Search Results (60)

Soft manipulators have garnered significant research attention in recent years due to their flexibility and adaptability. However, the inherent flexibility of these manipulators imposes limitations on their load-bearing capacity and stability. To address this, this study compares various variable stiffness technologies and proposes a novel design concept: leveraging the phase-change characteristics of low-melting-point alloys (LMPAs) with distinct melting points to fulfill the variable stiffness requirements of soft manipulators. The pneumatic structure of the manipulator is fabricated via 3D-printed molds and silicone casting. The manipulator integrates a pneumatic working chamber, variable stiffness chambers, heating devices, sensors, and a central channel, achieving multi-stage variable stiffness through controlled heating of the LMPAs. A steady-state temperature field distribution model is established based on the integral form of Fourier’s law, complemented by finite element analysis (FEA). Subsequently, the operational temperatures at which the variable stiffness mechanism activates, and the bending performance are experimentally validated. Finally, stiffness characterization and kinematic performance experiments are conducted to evaluate the manipulator’s variable stiffness capabilities and flexibility. This design enables the manipulator to switch among low, medium, and high stiffness levels, balancing flexibility and stability, and provides a new paradigm for the design of soft manipulators. Full article

This paper introduces a novel topology called the dual-path step-down converter with auxiliary switches to minimize voltage stress and enable wide voltage conversion ranges. The proposed dual-path step-down converter with auxiliary switches, which uses an inductor and flying capacitor as power conversion components, helps to reduce the voltage stress on the power switches. By adding auxiliary switches, the proposed topology achieves the same voltage conversion ratio range as that of a conventional buck converter. Additionally, soft-start technology is incorporated to reduce the initial inrush current. Furthermore, this paper introduces a system-level design procedure for DC-DC converters. Designed for low-power applications with lithium-ion (Li-ion) batteries, the proposed converter steps down the battery voltage to 1.2 V. With a 380 nH inductor and a 5 µF output capacitor, the converter attains a peak efficiency of 90% under the conditions of 2.7 V to 1.2 V conversion. Full article

In order to obtain acceptable efficiencies, hard-switching techniques and the converters that implement them must operate at relatively low frequencies (tens of kilohertz), which translate into converters of large size, weight, and volume, and therefore higher cost. To improve these characteristics, this work introduces a new transformerless MHz-range DC–DC converter that provides symmetrical bipolar outputs. The developed topology uses a single grounded switch, achieves soft switching (ZVS) over a wide load range, and does not require the use of floating or isolated controllers, reducing cost, size, and complexity. The output voltages are self-regulated to maintain the same value, ensuring balanced bipolar operation. A comprehensive analysis, design, sizing, simulation, implementation and testing are provided on a 150 W prototype operating at a switching frequency of 1 MHz, with step-up and step-down capability and implemented with GaN FET. The evaluated configuration shows an efficiency close to 90% and high power density, making it suitable for compact designs in a variety of applications requiring reliable power management and high efficiency such as lighting, electric vehicles, or auxiliary power supplies. Full article

This paper presents a novel soft crawling robot controlled by gesture recognition, aimed at enhancing the operability and adaptability of soft robots through natural human–computer interactions. The Leap Motion sensor is employed to capture hand gesture data, and Unreal Engine is used for gesture recognition. Using the UE4Duino, gesture semantics are transmitted to an Arduino control system, enabling direct control over the robot’s movements. For accurate and real-time gesture recognition, we propose a threshold-based method for static gestures and a backpropagation (BP) neural network model for dynamic gestures. In terms of design, the robot utilizes cost-effective thermoplastic polyurethane (TPU) film as the primary pneumatic actuator material. Through a positive and negative pressure switching circuit, the robot’s actuators achieve controllable extension and contraction, allowing for basic movements such as linear motion and directional changes. Experimental results demonstrate that the robot can successfully perform diverse motions under gesture control, highlighting the potential of gesture-based interaction in soft robotics. Full article

To decrease the complexity and increase the efficiency of wireless power transfer (WPT) systems, this paper proposes a novel self-excited invert rectification method for the design of the invert rectifier of the receiver (Rx). The self-excited invert rectifier can perform the self-driving and soft-switching of the MOSFETs as well as the frequency-tracking function without a microcontroller. This allows us to greatly simplify the structure of the invert rectifier and increase the transfer efficiency (TE) of the WPT system. Firstly, a self-excited invert rectifier circuit is designed, and a self-excited invert rectification method is studied. Additionally, the power loss of the self-excited invert rectifier is analyzed. Finally, the self-excited invert rectifier of the WPT experimental system is designed. The self-excited invert rectification method is then verified. The key component parameters of the self-excited invert rectifier are provided and optimized. The TE of the WPT system that includes the self-excited invert rectifier is improved by more than 5% without a microcontroller. The self-excited invert rectifier of the Rx provides a practical solution for decreasing the complexity and increasing the TE of the WPT system. Full article

