contraction (swelling/shrinking) cycles were developed and examined based on the LiCl/NaCl content, applied voltage, and frequency. The main finding is that the required actuating voltage was lowered by up to 20 V by adding an equal mass of salt in relation to the PVA mass content. With a load of around 20 kPa, it was observed that the extension deformation for PVA/NaCl-based actuators can achieve 75%, while in contraction deformation, can reach 17%. Additionally, for the PVA/LiCl-based actuators, the extension deformation can reach 87%, while during contraction deformation, it can reach 22%. The degree of swelling in the PVA/NaCl hydrogels was generally less than that in the PVA/LiCl hydrogels, which was associated with the finding that the actuators prepared from PVA/NaCl hydrogels delivered an output that was 10–15% lower than those made from PVA/LiCl hydrogels across different testing cycles. Furthermore, adding salt increases the degree of crosslinking, which can explain why increased crosslinking leads to reduced deformation when exposed to AC voltage. These actuators can find extensive use in soft robotics, artificial muscles, medical applications, and aerospace industries. Full article

This study presents a bioinspired phase-change transparent flexible heater (PTFH) for programmable droplet manipulation under ultralow voltage. By embedding a self-junctioned copper nanowire network into paraffin-infused, porous PVDF-HFP gel matrices, the PTFH achieves rapid, non-contact, and reversible control of microdroplet mobility. The PTFH can be bent or tailored into diverse shapes (e.g., V/X configurations), enabling multidirectional droplet transport. Under ultralow voltage actuation (<1 V), the surface of PTFH melts the phase-change lubricant within 2 s, switching surface wettability from high adhesion (Wenzel state) to low adhesion (SLIPS state). By combining Laplace pressure and temperature gradients (up to 22 °C/mm), drive droplets at ~2.0 mm/s over distances of ~13.9 mm. Programmable droplet coalescence, curved-surface transport, and a microreactor design for batch reactions were also demonstrated. The PTFH exhibits excellent transparency (89% when activated), mechanical flexibility, and cyclic stability, offering a versatile platform for microreactors, microengines, and smart windows. Full article

Piezoelectric polymer composites, particularly polyvinylidene fluoride (PVDF) blended with barium titanate (BT), show promise for wearable technologies as both energy harvesters and haptic actuators. However, these composites typically exhibit limited electromechanical coupling and insufficient β-phase formation. This study presents a novel approach using ionic liquids (ILs) to enhance PVDF-based piezoelectric composite performance. Through solution-casting methods, we examined the effect of IL concentration on the structural, mechanical, and piezoelectric properties of PVDF/BT composites. Results demonstrate that the use of IL significantly improves β-phase crystallization in PVDF while enhancing electrical properties and mechanical flexibility, which are key requirements for effective energy harvesting and haptic feedback applications. The optimized composites show a 25% increase in β-phase content, enhanced flexibility, and a 100% improvement in piezoelectric voltage output compared to other more conventional PVDF/BT systems. The IL-modified composite exhibits superior piezoelectric response, generating an output voltage of 9 V and an output power of 40.1 µW under mechanical excitation and a displacement of 138 nm when subjected to 13 V peak-to-peak voltage, making it particularly suitable for haptic interfaces. These findings establish a pathway toward high-performance, flexible piezoelectric materials for multifunctional wearable applications in human–machine interfaces. Full article

Under low-temperature conditions, the load-bearing capacity of piezoelectric stacks arises from coupled thermo-electro-mechanical interactions, with temperature fluctuations, compressive prestress, and excitation voltage critically modulating performance. This study introduces an integrated measurement platform to systematically quantify these interdependencies, employing a cantilever-based sensing mechanism where bending strain serves as a direct metric of load-bearing capacity. A particle swarm-optimized theoretical framework guides the spatial configuration of actuators and sensors, maximizing strain signal fidelity while suppressing noise interference. Experimental characterization reveals three key findings: 1. Voltage-dependent linear enhancement of load-bearing capacity across all operational regimes, unaffected by thermal or mechanical variations; 2. Prestress-induced amplification (79–90% increase from 0 to 6 MPa) and thermally driven attenuation (15–30% reduction from 20 to −70 °C) of static performance; 3. Frequency-dependent degradation (1–6 Hz) in dynamic load-bearing capacity. The methodology establishes a robust foundation for designing multiphysics-compatible instrumentation systems, enabling precise evaluation of smart material behavior under extreme coupled-field conditions. Full article

