Output Angle Research Articles

Design and experimental validation of an aspheric multi-lenticular plano-convex lens for VCSEL beam collimation

In this work, we propose a design method of an aspheric lens that achieves collimation for a VCSEL laser beam. The designed lens features a planar front surface and an aspheric back surface of which the profile is mathematically characterized and precisely determined based on the proposed method. The method is derived from a basic geometric-optics analysis and construction approach. The collimating effect of the lens was first analyzed in simulation and then validated in experimental measurement. The experimental results show that the collimator lens transforms the input VCSEL laser beam divergence angle from 25° (436.33 mrad) to an output angle of 3.6906 mrad.

High-Resolution Rotation-Measuring System for MEMS Ultrasonic Motors Using Tunneling Magnetoresistance Sensors.

This study proposes a high-resolution rotation-measuring system for miniaturized MEMS ultrasonic motors using tunneling magnetoresistance (TMR) sensors for the first time. Initially, the architecture and principle of the rotation-measuring system are described in detail. Then, the finite element simulation is implemented to determine the miniaturized permanent magnet's residual magnetization, dimensions, and TMR sensor position. Finally, the experiments are implemented to evaluate the performance. Using calibration based on a high-precision servo motor, it is found that the relationship between the output and rotational angle is highly linear and immune to the rotor's out-of-plane movement. Meanwhile, the angle-detecting resolution is higher than 0.1°. After the calibration, the continuous rotation of the MEMS ultrasonic motor is tested. It is found that the angle testing result varies with a period close to 360°, which indicates that the rotation-measuring system has successfully detected the motor's rotation.

The extraction method of the time difference in the output angle of MLS

The extraction method of the time difference in the output angle of MLS

Safety-Centric Precision Control of a Modified Duodenoscope Designed for Surgical Robotics

There is limited research on robotic systems designed for Endoscopic Retrograde Cholangiopancreatography (ERCP) procedures using a side-view duodenoscope. The unique structure of the duodenoscope presents challenges to safely and precisely control the distal end pose. Control methods applied can reduce potential medical risks. We have redesigned the control section of the duodenoscope to facilitate its manipulation by a robotic system. An orthogonal compensator is employed to rectify the motion planes to standard planes. A hysteresis compensator based on the Prandtl-Ishlinskii model enables precise control of the distal pose of the duodenoscope. Furthermore, we utilize a contact force prediction model to prevent excessive contact force at the distal end. The performance of the modified duodenoscope is comparable to that of the standard duodenoscope. Following orthogonal compensation, the deviation angles of the motion planes is reduced by 32% to 98%. Post-hysteresis compensation, the root mean square error (RMSE) of the output angle of the distal end is decreased from 8.347° to 4.826°. The accuracy of distal end contact force prediction was approximately ±25% under conditions of high contact force. In conclusion, the modification and control strategy we proposed can achieve relatively safe and precise control of bending section, laying the foundation for the subsequent roboticization of duodenoscope systems for ERCP procedures.

P‐219: Research on the Direction of Luminance Modulation at Small Angles Based on Micro Lens

The study investigated the variations in luminance of active‐matrix organic light‐emitting diodes (AMOLED) when viewed at small angles, employing different micro lens arrangements. By examining the micro lens array (MLA) structure, we analyzed how luminance behaves at various angles. Concurrently, we explored the alignment of red, green, and blue (R/G/B) pixel apertures with the micro lens placement, aiming to achieve precise luminance modulation for acute viewing angles.Initially, micro lens arrays are crafted by utilizing materials with varying refractive indices above the pixel aperture, ensuring total internal reflection of light at thejunction between materials of high and low refractive indices. This arrangement also alters the emission angle of light. Within this architecture, the critical angle — determined by the disparity in refractive indices — and the variance in the angle at the reflective interface are crucial in influencing light emission reflection.Furthermore, we explored how the spacing of graphic openings with low refractive indices influences the angle of light emission. This spacing affects the reflection angle, as it is not produced by a singular interface but rather by a composite of multiple angles. The size of the pixel apertures and the spacing of these openings cause the point of total internal reflection to vary, altering the deflection angle of light. Thus, the design of pixel openings and the external expansion is crucial to controlling the light emission angle.Lastly, we examined the influence of the reflective interface and the external expansion design on the light output angle. This analysis highlighted the enhancement of light output at narrow angles and provided strategies to minimize luminance fluctuations at such angles, contributing to the development of high‐precision luminance control in AMOLED displays.