To enhance stability and reliability, multi-microgrid systems have been developed as replacements for conventional distribution networks. Traditionally, switches have been used to interconnect these microgrids, but this approach often results in uncoordinated power sharing, leading to economic inefficiencies and technical challenges such as voltage fluctuations, delay in response, etc. This research, in turn, introduces a novel multi-microgrid system that utilizes advanced electronic devices known as soft open points (SOPs) to enable effective voltage management and controllable power sharing between microgrids while also providing reactive power support. To account for uncertainties in the system, the two-point estimate method (2PEM) is applied. Simulation results on an IEEE 33-bus network with high renewable energy penetration reveal that the proposed SOP-based system significantly outperforms the traditional switch-based method, with a minimum voltage level of 0.98 p.u., compared to 0.93 p.u. in the conventional approach. These findings demonstrate the advantages of using SOPs for voltage management in forming multi-microgrid systems. Full article

Photovoltaic (PV) modules are often connected in series to achieve the desired voltage level in practical applications. A common issue with this setup is module mismatch, which can be either permanent or temporary and is caused by various factors. The differential power processing (DPP) concept has emerged as a prominent solution to address this problem. However, a significant drawback of current DPP topologies is their reduced performance under certain conditions, particularly in cases of permanent mismatch. As a result, applications involving the DPP concept for permanent mismatches remain underexplored. In this context, the goal of this work is to develop and implement a novel DPP topology capable of increasing energy harvesting in PV systems under permanent mismatch. The proposed hybrid architecture combines features from both bidirectional buck–boost (BBB) and resonant switched capacitor (ReSC) converters. The ReSC converter operates under soft-switching conditions, minimizing undesirable losses. Key advantages of the proposed converter include fewer switches, lower voltage stress, and soft-switching operation, making it suitable for PV systems with mismatched modules. Experimental tests showed an energy harvesting improvement under the assessed conditions. Full article

The geometric shape, symmetry, and topology of colloidal particles often allow for controlling colloidal phase behavior and physical properties of these soft matter systems. In liquid crystalline dispersions, colloidal particles with low symmetry and nontrivial topology of surface confinement are of particular interest, including surfaces shaped as handlebodies, spirals, knots, multi-component links, and so on. These types of colloidal surfaces induce topologically nontrivial three-dimensional director field configurations and topological defects. Director switching by electric fields, laser tweezing of defects, and local photo-thermal melting of the liquid crystal host medium promote transformations among many stable and metastable particle-induced director configurations that can be revealed by means of direct label-free three-dimensional nonlinear optical imaging. The interplay between topologies of colloidal surfaces, director fields, and defects is found to show a number of unexpected features, such as knotting and linking of line defects, often uniquely arising from the nonpolar nature of the nematic director field. This review article highlights fascinating examples of new physical behavior arising from the interplay of nematic molecular order and both chiral symmetry and topology of colloidal inclusions within the nematic host. Furthermore, the article concludes with a brief discussion of how these findings may lay the groundwork for new types of topology-dictated self-assembly in soft condensed matter leading to novel mesostructured composite materials, as well as for experimental insights into the pure-math aspects of low-dimensional topology. Full article

A novel ac/dc LED driver with power factor correction and soft-switching functions is proposed. The circuit topology mainly consists of two modified single-ended primary inductance converters (SEPIC) with interleaved operation. The first half stage of SEPIC operates like a boost converter and the second half stage operates like a buck–boost converter. Each boost converter is designed to operate in discontinuous current mode (DCM) to function as a power factor corrector (PFC). The two buck–boost converters that share a commonly coupled inductor are designed to operate at near boundary conduction mode (BCM). Without using any active clamping circuit, auxiliary switch or snubber circuit, the active switches can achieve zero-voltage switching on, and all diodes achieve zero-current switching off. First, operation modes in steady state are analyzed, and the mathematical equations for design component parameters are derived. Finally, a prototype circuit of 180 W rated power was built and tested. Experimental results show satisfactory performance of the proposed circuit. Full article

This study presents a novel soft-switching inverter distinguished by a simplified topology and an innovative modulation approach. The design aims to optimize the energy conversion processes commonly found in auxiliary snubber circuits. By minimizing the number of auxiliary switches, the control method is streamlined, thereby enhancing system reliability and cost-efficiency. The principles of operation and conditions for soft-switching are thoroughly analyzed using equivalent circuit models. A 3 kW/16 kHz inverter prototype was constructed, and the experimental results confirm the effectiveness and benefits of the proposed inverter. Full article

