The development of bioinspired gradient hydrogels with self-sensing actuated capabilities for remote interaction with soft-hard robots remains a challenging endeavor. Here, we propose a novel multifunctional self-sens...The development of bioinspired gradient hydrogels with self-sensing actuated capabilities for remote interaction with soft-hard robots remains a challenging endeavor. Here, we propose a novel multifunctional self-sensing actuated gradient hydrogel that combines ultrafast actuation and high sensitivity for remote interaction with robotic hand. The gradient network structure, achieved through a wettability difference method involving the rapid precipitation of MoO_(2) nanosheets, introduces hydrophilic disparities between two sides within hydrogel. This distinctive approach bestows the hydrogel with ultrafast thermo-responsive actuation(21° s^(-1)) and enhanced photothermal efficiency(increase by 3.7 ℃ s^(-1) under 808 nm near-infrared). Moreover, the local cross-linking of sodium alginate with Ca^(2+) endows the hydrogel with programmable deformability and information display capabilities. Additionally, the hydrogel exhibits high sensitivity(gauge factor 3.94 within a wide strain range of 600%), fast response times(140 ms) and good cycling stability. Leveraging these exceptional properties, we incorporate the hydrogel into various soft actuators, including soft gripper, artificial iris, and bioinspired jellyfish, as well as wearable electronics capable of precise human motion and physiological signal detection. Furthermore, through the synergistic combination of remarkable actuation and sensitivity, we realize a self-sensing touch bioinspired tongue. Notably, by employing quantitative analysis of actuation-sensing, we realize remote interaction between soft-hard robot via the Internet of Things. The multifunctional self-sensing actuated gradient hydrogel presented in this study provides a new insight for advanced somatosensory materials, self-feedback intelligent soft robots and human–machine interactions.展开更多
Structural vibration control was an active research area for the past twenty years because of their potential applications in aerospace structures,civil structures,naval structures,etc.Semi-active vibration control me...Structural vibration control was an active research area for the past twenty years because of their potential applications in aerospace structures,civil structures,naval structures,etc.Semi-active vibration control methods based on piezoelectric actuators and synchronized switch damping on inductance（SSDI） techniques attract the attention of many researchers recently due to their advantages over passive and active methods.In the SSDI method,a switch shunt circuit is connected to the piezoelectric patch to shift the phase and amplify the magnitude of the voltage on the piezoelectric patch.The most important issue in SSDI method is to control the switching actions synchronously with the maximum vibration displacement or maximum strain.Hence,usually a displacement sensor is used to measure the vibration displacement or a collocated piezoelectric sensor is needed to measure the strain of the structure near the piezoelectric actuator.A self-sensing SSDI approach is proposed and applied to the vibration control of a composite beam,which avoids using a separate sensor.In the self-sensing technique,the same piezoelectric element functions as both a sensor and an actuator so that the total number of required piezoelectric elements can be reduced.One problem in the self-sensing actuator,which is the same as that in the traditional collocated piezoelectric sensors,is the noise generated in the sensor signal by the impact of voltage inversion,which may cause extra switching actions and deteriorate control performance.In order to prevent the shunt circuit from over-frequent on-and-off actions,a simple switch control algorithm is proposed.The results of control experiments show that the self-sensing SSDI approach combined with the improved switch control algorithm can effectively suppress over-frequent switching actions and gives good control performance by reducing the vibration amplitude by 45%,about 50% improvement from the traditional SSDI with a separate piezoelectric element and a classical switch.展开更多
This paper investigates fault-tolerant finite-time dynamical consensus problems of double-integrator multi-agent systems(MASs)with partial agents subject to synchronous self-sensing function failure(SSFF).A strategy o...This paper investigates fault-tolerant finite-time dynamical consensus problems of double-integrator multi-agent systems(MASs)with partial agents subject to synchronous self-sensing function failure(SSFF).A strategy of recovering the connectivity of network topology among normal agents based on multi-hop communication and a fault-tolerant finitetime dynamical consensus protocol with time-varying gains are proposed to resist synchronous SSFF.It is proved that double-integrator MASs with partial agents subject to synchronous SSFF using the proposed strategy of network topology connectivity recovery and fault-tolerant finite-time dynamical consensus protocol with the proper time-varying gains can achieve finite-time dynamical consensus.Numerical simulations are given to illustrate the effectiveness of the theoretical results.展开更多
The equations of motion governing the vibration of a cantilever beam with partially treated self-sensing active constrained layer damping treatment(SACLD) are derived by application of the extended Hamilton principle....The equations of motion governing the vibration of a cantilever beam with partially treated self-sensing active constrained layer damping treatment(SACLD) are derived by application of the extended Hamilton principle. The assumed-modes method and closed loop velocity feedback control law are used to analyze and control the flexural vibration of the beam nle influences of the bonding layer and piezoelectric layer thickness, material properties, placements of the Diezoelectric patch and feedback control parameters on the actuation ability of the vibration suppression are investigated. Some design considerations for pure passive, pure active control, and self-sensing active constrained layer damping are discussed.展开更多