Ultra-narrowband and rainbow-free mid-infrared thermal emitters enabled by a flat band design in distorted photonic lattices

Most reported thermal emitters to date employing photonic nanostructures to achieve narrow bandwidth feature the rainbow effect due to the steep dispersion of the involved high-Q resonances. In this work, we propose to realize thermal emissions with high temporal coherence but free from rainbow effect, by harnessing a novel flat band design within a large range of wavevectors. This feature is achieved by introducing geometric perturbations into a square lattice of high-index disks to double the period along one direction. As a result of the first Brillouin zone halving, the guided modes will be folded to the Γ point and interact with originally existing guided-mode resonances to form a flat band of dispersion with overall high Q. Despite the use of evaporated amorphous materials, we experimentally demonstrate a thermal emission with the linewidth of 23 nm at 5.144 μm within a wide range of output angles (from −17.5° to 17.5°).

Optimization of a centrifugal blood pump designed using an industrial method through experimental and numerical study

With improved treatment of coronary artery disease, more patients are surviving until heart failure occurs. This leads to an increase in patients needing devices for struggling with heart failure. Ventricular assist devices are known as the mainstay of these devices. This study aimed to design a centrifugal pump as a ventricular assist device. In order to design the pump, firstly, the geometrical parameters of the pump, including the gap distance, blade height, and position of the outlet relative to the blade, were investigated. Finally, the selected configuration, which had all the appropriate characteristics, both hydraulically and physiologically, was used for the rest of the study. The study of the blade, as the main component in energy transfer to the blood, in a centrifugal pump, has been considered in the present study. In this regard, the point-to-point design method, which is used in industrial applications, was implemented. The designer chooses the relationship between the blade angles at each radius in the point-to-point method. The present study selected logarithmic and second-order relations for designing the blade’s profile. In total, 58 blades were examined in this study, which differed regarding blade inlet and outlet angles and the relationship between angle and radial position. ANSYS CFX 17.0 software was utilized to simulate blades’ performances, and a benchmark pump provided by the US Food and Drug Administration (FDA) was used to validate the numerical simulations. Then, the selected impeller from the numerical investigation was manufactured, and its performance was compared experimentally with the FDA benchmark pump. A hydraulic test rig was also developed for experimental studies. The results showed that among the blades designed in this study, the blade with an input angle of 45° and an output angle of 55°, which is designed to implement a logarithmic relationship, has the best performance. The selected impeller configuration can increase the total head (at least by 20%) at different flow rates compared to the FDA pump.

Design and Force/Angle Independent Control of a Bionic Mechanical Ankle Based on an Artificial Muscle Matrix.

Inspired by the natural skeletal muscles, this paper presents a novel shape memory alloy-based artificial muscle matrix (AMM) with advantages of a large output force and displacement, flexibility, and compactness. According to the composition of the AMM, we propose a matrix control strategy to achieve independent control of the output force and displacement of the AMM. Based on the kinematics simulation and experiments, we obtained the output displacement and bearing capacity of the smart digital structure (SDS) and confirmed the effectiveness of the matrix control strategy to achieve force and displacement output independently and controllably. A bionic mechanical ankle actuated by AMM was proposed to demonstrate the actuating capability of the AMM. Experimental results show that the angle and force of the bionic mechanical ankle are output independently and have a significant gradient. In addition, by using a self-sensing method (resistance self-feedback) and PD control strategy, the output angle and force of the bionic mechanical ankle can be maintained for a long time without overheating of the AMM.

Kinematic calibration and feedforward control of a heavy-load manipulator using parameters optimization by an ant colony algorithm

AbstractMost of the currently available three-degree-of-freedom manipulators are light load and cannot achieve full continuous rotation; given this, we designed a heavy-load manipulator that achieves unrestricted and continuous rotation. Due to manufacturing and assembly errors, parameter deviations between the real manipulator and its underlying theoretical model were unavoidable. Because of the lack of high-precision, high-frequency, and real-time closed-loop detection methods, we proposed a type of kinematics calibration of parameterized ant colony optimization and feedforward control methods. This was done to achieve high-precision motion control. First, an error model combining structural parameters and joint output angles was established, and the global sensitivity of each error source was analyzed to distinguish both primary and secondary sources. Based on the measured data of a laser tracker, the ant colony optimization was then used to identify six error sources. This resulted in both link length and joint driving errors of the designed manipulator. As it is a type of systematic error, the rounding error of the theoretical trajectory was carefully analyzed, and feedforward control methods with different coefficients were designed to further improve positioning accuracy based on the kinematic calibration. Experimental results showed that the proposed kinematic calibration and feedforward control methods achieved relatively precise motion control for the designed manipulator.