As a soft actuator for fish robots, an oblique cone dielectric elastomer actuator (DEA) module inspired by the structure of white muscles in fish was proposed in the authors’ previous study. However, a mathematical model of an oblique cone DEA was not established, and designing a drive module that took into account its driving characteristics and passivity for integration into a fish robot remained a challenge. The purpose of this paper is to develop a vertebrate fish robot using multiple oblique cone DEA modules to achieve fish-like bending capability. First, an oblique cone DEA module was modeled for the design of a fish robot. The relationships among bending angle, blocking torque, driving voltage, and design parameters were established and confirmed by comparing the calculated and experimental results. Based on the modeling results, we designed an oblique cone DEA module-connected vertebrate fish robot. Finally, the experimental results of the fabricated fish robot demonstrated that the model-based design enabled flexible body swinging and swimming through a multiple-module-connected vertebrate structure. Full article

Interface debonding between high-strength grouting materials and the inner surfaces of steel tubes in grouting jacket connections (GJCs), which have been widely employed in offshore wind turbine support structures, negatively affects their mechanical behavior. In this study, an interface debonding defect detection and localization approach for scaled underwater GJC specimens using surface wave measurements with piezoelectric lead zirconate titanate (PZT) actuation and sensing technology was validated experimentally. Firstly, GJC specimens with artificially mimicked interface debonding defects of varying dimensions were designed and fabricated in the lab, and the specimens were immersed in water to replicate the actual underwater working environment of GJCs in offshore wind turbine structures. Secondly, to verify the feasibility of the proposed interface debonding detection approach using surface wave measurements, the influence of the height and circumferential dimension of the debonding defects on the output voltage signal of PZT sensors was systematically studied experimentally using a one pitch and one catch (OPOC) configuration. Thirdly, a one pitch and multiple catch (OPMC) configuration was further employed to localize and visualize the debonding defect regions. An abnormal value analysis was carried out on the amplitude of the output voltage signals from PZT sensors with identical wave traveling paths, and the corresponding abnormal surface wave propagation paths were identified. Finally, based on the influence of interface debonding on the surface wave measurements mentioned above, the mimicked interface debonding defect was detected successfully and the region of debonding was determined with the intersection of the identified abnormal wave travelling paths. The results showed that the mimicked debonding defect can be visualized. The feasibility of this method for interface debonding defect detection in underwater GJCs was confirmed experimentally. The proposed approach provides a novel non-destructive debonding defect detection approach for the GJCs in offshore wind turbine structures. Full article

Electrothermal actuators, with their simple structure, small size, strong anti-interference ability, and easy integration, have emerged as a promising solution for micro-drive technology. However, deploying them in extreme environments, such as the fuze systems—which demand exceptional reliability under high mechanical overloads. In this study, a device based on multi-electrothermal co-actuation is designed for the fuze system of loitering munition. The overall structure and work principle of the multi-electrothermal co-actuation device is discussed. Considering application environments, the effect factors of V-beam numbers, air gap, type of contact surface, external load force, periodic voltage and gas damping on the output performance of the multi-electrothermal co-actuation device are systematically addressed via simulation and experimental method. Furthermore, the high overload resistance performance of the co-actuation device applied in loitering munition is studied. The results show that the proposed multi-electrothermal co-actuation device could operate stably under a high overload (12,000 g/73.79 μs) environment, fully meeting the demanding requirements of fuze system for loitering munition. In addition, this study identifies laser processing-induced thermal gradients and mechanical stresses as critical fabrication challenges. This study provides significant insights into the design and optimization of multi-electrothermal actuation systems for next-generation fuze applications, establishing a valuable framework for future development in this field. Full article