Giant magnetostrictive actuators (GMAs) often work in a close-loop feedback system. This system needs independent sensors which may be difficult to be fixed, besides, excessive sensors may cause more unpredicted probl...Giant magnetostrictive actuators (GMAs) often work in a close-loop feedback system. This system needs independent sensors which may be difficult to be fixed, besides, excessive sensors may cause more unpredicted problems in a large system. This paper aims to develop a self-sensing GMA. An observer based on piezomagnetic equations is constructed to estimate the stress and strain of the magnetostrictive material. The observer based self-sensing approach depends on the facts that the magnetic field is controllable and that the magnetic induction is measurable. Aiming at the nonlinear hysteresis in magnetization, a hys- teresis compensation observer based on Preisach model is developed. Experiment verified the availability of the observer approach, and the hysteresis compensation observer has higher tracking precision than linear observer for dynamic force sensing.展开更多
A simplified quasi-static computational model for self-sensing applications of magnetostrictive actuators based on terfenol-D rods is presented. Paths and angle changes in the magnetic moments rotation of Tb0.3Dy0.7Fe...A simplified quasi-static computational model for self-sensing applications of magnetostrictive actuators based on terfenol-D rods is presented. Paths and angle changes in the magnetic moments rotation of Tb0.3Dy0.7Fe2 alloy are studied as functions of compressive stress and magnetic field, and then used to determine the magnetization in its actuation. Then sensing of magnetic induction picked from a driving coil in an actuator is derived. The model is quick and efficient to solve moments rotation and its magnetization. Sensing results of compressive stress and magnetostriction calculated by the model are in good agreement with experiments and will be helpful in the design and control of self-sensing applications in actuators.展开更多
The paper is concerned with the micro-flow self-sensing actuators,the work of which is based on the secondary piezoelectric effect. The piezoelectric ceramic stack can yield micro-displacement due to its first inverse...The paper is concerned with the micro-flow self-sensing actuators,the work of which is based on the secondary piezoelectric effect. The piezoelectric ceramic stack can yield micro-displacement due to its first inverse piezoelectric effect. Therefore,we apply this micro-displacement to cell micro-flow injection. Moreover, due to the charge of the secondary direct piezoelectric effect,the piezoelectric ceramic stack is able to detect the force and displacement in the injection by itself. The experiments of first inverse piezoelectric effect and secondary direct piezoelectric effect are conducted. The experiment results show that,subjected to 0- 60 V input,the piezoelectric ceramic stack can generate 13. 45 μm displacement,and control accuracy can achieve 2 nm. It can completely meet the needs of cell micro-flow injection. Also,the experiments demonstrate that the micro-displacement due to the first inverse piezoelectric effect can be well self-sensed by the electric charge due to the secondary direct piezoelectric effect.展开更多
Carbon fiber reinforced polymer composites (CFRP) have been applied to aerospace and automobile structures. For many CFRP structures, mechanical metallic fasteners are usually adopted. For the fasteners used in intern...Carbon fiber reinforced polymer composites (CFRP) have been applied to aerospace and automobile structures. For many CFRP structures, mechanical metallic fasteners are usually adopted. For the fasteners used in internal structures such as a wing box, the damage to the CFRP structures around fastener holes is visually quite difficult to find. A simple method to find the damage around fastener holes is required. In this study a self-sensing time domain reflectometry (TDR) method is newly applied to detect bearing failure around the fastener holes of CFRP structures. A microstrip-line method is generally used to create a transmission line. When the transmission line is mounted near the metallic fasteners, they may affect the impedance of the transmission line. In this study, the effect of distance between the fasteners and the transmission line was numerically investigated using a finite difference time domain analysis method. After finding the appropriate distance, experiments were performed to detect the bearing failure around a fastener hole. The experiments showed the performance of the self-sensing TDR for detecting bearing failure.展开更多
A self-sensing Time Domain Reflectometry (TDR) method for Carbon Fibre Reinforced Polymer (CFRP) laminates has been propped in the present study: carbon fibres are used as sensors using a transmission line. Authors ha...A self-sensing Time Domain Reflectometry (TDR) method for Carbon Fibre Reinforced Polymer (CFRP) laminates has been propped in the present study: carbon fibres are used as sensors using a transmission line. Authors have published research articles of the self-sensing TDR method. The self-sensing TDR method reduces number of required electrodes for damage detections although the sensitivity of detection is sacrificed. A micro-strip line (MSL) method is adopted to obtain impedance matching with a coaxial cable and successfully detected damage in a CFRP laminate in the previous study. In the present study, a long curved MSL is experimentally investigated as an impedance-matched transmission line for detection of damage of a CFRP laminate in wider area. Fibre breakage is simulated as a hole made by drilling. As a CFRP laminate has strongly orthotropic electric conductance and the electric properties of a CFRP laminate at the high frequency are not clarified, the effect of the orthotropic conductance at the curved transmission line is experimentally investigated. As a result, the effect of orthotropic conductance at the curved strip line is shown to be negligible, and fiber breakage that locates closed to the copper strip line can be detected by the self-sensing curved MSL method. It is, however, difficult to detect damage far from the copper strip line.展开更多
Wearable devices,interactive human-machine interface equipment,wireless sensors,and small-scale cleaning devices play crucial roles in biomedical implantation,disease treatment,health monitoring,environmental purifica...Wearable devices,interactive human-machine interface equipment,wireless sensors,and small-scale cleaning devices play crucial roles in biomedical implantation,disease treatment,health monitoring,environmental purification,etc.These devices require a sustainable energy source to work effectively.With the consideration of the global energy crisis and environmental pollution,researchers are exploring new,stable,and environmentally friendly methods to power these low-powered devices.Mechanical energy is one of the most abundant natural energy sources.Converting mechanical energy from the ambient environment or host structures into electrical energy via the direct piezoelectric effect is an efficient energy harvesting technique.This paper reviews the application of advanced piezoelectric materials,and small-scale self-powered and self-sensing piezoelectric devices at the cubic centimeter scale in energy harvesting and health monitoring of human,animal,machinery,roads,bridges,as well as the pollutant degradation of the environment.Some of these devices have the capability to not only harvest mechanical energy but also enable real-time monitoring and analysis of the electrical signals generated by the direct piezoelectric effect,facilitating prompt decision-making and appropriate responses.In addition,potential challenges and future prospects of small-scale self-powered and self-sensing piezoelectric devices are discussed.展开更多