Shape-shifting polymers are widely used in various fields such as intelligent switches, soft robots and sensors, which require both multiple stimulus-response functions and qualified mechanical strength. In this study, a novel near-infrared-light (NIR)-responsible shape-shifting hydrogel system was designed and fabricated through embedding vinylsilane-modified carbon nanotubes (CNTs) into particle double-network (P-DN) hydrogels by micellar copolymerisation. The dispersed brittle Poly(sodium 2-acrylamido-2-methylpropane-1-sulfonate) (PNaAMPS) network of the microgels can serve as sacrificial bonds to toughen the hydrogels, and the CNTs endow it with NIR photothermal conversion ability. The results show that the CNTs embedded in the P-DN hydrogels present excellent mechanical strength, i.e., a fracture strength of 312 kPa and a fracture strain of 357%. Moreover, an asymmetric bilayer hydrogel, where the active layer contains CNTs, can achieve 0°–110° bending deformation within 10 min under NIR irradiation and can realise complex deformation movement. This study provides a theoretical and experimental basis for the design and manufacture of photoresponsive soft actuators. Full article

The traditional light source of projection lamps adopts a halogen lamp, which has the advantages of high brightness, but its luminous efficiency is not good and consumes energy. A light-emitting diode (LED) has the characteristics of high luminous efficiency and energy savings and can be used as a new light source for projection lamps. The conventional two-stage electronic lighting driver circuit for supplying an LED projection lamp is composed of an AC-DC converter with power factor correction (PFC) as the first stage and a DC-DC converter for providing rated lamp voltage and current as the second stage. The conventional LED projection lamp driver circuit has more circuit components, a higher cost and limited efficiency. Therefore, this paper proposes a novel electronic lighting driver circuit for supplying an LED projection lamp with PFC function, which integrates a modified stacked dual boost converter and a half-bridge LLC resonant converter into a single-stage power-conversion circuit. The inductor inside the modified stacked boost converter is designed to operate at discontinuous conduction mode (DCM) for the driver circuit achieving PFC. Wide bandgap semiconductor devices silicon carbide (SiC)-based Schottky diodes are utilized to reduce power diode losses, and soft switching is implemented in the proposed LED projector lamp driver circuit to reduce the switching losses of the power switches and thus improve circuit efficiency. This paper has completed a single-stage prototype driver circuit for an LED projection lamp with PFC function, and the prototype circuit has a high power factor (PF > 0.98), low input current total-harmonic-distortion (THD < 6%) and high efficiency (>89%) in the case of an AC input power supply with an RMS value of 110 volts, and both power switches have the characteristics of soft switching. Full article

Regulating the load voltage is of major importance for ensuring high transmission efficiency in wireless power transfer (WPT) systems. In this context, this work presents a novel control strategy applied in the dc-ac converter used in the primary side of a WPT system. The performance of a class-DE resonant inverter is investigated considering that such topology presents inherent soft-switching characteristics, thus implying reduced switching losses. The controller relies on an autoregressive with exogenous output (ARX) model based on an adaptive linear neuron (ADALINE) network, which allows for determining the turn-on time of the active switches accurately while providing the system with the ability to adapt to distinct alignment conditions. The performance of the proposed controller is compared with that of a linear controller, which does not prove to be an effective solution if misalignment occurs. Full article

In the current era marked by the growing adoption of renewable energy sources, the use of photovoltaic-powered LED streetlights, known for their enhanced efficiency and extended lifespan, is on the rise. This lighting solution encompasses essential components such as a photovoltaic (PV) panel, an energy storage system, LED luminaires, and a controller responsible for supervising power distribution and system operations. This research introduces a novel approach involving a ZVS (zero-voltage switching) bidirectional boost converter to manage the interaction among the PV panel, LED lights, and battery storage within the system. To elevate system efficiency, a modified version of the conventional bidirectional boost converter is employed, incorporating an auxiliary circuit encompassing a capacitor, inductor, and switch. This configuration enables soft switching in both operational modes. During daytime, the converter operates in the buck mode, accumulating solar energy in the battery. Subsequently, at night, the battery discharges energy to power the LED lights through the converter’s boost operation. In this study, the PET (photo-electro-thermal) theory is harnessed, coupled with insights into heatsink characteristics and the application of a soft-switching bidirectional boost converter. This integrated approach ensures optimal driving of the LED lights at their ideal operating voltage, resulting in the generation of optimal luminous flux. The proposed LED lighting system is thoroughly examined, and theoretical outcomes are validated through simulations using the PSCAD/EMTDC version 4.2.1 software platform. Full article

This paper proposes a solar-powered isolated DC–DC converter for high-power applications. The main aim of this paper is to achieve voltage regulation in the output side of the converter and to integrate a lossless active clamp flyback circuit (LACF) to compensate for the high-voltage issues that arise from one-stage DC–DC converters. Hardware is developed with a power rating of 2 kW to test the performance of the proposed circuit. The circuit is designed using low-voltage devices and features such as soft switching and regeneration due to the LACF, which enhances efficiency. A novel luminous control algorithm is presented to improve the converter performance. The proposed circuit’s performance and feasibility are compared with existing converter parameters, such as the number of components in the circuit, voltage rating, and regeneration. Full article