Infrared color-sorting metasurfaces.

The process of sorting light based on colors (photon energy) is a prerequisite in broadband optical systems, typically achieved in the form of guiding incoming signals through a sequence of spectral filters. The assembly of filters often leads to lengthy optical trains and consequently, large system footprints. In this work, we address this issue by proposing a flat color-sorting device comprising a diffraction grating and a dielectric Huygens' metasurface. Upon the incidence of a broadband beam, the grating disperses wavelengths to a continuous range of angles in accordance with the law of diffraction. The following metasurface with multiple paired Huygens' resonances corrects the dispersion and binds wavelengths to the corresponding waveband with a designated output angle. We demonstrate the sorting efficacy by designing a device with a color-sorting metasurface with two discrete dispersion-compensated outputs (10.8 ± 0.3 μm and 11.9 ± 0.3 μm), based on the proposed approach. The optimized metasurface possesses an overall transmittance exceeding 57% and reduces lateral dispersion by 90% at the output. The proposed color-sorting mechanism provides a solution that benefits the designing of metasurfaces for miniature multi-band systems.

TrackPose

Several studies have explored the estimation of finger pose/angle to enhance the expressiveness of touchscreens. However, the accuracy of previous algorithms is limited by large estimation errors, and the sequential output angles are unstable, making it difficult to meet the demands of practical applications. We believe the defect arises from improper rotation representation, the lack of time-series modeling, and the difficulty in accommodating individual differences among users. To address these issues, we conduct in-depth study of rotation representation for the 2D pose problem by minimizing the errors between representation space and original space. A deep learning model, TrackPose, using a self-attention mechanism is proposed for time-series modeling to improve accuracy and stability of finger pose. A registration application on a mobile phone is developed to collect touchscreen images of each new user without the use of optical tracking device. The combination of the three measures mentioned above has resulted in a 33% reduction in the angle estimation error, 47% for the yaw angle especially. Additionally, the instability of sequential estimations, measured by the proposed metric MAEΔ, is reduced by 62%. User study further confirms the effectiveness of our proposed algorithm.

Mechanical Design and Experiments of a New Rotational Variable Stiffness Actuator for Hybrid Passive–Active Stiffness Regulation

To improve collision safety in robot–human collaborative applications, increasing attention has been paid to rotational variable stiffness actuators. A new rotational variable stiffness actuator, which works in two stages, is proposed for hybrid passive–active stiffness regulation. The passive stage is based on the motions of springs driven by the rack-and-pinion systems, elastically converting the shaft’s rotation into the inner shell rotation fixed to the internal gear of the active stage. The active stage is designed to achieve the movement of the pivot point located on the roller actuated by the adjustment motor, providing the output angle of the output shaft. The two pairs of rack-and-pinion systems of the passive stage and the two pairs of planetary gears of the active stage are designed for side-by-side placement, improving the stability and balance of the stiffness regulation process. Two symmetrical cam-slider mechanisms acting as leverage pivots ensure the synchronous movements of the two rollers. The variable stiffness actuator is designed and validated by simulations and experiments. Strength analysis and stiffness analysis are presented. The designed actuator can obtain the range of stiffness adjustment of 35–3286 N·mm/deg. The range of the angle difference between the input and output shafts is ±48°.

Asymmetric Directional Control of Thermal Emission.

Control over the directionality of thermal emission plays a fundamental role in efficient heat transport. Although nanophotonic technologies have demonstrated the capability for angular-selective thermal emission, achieving asymmetric directional thermal emission in reciprocal systems with energy directed to a single output angle remains challenging due to symmetric band dispersion. In this work, wepresent a general strategy for achieving asymmetric directional thermal emission in reciprocal systems. With periodic perturbation and broken mirror symmetry, metasurfaces behave as resonant metagratings whose resonances can be diffracted to symmetric output angles with distinct efficiency, allowing for high emissivity towards a single direction. The asymmetric directional thermal emitter is experimentally demonstrated at mid-infrared wavelengths with high emissivity (ε = 0.61) at the observation angle of +30°, and low emissivity (ε<0.3) at other angles. This work highlights the potential for manipulating the directionality of thermal emission, which holds promise for developing ultrathin customized thermal sources and impacts on various thermal-engineering applications. This article is protected by copyright. All rights reserved.