This paper introduces a self-sensing anthropomorphic robot hand driven by Twisted String Actuators(TSAs).The use of TSAs provides several advantages such as muscle-like structures,high transmission ratios,large output...This paper introduces a self-sensing anthropomorphic robot hand driven by Twisted String Actuators(TSAs).The use of TSAs provides several advantages such as muscle-like structures,high transmission ratios,large output forces,high efficiency,compactness,inherent compliance,and the ability to transmit power over distances.However,conventional sensors used in TSA-actuated robotic hands increase stiffness,mass,volume,and complexity,making feedback control challenging.To address this issue,a novel self-sensing approach is proposed using strain-sensing string based on Conductive Polymer Composite(CPC).By measuring the resistance changes in the strain-sensing string,the bending angle of the robot hand's fingers can be estimated,enabling closed-loop control without external sensors.The developed self-sensing anthropomorphic robot hand comprises a 3D-printed structure with five fingers,a palm,five self-sensing TSAs,and a 3D-printed forearm.Experimental studies validate the self-sensing properties of the TSA and the anthropomorphic robot hand.Additionally,a real-time Virtual Reality(VR)monitoring system is implemented for visualizing and monitoring the robot hand's movements using its self-sensing capabilities.This research contributes valuable insights and advancements to the field of intelligent prosthetics and robotic end grippers.展开更多
Impact detecting and counting are fundamental functions of fuses used in hard target penetration weapons.However,detection failure caused by battery breakdown in high-g acceleration environments poses a vulnerability ...Impact detecting and counting are fundamental functions of fuses used in hard target penetration weapons.However,detection failure caused by battery breakdown in high-g acceleration environments poses a vulnerability for such weapons.This paper introduces a novel supercapacitor that combines energy storage and high-g impact detection,called self-sensing supercapacitor.By deliberately inducing a transient soft short-circuit during shock in the supercapacitor,it is possible to detect external impact by its transient voltage drop.To realize this concept,firstly,by introducing the contact theory and force-induced percolation model,the electrode strength and roughness are found to have key impacts on the formation of soft circuits.Subsequently,to meet the needs for sensitivity and capacity,a high-density porous carbon(HDPC)that combines high mechanical strength and porosity,is selected as a suitable candidate based on the analysis results.Furthermore,a two-step curing method is proposed to prepare the high-roughness HDPC(HRHDPC)electrode and to assemble the self-sensing supercapacitor.Due to the rich specific surface of the electrodes and the high surface strength and roughness conducive to the formation of transient soft short circuits,the self-sensing supercapacitor not only possesses an excellent specific capacitance(171 F/g at 0.5 A/g)but also generates significant voltage response signals when subjected to high-g impacts ranging from 8000g to 31,000g.Finally,the self-sensing supercapacitor is applied to compose a successive high-g impact counting system and compared to traditional solutions(sensors and tantalum capacitors)in the military fuzes.The results show that the self-sensing supercapacitor-based system exhibits advantages in terms of size,power consumption,and counting accuracy.展开更多
Double-integrator multi-agent systems(MASs)might not achieve dynamical consensus,even if only partial agents suffer from self-sensing function failures(SSFFs).SSFFs might be asynchronous in real engineering applicatio...Double-integrator multi-agent systems(MASs)might not achieve dynamical consensus,even if only partial agents suffer from self-sensing function failures(SSFFs).SSFFs might be asynchronous in real engineering application.The existing fault-tolerant dynamical consensus protocol suitable for synchronous SSFFs cannot be directly used to tackle fault-tolerant dynamical consensus of double-integrator MASs with partial agents subject to asynchronous SSFFs.Motivated by these facts,this paper explores a new fault-tolerant dynamical consensus protocol suitable for asynchronous SSFFs.First,multi-hop communication together with the idea of treating asynchronous SSFFs as multiple piecewise synchronous SSFFs is used for recovering the connectivity of network topology among all normal agents.Second,a fault-tolerant dynamical consensus protocol is designed for double-integrator MASs by utilizing the history information of an agent subject to SSFF for computing its own state information at the instants when its minimum-hop normal neighbor set changes.Then,it is theoretically proved that if the strategy of network topology connectivity recovery and the fault-tolerant dynamical consensus protocol with proper time-varying gains are used simultaneously,double-integrator MASs with all normal agents and all agents subject to SSFFs can reach dynamical consensus.Finally,comparison numerical simulations are given to illustrate the effectiveness of the theoretical results.展开更多
