ABSTRACT
In light of the limitations of the current piezoelectric energy harvesters and the demand for self-power supply in wireless sensor nodes, a novel positive feedback piezoelectric energy harvester based on nonlinear magnetic coupling is proposed. The operational characteristics of this energy harvester are investigated from three perspectives: theory, simulation, and experiment. First, a nonlinear electromechanical coupling mathematical model that describes the dynamic response of the energy harvester system is established by combining the Hamilton variational principle with the piezoelectric theory. This provides a theoretical foundation for subsequent research. Second, finite element method simulations are employed to optimize the structural parameters of the energy harvester and study the impact of nonlinear magnetic force on its output performance. Finally, an experimental prototype is fabricated and an experimental test system is constructed to validate the designed positive feedback piezoelectric energy harvester. The results demonstrate that changes in the longitudinal beam angle have minimal effect on energy capture efficiency. By appropriately increasing the bending surface length, reducing initial magnetic moment, and augmenting mass block weight, wider working frequency bands and higher power generation capacity can be achieved when vibrating in low-energy orbits. The experimental findings align closely with theoretical design values and contribute to advancing broadband multi-directional piezoelectric energy harvesting technology in order to provide high-performance vibration-based power solutions for wireless applications.
ABSTRACT
In recent years, the visible light positioning field has experienced remarkable advancements. However, smartphones find it difficult to identify light-emitting diode (LED) and extract each LED's light signal intensity due to the low-frequency and uneven sampling of built-in ambient light sensors (ALS, which is a photodiode that measures ambient light in lux units). Thus, traditional visible light positioning systems cannot be directly applied to smartphones. In this Letter, we propose a single-light visible light positioning system using a non-modulated LED as an emitter, the built-in ALS as the receiver, and the inertial measurement unit of the smartphone to assist in measuring the smartphone's attitude. It only requires the user to turn the smartphone by a few angles in a stationary position to estimate its current three-dimensional (3D) spatial position. This method does not require modification of the existing lighting system and consumes less power than the camera-based visible light positioning (VLP) systems. We have built an experimental site measuring 5 m × 5 m × 2.2 m to evaluate the performance of the positioning system, and the preliminary results show that the proposed system achieves sub-meter-level positioning accuracy.
ABSTRACT
At present, SLAM is widely used in all kinds of dynamic scenes. It is difficult to distinguish dynamic targets in scenes using traditional visual SLAM. In the matching process, dynamic points are incorrectly added to the pose calculation with the camera, resulting in low precision and poor robustness in the pose estimation. This paper proposes a new dynamic scene visual SLAM algorithm based on adaptive threshold homogenized feature extraction and YOLOv5 object detection, named AHY-SLAM. This new method adds three new modules based on ORB-SLAM2: a keyframe selection module, a threshold calculation module, and an object detection module. The optical flow method is used to screen keyframes for each frame input in AHY-SLAM. An adaptive threshold is used to extract feature points for keyframes, and dynamic points are eliminated with YOLOv5. Compared with ORB-SLAM2, AHY-SLAM has significantly improved pose estimation accuracy over multiple dynamic scene sequences in the TUM open dataset, and the absolute pose estimation accuracy can be increased by up to 97%. Compared with other dynamic scene SLAM algorithms, the speed of AHY-SLAM is also significantly improved under a guarantee of acceptable accuracy.
ABSTRACT
In order to solve the problems of nonlinearity, uncertainty and coupling of multi-hydraulic cylinder group platform of a digging-anchor-support robot, as well as the lack of synchronization control accuracy of hydraulic synchronous motors, an improved Automatic Disturbance Rejection Controller-Improved Particle Swarm Optimization (ADRC-IPSO) position synchronization control method is proposed. The mathematical model of a multi-hydraulic cylinder group platform of a digging-anchor-support robot is established, the compression factor is used to replace the inertia weight, and the traditional Particle Swarm Optimization (PSO) algorithm is improved by using the genetic algorithm theory to improve the optimization range and convergence rate of the algorithm, and the parameters of the Active Disturbance Rejection Controller (ADRC) were adjusted online. The simulation results verify the effectiveness of the improved ADRC-IPSO control method. The experimental results show that, compared with the traditional ADRC, ADRC-PSO and PID controller, the improved ADRC-IPSO has better position tracking performance and shorter adjusting time, and its step signal synchronization error is controlled within 5.0 mm, and the adjusting time is less than 2.55 s, indicating that the designed controller has better synchronization control effect.
ABSTRACT
To overcome high periodic maintenance requirements, difficult replacement, and large application limitations of wireless sensor nodes powered by chemical batteries during the vibration control process of stiffened plates, a two-degree-of-freedom diagonal beam piezoelectric vibration energy harvester was proposed. Multidimensional energy harvesting and broadband work are integrated into one structure through the combined action of oblique angle, mass blocks, and piezoelectric beam. The mechanical model of the beam is established for theoretical analysis; the output characteristics of the structure are analyzed by finite element simulation; a piezoelectric energy harvesting experimental bench is built. The results show that: The structure has a wider harvesting band, multi-order resonant frequency, multi-dimensional energy harvesting, and higher output voltage and power than the traditional cantilever structures. The output performance of the specimens with 45° oblique angle, 5 g:5 g mass ratio, and 0.2 mm thickness of piezoelectric substrate is good in the frequency band of 10~40 Hz. When the excitation frequency is 28 Hz, the output voltage of the sextuple array structure reaches 19.20 V and the output power reaches 7.37 mW. The field experiments show that the harvester array can meet the requirements of providing auxiliary energy for wireless sensor nodes in the process of active vibration control of stiffened plates.