Enhancing stability control of inverted pendulum using Takagi–Sugeno fuzzy model with disturbance rejection and input–output constraints

The Takagi–Sugeno (T–S) fuzzy model is a versatile approach widely used in system control, often in combination with other strategies. This paper addresses key control challenges linked to the T–S system and presents important considerations to ensure its successful application using the Lyapunov theorem. One crucial aspect is determining the optimal number of premise variables and selecting accurate fuzzy rules for the T–S model. Additionally, the theorem based on Linear Matrix Inequality (LMI) is developed to enable effective disturbance rejection. To enhance stability control, constraints are imposed on the output angle and control input of a rotary inverted pendulum (RIP). By integrating T–S fuzzy control, disturbance rejection, and input/output constraints, robust stability in controlling the RIP is achieved. Extensive simulations are performed to showcase the efficiency of the suggested method, and the simulation results are thoroughly discussed and analyzed to verify the efficacy of the control method.

Interindividual distances and orientations of laying hens under 8 stocking densities measured by integrative deep learning techniques

Interindividual distances and orientations of laying hens provide quantitative measures to calculate and optimize space allocations for bird flocks. However, these metrics were often measured manually and have not been examined for different stocking densities of laying hens. The objectives of this study were to 1) integrate and develop several deep learning techniques to detect interindividual distances and orientations of laying hens; and 2) examine the 2 metrics under 8 stocking densities via the developed techniques. Laying hens (Jingfen breed, a popular hen breed in China) at 35 wk of age were raised in experimental compartments at 8 different stocking densities of 3,840, 2,880, 2,304, 1,920, 1,646, 1,440, 1,280, and 1,152 cm2•bird-1 (3-10 hens per compartment, respectively), and cameras on the top of the compartments recorded videos for further analysis. The designed deep learning image classifier achieved over 99% accuracy to classify bird's perching status and excluded frames with bird perching to ensure that all birds analyzed were on the same horizontal plane, reducing calculation errors. The YOLOv5m oriented object detection model achieved over 90% precision, recall, and F1 score in detecting birds in compartments and can output bird centroid coordinates and angles, from which interindividual distances and orientations were calculated based on pairs of birds. Laying hens maintained smaller minimum interindividual distances in higher stocking densities. They were in an intersecting relationship with conspecifics for over 90% of the time. The developed integrative deep learning techniques and behavior metrics provide animal-based measurement of space requirement for laying hens.

Control Method of Seamless Transfer from Grid-Connected Mode to Isolated Mode for Microgrid Demonstration

It’s easy to cause transient oscillation problems when the microgrid transfers from the grid-connected mode to the isolated mode, so a control method of seamless transfers from the grid-connected mode to the isolated mode for microgrid demonstration is proposed. The switching control strategy of the outer loop controller for the master unit(s) makes the reference value of the current inner-loop controller the same when the microgrid transfers to isolated mode. While the switching control strategy of phase locked loop (PLL) uses an ample-hold assign the output angle of grid-connected PLL to the oscillator adopted by the microgrid in isolated mode at the switching moment. Finally, the sub-regional control strategy uses different control strategies to reserve more spinning capacity for the master unit(s) which divides the power balance into 3 regions. At last, the simulation is verified that the proposed control method not only realizes the seamless transfer from grid-connected operation to islanded operation for the microgrid but also improves the anti-disturbance ability of the microgrid in isolated mode.

Simple and Versatile Platforms for Manipulating Light with Matter: Strong Light-Matter Coupling in Fully Solution-Processed Optical Microcavities.