Designing soft robots that are able to perceive unstructured,dynamic environments and their deformations has been a long-term goal.Previously reported self-sensing soft actuators were mostly constructed via integratin...Designing soft robots that are able to perceive unstructured,dynamic environments and their deformations has been a long-term goal.Previously reported self-sensing soft actuators were mostly constructed via integrating separate actuators and sensors.The actuation performances and the sensing reliability are affected owing to the unmatched materials and weak connections.Realizing a seamless integration of soft actuators and sensors remains a grand challenge.Here,we report a fabrication strategy to endow soft actuators with sensing capability and programmable actuation performances.The foam inside the actuator functions as actuator and sensor simultaneously,effectively addressing the conformability and connection reliability issues that existed in current self-sensing actuators.The actuators are lightweight(a decrease of 58%in weight),powerful(lifting a load of 433 times of its own weight),and versatile(coupling twisting and contraction motions).Furthermore,the actuators are able to detect multiple physical stimuli with high reliability,demonstrating their exteroception and proprioception capability.Two self-sensing soft robotic prototypes,including a bionic bicep and a bionic neck,are constructed to illustrate their multifunctionality.Our study opens up new possibilities for the design of soft actuators and has promising potential in a variety of applications,ranging from human-robot interaction,soft orthotics,to wearable robotics.展开更多
In this article, we used the self-excitation and self-inductance characteristics of polyvinylidene fluoride(PVDF) piezoelectric materials, combined with the powerful signal processing and calculation analysis capabili...In this article, we used the self-excitation and self-inductance characteristics of polyvinylidene fluoride(PVDF) piezoelectric materials, combined with the powerful signal processing and calculation analysis capabilities of integrated circuits, for the first time to explore a set of microcantilever sensor "readout system" without additional driver(self-driving) and can realize self-sensing external signal(self-sensing).It was successfully applied to the unlabeled detection of avian influenza virus(AIV) H9N_(2). The specific force of the antigen-antibody complexes on the surface of the microcantilever leads to the change of the stress of the cantilever, which drives the constructed detection device, and does not require an additional excitation source to drive it, that is, the self-driving part. At the same time, due to the movement of piezoelectric charges in the film caused by the positive piezoelectric effect of the PVDF film, self-inductive charges are generated on the surface of the sensor dielectric. The charge signal is converted into a voltage signal, and the sensing part is completed, that is, self-sensing. The immunosensor has a linear range of100-1000 ng/m L with a detection limit of 2.9 ng/m L. The method will also open up a new avenue for the detection of other analytes based on antigen-antibody responses.展开更多
In a self-sensing active magnetic bearing (AMB) system driven by pulse width modulation (PWM) switching power amplifiers, the rotor position information can be extracted from coil current and voltage signals by a spec...In a self-sensing active magnetic bearing (AMB) system driven by pulse width modulation (PWM) switching power amplifiers, the rotor position information can be extracted from coil current and voltage signals by a specific signal demodulation process. In this study, to reduce the complexity of hardware, the coil voltage signal was not filtered but measured in the form of a duty cycle by the eCAP port of DSP (TMS320F28335). A mathematical model was established to provide the relationship between rotor position, current ripple, and duty cycle. Theoretical analysis of the amplitude-frequency characteristic of the coil current at the switching frequency was presented using Fourier series, Jacobi-Anger identity, and Bessel function. Experimental results showed that the time-varying duty cycle causes infinite side frequencies around the switching frequency. The side frequency interval depends on the varying frequency of the duty cycle. Rotor position can be calculated by measuring the duty cycle and demodulating the coil current ripple. With this self-sensing strategy, the rotor system supported by AMBs can steadily rotate at a speed of 3000 r/min.展开更多
The frequency-dependent electrical properties and strain self-sensing behaviour of ultra-high performance concrete(UHPC)as cement-based stress/strain self-sensing(CBSS)smart materials were investigated in the frequenc...The frequency-dependent electrical properties and strain self-sensing behaviour of ultra-high performance concrete(UHPC)as cement-based stress/strain self-sensing(CBSS)smart materials were investigated in the frequency range from 100 Hz to 300 kHz.By using the electrical parameters of the equivalent electric circuit model,the quantitative relations of capacitance and conductance of CBSS with the measurement frequency were derived.The capacitance and the conductance exhibit power-law type dependence on the measurement frequency.The calculated capacitance values at frequencies beyond 2 kHz and conductance values are consistent with the experimental results.The sweep-frequency test and the fixed-frequency test were performed to examine effects of the excitation frequencies on strain self-sensing properties of CBSS.The fractional change in capacitance(FCC)and resistance(FCR)of CBSS are frequency-dependent in the frequency range from 100 Hz to the f_(B),but frequency-independent in the frequency range from the f_(B)to 300 kHz.The f_(A)and the f_(B)are 1.7-4.0 kHz and 11-78 kHz depending on the fiber dosages,respectively.FCC and FCR reach their maximum at the f_(A)and 100 Hz,respectively.The responses of capacitance and resistance of CBSS to strain show good repeatability during cyclic loading.As the fiber dosage increases,capacitance-based sensitivity to strain increases initially and then decreases at the f_(A),and resistance-based sensitivity to strain of CBSS increases with increasing fiber contents.展开更多
This study presents the multifunctional characteristics of multi-walled carbon nanotube(MWCNT)/polypropylene random copolymer(PPR) composites enabled via fused filament fabrication(FFF) under monotonic and quasi-stati...This study presents the multifunctional characteristics of multi-walled carbon nanotube(MWCNT)/polypropylene random copolymer(PPR) composites enabled via fused filament fabrication(FFF) under monotonic and quasi-static cyclic compression. Utilizing in-house MWCNT-engineered PPR filament feedstocks, both bulk and cellular composites were realized. The morphological features of nanocomposites were examined via scanning electron microscopy, which reveals that MWCNTs are uniformly dispersed. The uniformly dispersed MWCNTs forms an electrically conductive network within the PPR matrix, and the resulting nanocomposite shows good electrical conductivity(~10^(-1)S/cm), improved mechanical performance(modulus increases by 125% and compressive strength increases by 25% for 8 wt% MWCNT loading) and pronounced piezoresistive response(gauge factor of 27.9-8.5 for bulk samples)under compression. The influence of strain rate on the piezoresistive response of bulk samples(4 wt% of MWCNT) under compression was also measured. Under repeated cyclic compression(2% constant strain amplitude), the nanocomposite exhibited stable piezoresistive performance up to 100 cycles. The piezoresistive response under repeated cyclic loading with increasing strain amplitude of was also assessed.The gauge factor of BCC and FCC cellular composites(4 wt% of MWCNT) with a relative density of 30%was observed to be 46.4 and 30.2 respectively, under compression. The higher sensitivity of the BCC plate-lattice could be attributed to its higher degree of stretching-dominated deformation behavior than the FCC plate-lattice, which exhibits bending-dominated behavior. The 3D printed cellular PPR/MWCNT composites structures were found to show excellent piezoresistive self-sensing characteristics and open new avenues for in situ structural health monitoring in various applications.展开更多
