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This paper proposes a novel micro-electromechanical system (MEMS) piezoresistive pressure sensor with a four-petal membrane combined with narrow beams and a center boss (PMNBCB) for low-pressure measurements. The stresses induced in the piezoresistors and deflection of the membrane were calculated using the finite element method (FEM). The functions of the relationship between the dimension variables and mechanical performance were determined based on the curve fitting method, which can provide an approach for geometry optimization of the sensor. In addition, the values in the equations were varied to determine the optimal dimensions for the proposed membrane. Then, to further improve the sensitivity of the sensor, a series of rectangular grooves was created at the position of the piezoresistors. The proposed diaphragm was compared to existing diaphragms, and a considerable increase in the sensitivity and a considerable decrease in nonlinearity error could be achieved by using the proposed sensor. The simulation results suggest that the sensor with the PMNBCB structure obtained a high sensitivity of 34.67 mV/kPa and a low nonlinearity error of 0.23% full-scale span (FSS) for the pressure range of 0–5 kPa. The proposed sensor structure is a suitable selection for MEMS piezoresistive pressure sensors.

Dual-loop control enhances the bandwidth of piezo-actuated nanopositioning systems via inner-loop state feedback controller suppressing lightly damped resonance and outer-loop tracking controller eliminating hysteresis nonlinearity. However, the traditional framework based on the continuous-time low-order model suffers from control performance degradation. To address this issue, this paper proposes a dual-loop control framework based on the discrete-time high-order model. In this framework, the discrete-time linear quadratic regulator extends theoretical bandwidth through simultaneous parameter optimization, and direct discrete implementation of the high-order state feedback controller and an integrator improves control precision by reducing model mismatch and controller discretization errors. Experiments are conducted on a custom-designed piezo-actuated system. Experimental frequency response of the system with the developed framework agrees well with the theoretical one, and the actual bandwidth is improved to 8248 Hz, which is better than 3920 Hz (continuous-time high-order model) and 6610 Hz (discrete-time low-order model), and exceeds open-loop resonant frequency 6352 Hz. Step response and trajectory tracking tests also demonstrate the effectiveness of the developed framework.

This paper presents a 213-line MATLAB code for topology optimization of geometrically nonlinear structures. It is developed based on the density method. The code adopts the ANSYS parametric design language (APDL) that provides convenient access to advanced finite element analysis (FEA). An additive hyperelasticity technique is employed to circumvent numerical difficulties in solving the material density-based topology optimization of elastic structures undergoing large displacements. The sensitivity information is obtained by extracting the increment of the element strain energy. The validity of the code is demonstrated by the minimum compliance problem and the compliant inverter problem.

Improving the functionality of soft continuum manipulators to expand their application space has always been an important development direction for soft robotics. It remains very challenging to calculate the deformations of soft materials and predict the basic structure of soft fingers under complex objective functions and constraints. This work develops a cable-driven soft robotic gripper with multi-input and multi-output using topology optimization considering geometric nonlinearity, which not only performs adaptive grasping but also enables finer manipulations such as rotating or panning the target. A scheme that can describe adaptive grasping behavior is proposed, which converts the contact between the clamping surface and the object into a boundary condition to circumvent complex contact nonlinearities. An additive hyperelasticity technique is used to overcome numerical instabilities, and the finite element analysis is performed in ANSYS. Numerical simulations and experimental results are performed to demonstrate the effectiveness of the optimization algorithm and to illustrate the application potential of the proposed gripper.

A novel design concept for buckling-induced mechanical metamaterials for energy absorption is presented. The force-displacement curves of the mechanical metamaterials are analyzed according to the curves of their unit cells, and the energy-absorbing characteristics of mechanical metamaterials are evaluated. Two topology optimization models are proposed. One maximizes the buckling-induced dissipated energy to facilitate the design of metamaterials with high energy absorption and low elastic strain energy. The other maximizes the dissipated energy with a constraint that the mechanical metamaterials should be self-recoverable. An energy interpolation scheme is employed to avoid numerical instabilities in the geometric nonlinear finite element analysis. A two-phase algorithm is proposed to find the optimized result from a uniform initial guess, and sensitivity analysis is performed. The optimized design has a larger amount of buckling-induced dissipated energy than the previously proposed structural prototypes. Moreover, the self-recoverable mechanical metamaterial is successfully designed by topology optimization.