Planar microcavities with strong light-matter coupling, monolithically processed fully from solution, consisting of two polymer-based distributed Bragg reflectors (DBRs) comprising alternating layers of a high-refractive-index titanium oxide hydrate/poly(vinyl alcohol) hybrid material and a low-refractive-index fluorinated polymer are presented. The DBRs enclose a perylene diimide derivative (b-PDI-1) film positioned at the antinode of the optical mode. Strong light-matter coupling is achieved in these structures at the target excitation of the b-PDI-1. Indeed, the energy-dispersion relation (energy vs in-plane wavevector or output angle) in reflectance and the group delay of transmitted light in the microcavities show a clear anti-crossing-an energy gap between two distinct exciton-polariton dispersion branches. The agreement between classical electrodynamic simulations of the microcavity response and the experimental data demonstrates that the entire microcavity stack can be controllably produced as designed. Promisingly, the refractive index of the inorganic/organic hybrid layers used in the microcavity DBRs can be precisely manipulated between values of 1.50 to 2.10. Hence, microcavities with a wide spectral range of optical modes might be designed and produced with straightforward coating methodologies, enabling fine-tuning of the energy and lifetime of the microcavities' optical modes to harness strong light-matter coupling in a wide variety of solution processable active materials.

Kinematic synthesis and optimization design of a rice pot seedling transplanting mechanism

To achieve the precise operation trajectory and posture required for pot seedling transplanting and solve the problem that the partial reversal of the transplanting arm’s output in the double planet carrier transplanting mechanism, which is unconducive to the realization of the seedling pushing action, a motion synthesis method for a double planet carrier gear train mechanism with attitude constraints based on the output angle and four exact task poses is proposed. First, the ideal transplanting trajectory is planned according to the transplanting agronomic requirements, and the position and attitude information of the four key points on the ideal trajectory are extracted as the constraints of the mechanism design. Then, based on the relative displacement equation, a comprehensive design equation of the motion of the plane 3R mechanism (simplified model of the transplanting mechanism) about the output rotation angle and the precise four pose constraints is established, and the mechanism parameters that meet the constraint requirements are obtained by solving the multicellular homotopy method. A mathematical model of the roundness of the non-circular gear was also established, and the roundness of the transmission non-circular gears in the gear-train transplanting mechanism was optimized by using the genetic algorithm. Finally, the structural design, virtual simulation, and experimental analysis of the double-planet carrier gear train transplanting mechanism were completed. The results show that the actual trajectory and attitude are consistent with the theoretical design, and when then the mechanism was under the transplanting efficiency of 120 and 180 plants/min, the success rates of picking seedlings were 91.53% and 87.46%, respectively, meeting the design requirements.

Study of Hydrodnamic Pumping Effects of Fixed Axis Rotation in Eccentric Annular Flow Field

Hydrodynamic effect is one of the key phenomena in journal bearing lubrication. Many researches have been carried out on the supporting force of journal bearing, the motion of suspension shaft and the lubrication effect. This paper studies the hydrodynamic effect from another point of view, that is, the pumping effect caused by the rotation of the eccentric shaft with fixed axis. The clearance between the rotor and the stator is divided into two sections by the inlet port and the outlet port. Their mathematical models are established and studied in polar coordinates. The pressure distribution and pumping flowrate in the flow field are studied theoretically. Under the conditions analyzed in this paper, an output flow larger than 90 ml/s could be generated, overcoming a load pressure of 0.5 MPa. In addition, the pressure distribution and pumping flowrate of the mechanism are affected by the pumping outlet orientation. According to the analysis results of the output angle range from π/8 to 3π/4, when the pump outlet angle is set near 3π/8 to π/2, the pumping flowrate reaches the maximum value of 91.83 ml/s, and nearly half 48% of the inflow liquid can be pumped out to the outlet.

Beam deflection and negative drag in a moving nonlinear medium

Light propagating in a moving medium is subject to light drag. While the light drag effect due to the linear refractive index is often negligibly small, the light drag can be enhanced in materials with a large group index. Here we show that the nonlinear refractive index can also play a crucial role in the propagation of light in moving media and results in a beam deflection. We perform an experiment with a rotating ruby crystal that exhibits a very large negative group index and a positive nonlinear refractive index. The negative group index drags the light opposite to the motion of the medium. However, the positive nonlinear refractive index deflects the beam along with the motion of the medium and hinders the observation of the negative drag effect. Hence, we show that it is necessary to measure not only the transverse shift of the beam but also its output angle to discriminate the light drag effect from beam deflection. Our work provides insight into applications for all-optical control of light trajectories, particularly for beam steering, mode sorting, and velocimetry.