Soft pneumatic actuators are one of the most promising actuation for soft robots,and great achievements have been obtained.But it remains challenging to endow sensing capabilities to pneumatic actuators,especially for...Soft pneumatic actuators are one of the most promising actuation for soft robots,and great achievements have been obtained.But it remains challenging to endow sensing capabilities to pneumatic actuators,especially for the sensing ability originating directly from the actuator architecture.Herein,a self-sensing pneumatic torsional actuator(SPTA)is designed based on the electromagnetic induction effect and magnetically responsive materials.The SPTA can generate feedback voltage and current with the deformation,in which the sensing function comes from its inherent structure.To investigate the mechanical and electrical characteristics,an experimental platform and a finite element model are established,respectively.We find that the torsion angle and output torque increase in nonlinear with the actuating pressure.The maximum torsion angle is 66.35°,which is 84.34%of that for the actuator fabricated by pure rubber.The maximum output torque(24.9 N mm)improves by 23.19%compared with the actuator made by pure rubber.As regards the electrical characteristics,the maximum feedback voltage and current are 2.90μV and 29.50 nA when the SPTA is actuated by a pressure of−40 kPa.We also demonstrate that the relationship between the torsion angle and the magnetic flux change is approximately linear.Finally,the number of turns of wires,magnetic powders contents,and magnetic direction on the feedback voltage and current are studied.Results show that the feedback voltage and current can be enhanced by increasing the number of turns and magnetic powders contents.We envision that the SPTA would be promising for soft robots to realize their accuracy control and intelligentization.展开更多
The strain-temperature cross-sensitivity problem easily occurs in the engineering strain monitoring of the self-sensing embedded with fiber Bragg grating(FBG)sensors.In this work,a theoretical investigation of the str...The strain-temperature cross-sensitivity problem easily occurs in the engineering strain monitoring of the self-sensing embedded with fiber Bragg grating(FBG)sensors.In this work,a theoretical investigation of the strain-temperature cross-sensitivity has been performed using the temperature reference grating method.To experimentally observe and theoretically verify the problem,the substrate materials,the preloading technique,and the FBG initial central wavelength were taken as main parameters.And a series of sensitivity coefficients calibration tests and temperature compensation tests have been designed and carried out.It was found that when the FBG sensors were embedded on different substrates,their coefficients of the temperature sensitivity were significantly changed.Besides,the larger the coefficients of thermal expansion(CTE)of substrates were,the higher the temperature sensitivity coefficients would be.On the other hand,the effect of the preloading technique and FBG initial wavelength was negligible on both the strain monitoring and temperature compensation.In the case of similar substrates,we did not observe any difference between temperature sensitivity coefficients of the temperature compensation FBG with one free end or two free ends.The curves of the force along with temperature were almost overlapped with minor differences(less than 1%)gained by FBG sensors and pressure sensors,which verified the accuracy of the temperature compensation method.We suggest that this work can provide efficient solutions to the strain-temperature cross-sensitivity for engineering strain monitoring with the self-sensing element embedded with FBG sensors.展开更多
基金The financial support from the National Natural Science Foundation of China (32201179)Guangdong Basic and Applied Basic Research Foundation (2020A1515110126 and 2021A1515010130)+1 种基金the Fundamental Research Funds for the Central Universities (N2319005)Ningbo Science and Technology Major Project (2021Z027) is gratefully acknowledged。
文摘The development of bioinspired gradient hydrogels with self-sensing actuated capabilities for remote interaction with soft-hard robots remains a challenging endeavor. Here, we propose a novel multifunctional self-sensing actuated gradient hydrogel that combines ultrafast actuation and high sensitivity for remote interaction with robotic hand. The gradient network structure, achieved through a wettability difference method involving the rapid precipitation of MoO_(2) nanosheets, introduces hydrophilic disparities between two sides within hydrogel. This distinctive approach bestows the hydrogel with ultrafast thermo-responsive actuation(21° s^(-1)) and enhanced photothermal efficiency(increase by 3.7 ℃ s^(-1) under 808 nm near-infrared). Moreover, the local cross-linking of sodium alginate with Ca^(2+) endows the hydrogel with programmable deformability and information display capabilities. Additionally, the hydrogel exhibits high sensitivity(gauge factor 3.94 within a wide strain range of 600%), fast response times(140 ms) and good cycling stability. Leveraging these exceptional properties, we incorporate the hydrogel into various soft actuators, including soft gripper, artificial iris, and bioinspired jellyfish, as well as wearable electronics capable of precise human motion and physiological signal detection. Furthermore, through the synergistic combination of remarkable actuation and sensitivity, we realize a self-sensing touch bioinspired tongue. Notably, by employing quantitative analysis of actuation-sensing, we realize remote interaction between soft-hard robot via the Internet of Things. The multifunctional self-sensing actuated gradient hydrogel presented in this study provides a new insight for advanced somatosensory materials, self-feedback intelligent soft robots and human–machine interactions.