Hysteresis behaviors exist in piezoelectric ceramics actuators (PCAs), which degrade the positioning accuracy badly. The classical Bouc–Wen (CB–W) model is mainly used for describing rate-independent hysteresis behaviors. However, it cannot characterize the rate-dependent hysteresis precisely. In this paper, a generalized Bouc–Wen (GB–W) model with relaxation functions is developed for both rate-independent and rate-dependent hysteresis behaviors of piezoelectric actuators. Meanwhile, the nonlinear least squares method through MATLAB/Simulink is adopted to identify the parameters of hysteresis models. To demonstrate the validity of the developed model, a number of experiments based on a 1-DOF compliant mechanism were conducted to characterize hysteresis behaviors. Comparisons of experiments and simulations show that the developed model can describe rate-dependent and rate-independent hysteresis more accurately than the classical Bouc–Wen model. The results demonstrate that the developed model is effective and useful.

Topology optimization has emerged as a powerful tool for structural configuration design. To further promote the development of topology optimization, many computer programs have been published for educational purposes over the past decades. However, most of the computer programs are constructed based on a linear assumption. This paper presents an 89-line code for nonlinear topology optimization written in FreeFEM based on the popular SIMP (solid isotropic material with penalization) method. Excluding thirteen lines which are used for explanation, only 76 lines are needed for the initialization of the design parameters, nonlinear finite element analysis, sensitivity calculation, and updated design variables. Different design problems can be solved by modifying several lines in the proposed program. The complete program is given in the Appendix and is intended for educational purposes only.

This paper presents a structural topology optimization method using moving wide Bezier components with constrained ends. In the proposed method, components which are determined by using Bezier curves with a certain width are regarded as design units. These wide Bezier curves are represented by using level set functions. The control points of such wide Bezier curves are taken as design variables. In addition, based on that principle, in order to form one single connected load-bearing structure, the loading, supporting, and/or some other functional interactions must be connected. This is achieved by constraining the ends of the utilized wide Bezier curves which can essentially avoid any structurally invalid designs and thereby smooth the optimization process. The validity of the proposed method is tested on the stiffness and the compliant mechanisms design problem.

Wireless communication using electromagnetic wave carrying orbital angular momentum (OAM) has attracted increasing interest in recent years and its potential to increase channel capacity has been explored widely. In this paper, we compare the technique of using uniform linear array consist of circular traveling-wave OAM antennas for multiplexing with the conventional multiple-in-multiple-out (MIMO) communication method and numerical results show that the OAM based MIMO system can increase channel capacity while communication distance is long enough. An equivalent model is proposed to illustrate that the OAM multiplexing system is equivalent to a conventional MIMO system with a larger element spacing, which means OAM waves could decrease the spatial correlation of MIMO channel. In addition, the effects of some system parameters, such as OAM state interval and element spacing, on the capacity advantage of OAM based MIMO are also investigated. Our results reveal that OAM waves are complementary with MIMO method. OAM waves multiplexing is suitable for long-distance line-of-sight (LoS) communications or communications in open area where the multi-path effect is weak and can be used in massive MIMO systems as well.

This paper focuses on peg-in-hole assembly based on a two-phase scheme and force/torque sensor (F/T sensor) for a compliant dual-arm robot, the Baxter robot. The coordinated operations of human beings in assembly applications are applied to the behaviors of the robot. A two-phase assembly scheme is proposed to overcome the inaccurate positioning of the compliant dual-arm robot. The position and orientation of assembly pieces are adjusted respectively in an active compliant manner according to the forces and torques derived by a six degrees-of-freedom (6-DOF) F/T sensor. Experiments are conducted to verify the effectiveness and efficiency of the proposed assembly scheme. The performances of the dual-arm robot are consistent with those of human beings in the peg-in-hole assembly process. The peg and hole with 0.5 mm clearance for round pieces and square pieces can be assembled successfully.