基金supported by National Natural Science Foundation of China (Grant No. 50775110, Grant No. 50830201)Program for Changjiang Scholars and Innovative Research Team of China (Grant No. Irt0906)+1 种基金Aeronautical Science Fund of China (Grant No. 20091552017)Jiangsu Provincal Graduate Innovation Program of China (Grant No. CX08B_048Z)
文摘Structural vibration control was an active research area for the past twenty years because of their potential applications in aerospace structures,civil structures,naval structures,etc.Semi-active vibration control methods based on piezoelectric actuators and synchronized switch damping on inductance（SSDI） techniques attract the attention of many researchers recently due to their advantages over passive and active methods.In the SSDI method,a switch shunt circuit is connected to the piezoelectric patch to shift the phase and amplify the magnitude of the voltage on the piezoelectric patch.The most important issue in SSDI method is to control the switching actions synchronously with the maximum vibration displacement or maximum strain.Hence,usually a displacement sensor is used to measure the vibration displacement or a collocated piezoelectric sensor is needed to measure the strain of the structure near the piezoelectric actuator.A self-sensing SSDI approach is proposed and applied to the vibration control of a composite beam,which avoids using a separate sensor.In the self-sensing technique,the same piezoelectric element functions as both a sensor and an actuator so that the total number of required piezoelectric elements can be reduced.One problem in the self-sensing actuator,which is the same as that in the traditional collocated piezoelectric sensors,is the noise generated in the sensor signal by the impact of voltage inversion,which may cause extra switching actions and deteriorate control performance.In order to prevent the shunt circuit from over-frequent on-and-off actions,a simple switch control algorithm is proposed.The results of control experiments show that the self-sensing SSDI approach combined with the improved switch control algorithm can effectively suppress over-frequent switching actions and gives good control performance by reducing the vibration amplitude by 45%,about 50% improvement from the traditional SSDI with a separate piezoelectric element and a classical switch.
基金Project supported by the National Natural Science Foundation of China(Grant No.61876073)the Fundamental Research Funds for the Central Universities of China(Grant No.JUSRP21920)
文摘This paper investigates fault-tolerant finite-time dynamical consensus problems of double-integrator multi-agent systems(MASs)with partial agents subject to synchronous self-sensing function failure(SSFF).A strategy of recovering the connectivity of network topology among normal agents based on multi-hop communication and a fault-tolerant finitetime dynamical consensus protocol with time-varying gains are proposed to resist synchronous SSFF.It is proved that double-integrator MASs with partial agents subject to synchronous SSFF using the proposed strategy of network topology connectivity recovery and fault-tolerant finite-time dynamical consensus protocol with the proper time-varying gains can achieve finite-time dynamical consensus.Numerical simulations are given to illustrate the effectiveness of the theoretical results.
基金the National Natural Science Foundation of China(No.59635140)
文摘The equations of motion governing the vibration of a cantilever beam with partially treated self-sensing active constrained layer damping treatment(SACLD) are derived by application of the extended Hamilton principle. The assumed-modes method and closed loop velocity feedback control law are used to analyze and control the flexural vibration of the beam nle influences of the bonding layer and piezoelectric layer thickness, material properties, placements of the Diezoelectric patch and feedback control parameters on the actuation ability of the vibration suppression are investigated. Some design considerations for pure passive, pure active control, and self-sensing active constrained layer damping are discussed.
基金Project supported by the National Natural Science Foundation ofChina (No. 50105019)the China Postdoctoral Science Foundation (No. 20060390337)
文摘Giant magnetostrictive actuators (GMAs) often work in a close-loop feedback system. This system needs independent sensors which may be difficult to be fixed, besides, excessive sensors may cause more unpredicted problems in a large system. This paper aims to develop a self-sensing GMA. An observer based on piezomagnetic equations is constructed to estimate the stress and strain of the magnetostrictive material. The observer based self-sensing approach depends on the facts that the magnetic field is controllable and that the magnetic induction is measurable. Aiming at the nonlinear hysteresis in magnetization, a hys- teresis compensation observer based on Preisach model is developed. Experiment verified the availability of the observer approach, and the hysteresis compensation observer has higher tracking precision than linear observer for dynamic force sensing.
基金Project supported by the National Preeminent Youth Foundation(Grant No.51225702)the National Natural Science Foundation of China(Grant No.51177024)
文摘A simplified quasi-static computational model for self-sensing applications of magnetostrictive actuators based on terfenol-D rods is presented. Paths and angle changes in the magnetic moments rotation of Tb0.3Dy0.7Fe2 alloy are studied as functions of compressive stress and magnetic field, and then used to determine the magnetization in its actuation. Then sensing of magnetic induction picked from a driving coil in an actuator is derived. The model is quick and efficient to solve moments rotation and its magnetization. Sensing results of compressive stress and magnetostriction calculated by the model are in good agreement with experiments and will be helpful in the design and control of self-sensing applications in actuators.
基金Sponsored by the Youths Science Foundation of Heilongjiang Province(Grant No.QC08C09)the Educational Committee Science Foundation of Heilongjiang Province(Grant No.11541272)
文摘The paper is concerned with the micro-flow self-sensing actuators,the work of which is based on the secondary piezoelectric effect. The piezoelectric ceramic stack can yield micro-displacement due to its first inverse piezoelectric effect. Therefore,we apply this micro-displacement to cell micro-flow injection. Moreover, due to the charge of the secondary direct piezoelectric effect,the piezoelectric ceramic stack is able to detect the force and displacement in the injection by itself. The experiments of first inverse piezoelectric effect and secondary direct piezoelectric effect are conducted. The experiment results show that,subjected to 0- 60 V input,the piezoelectric ceramic stack can generate 13. 45 μm displacement,and control accuracy can achieve 2 nm. It can completely meet the needs of cell micro-flow injection. Also,the experiments demonstrate that the micro-displacement due to the first inverse piezoelectric effect can be well self-sensed by the electric charge due to the secondary direct piezoelectric effect.
文摘Carbon fiber reinforced polymer composites (CFRP) have been applied to aerospace and automobile structures. For many CFRP structures, mechanical metallic fasteners are usually adopted. For the fasteners used in internal structures such as a wing box, the damage to the CFRP structures around fastener holes is visually quite difficult to find. A simple method to find the damage around fastener holes is required. In this study a self-sensing time domain reflectometry (TDR) method is newly applied to detect bearing failure around the fastener holes of CFRP structures. A microstrip-line method is generally used to create a transmission line. When the transmission line is mounted near the metallic fasteners, they may affect the impedance of the transmission line. In this study, the effect of distance between the fasteners and the transmission line was numerically investigated using a finite difference time domain analysis method. After finding the appropriate distance, experiments were performed to detect the bearing failure around a fastener hole. The experiments showed the performance of the self-sensing TDR for detecting bearing failure.
文摘A self-sensing Time Domain Reflectometry (TDR) method for Carbon Fibre Reinforced Polymer (CFRP) laminates has been propped in the present study: carbon fibres are used as sensors using a transmission line. Authors have published research articles of the self-sensing TDR method. The self-sensing TDR method reduces number of required electrodes for damage detections although the sensitivity of detection is sacrificed. A micro-strip line (MSL) method is adopted to obtain impedance matching with a coaxial cable and successfully detected damage in a CFRP laminate in the previous study. In the present study, a long curved MSL is experimentally investigated as an impedance-matched transmission line for detection of damage of a CFRP laminate in wider area. Fibre breakage is simulated as a hole made by drilling. As a CFRP laminate has strongly orthotropic electric conductance and the electric properties of a CFRP laminate at the high frequency are not clarified, the effect of the orthotropic conductance at the curved transmission line is experimentally investigated. As a result, the effect of orthotropic conductance at the curved strip line is shown to be negligible, and fiber breakage that locates closed to the copper strip line can be detected by the self-sensing curved MSL method. It is, however, difficult to detect damage far from the copper strip line.
基金supported by the National Natural Science Foundation of China(Grant Nos.12072267,12172266)。
文摘Wearable devices,interactive human-machine interface equipment,wireless sensors,and small-scale cleaning devices play crucial roles in biomedical implantation,disease treatment,health monitoring,environmental purification,etc.These devices require a sustainable energy source to work effectively.With the consideration of the global energy crisis and environmental pollution,researchers are exploring new,stable,and environmentally friendly methods to power these low-powered devices.Mechanical energy is one of the most abundant natural energy sources.Converting mechanical energy from the ambient environment or host structures into electrical energy via the direct piezoelectric effect is an efficient energy harvesting technique.This paper reviews the application of advanced piezoelectric materials,and small-scale self-powered and self-sensing piezoelectric devices at the cubic centimeter scale in energy harvesting and health monitoring of human,animal,machinery,roads,bridges,as well as the pollutant degradation of the environment.Some of these devices have the capability to not only harvest mechanical energy but also enable real-time monitoring and analysis of the electrical signals generated by the direct piezoelectric effect,facilitating prompt decision-making and appropriate responses.In addition,potential challenges and future prospects of small-scale self-powered and self-sensing piezoelectric devices are discussed.
基金supported by the Anhui Provincial Key Research and Development Program No.2022f04020008National Natural Science Foundation of China No.62301522Anhui Provincial Nature Science Foundation No.1908085MF196.
文摘This paper introduces a self-sensing anthropomorphic robot hand driven by Twisted String Actuators(TSAs).The use of TSAs provides several advantages such as muscle-like structures,high transmission ratios,large output forces,high efficiency,compactness,inherent compliance,and the ability to transmit power over distances.However,conventional sensors used in TSA-actuated robotic hands increase stiffness,mass,volume,and complexity,making feedback control challenging.To address this issue,a novel self-sensing approach is proposed using strain-sensing string based on Conductive Polymer Composite(CPC).By measuring the resistance changes in the strain-sensing string,the bending angle of the robot hand's fingers can be estimated,enabling closed-loop control without external sensors.The developed self-sensing anthropomorphic robot hand comprises a 3D-printed structure with five fingers,a palm,five self-sensing TSAs,and a 3D-printed forearm.Experimental studies validate the self-sensing properties of the TSA and the anthropomorphic robot hand.Additionally,a real-time Virtual Reality(VR)monitoring system is implemented for visualizing and monitoring the robot hand's movements using its self-sensing capabilities.This research contributes valuable insights and advancements to the field of intelligent prosthetics and robotic end grippers.
基金supported in part by the National Natural Science Foundation of China(No.52007084)by the Young Elite Scientists Sponsorship Program by CAST(No.2023QNRC001).
文摘Impact detecting and counting are fundamental functions of fuses used in hard target penetration weapons.However,detection failure caused by battery breakdown in high-g acceleration environments poses a vulnerability for such weapons.This paper introduces a novel supercapacitor that combines energy storage and high-g impact detection,called self-sensing supercapacitor.By deliberately inducing a transient soft short-circuit during shock in the supercapacitor,it is possible to detect external impact by its transient voltage drop.To realize this concept,firstly,by introducing the contact theory and force-induced percolation model,the electrode strength and roughness are found to have key impacts on the formation of soft circuits.Subsequently,to meet the needs for sensitivity and capacity,a high-density porous carbon(HDPC)that combines high mechanical strength and porosity,is selected as a suitable candidate based on the analysis results.Furthermore,a two-step curing method is proposed to prepare the high-roughness HDPC(HRHDPC)electrode and to assemble the self-sensing supercapacitor.Due to the rich specific surface of the electrodes and the high surface strength and roughness conducive to the formation of transient soft short circuits,the self-sensing supercapacitor not only possesses an excellent specific capacitance(171 F/g at 0.5 A/g)but also generates significant voltage response signals when subjected to high-g impacts ranging from 8000g to 31,000g.Finally,the self-sensing supercapacitor is applied to compose a successive high-g impact counting system and compared to traditional solutions(sensors and tantalum capacitors)in the military fuzes.The results show that the self-sensing supercapacitor-based system exhibits advantages in terms of size,power consumption,and counting accuracy.
基金National Natural Science Foundation of China(No.61876073)Fundamental Research Funds for the Central Universities of China(No.JUSRP21920)。
文摘Double-integrator multi-agent systems(MASs)might not achieve dynamical consensus,even if only partial agents suffer from self-sensing function failures(SSFFs).SSFFs might be asynchronous in real engineering application.The existing fault-tolerant dynamical consensus protocol suitable for synchronous SSFFs cannot be directly used to tackle fault-tolerant dynamical consensus of double-integrator MASs with partial agents subject to asynchronous SSFFs.Motivated by these facts,this paper explores a new fault-tolerant dynamical consensus protocol suitable for asynchronous SSFFs.First,multi-hop communication together with the idea of treating asynchronous SSFFs as multiple piecewise synchronous SSFFs is used for recovering the connectivity of network topology among all normal agents.Second,a fault-tolerant dynamical consensus protocol is designed for double-integrator MASs by utilizing the history information of an agent subject to SSFF for computing its own state information at the instants when its minimum-hop normal neighbor set changes.Then,it is theoretically proved that if the strategy of network topology connectivity recovery and the fault-tolerant dynamical consensus protocol with proper time-varying gains are used simultaneously,double-integrator MASs with all normal agents and all agents subject to SSFFs can reach dynamical consensus.Finally,comparison numerical simulations are given to illustrate the effectiveness of the theoretical results.
基金supported by the National Natural Science Foundation of China(Grant No.52205073)Zhejiang Provincial Natural Science Foundation of China(Grant No.LD22E050002)+1 种基金China National Postdoctoral Program for Innovative Talents(Grant No.BX2021258)China Postdoctoral Science Foundation(Grant No.2022M710125)。
文摘Designing soft robots that are able to perceive unstructured,dynamic environments and their deformations has been a long-term goal.Previously reported self-sensing soft actuators were mostly constructed via integrating separate actuators and sensors.The actuation performances and the sensing reliability are affected owing to the unmatched materials and weak connections.Realizing a seamless integration of soft actuators and sensors remains a grand challenge.Here,we report a fabrication strategy to endow soft actuators with sensing capability and programmable actuation performances.The foam inside the actuator functions as actuator and sensor simultaneously,effectively addressing the conformability and connection reliability issues that existed in current self-sensing actuators.The actuators are lightweight(a decrease of 58%in weight),powerful(lifting a load of 433 times of its own weight),and versatile(coupling twisting and contraction motions).Furthermore,the actuators are able to detect multiple physical stimuli with high reliability,demonstrating their exteroception and proprioception capability.Two self-sensing soft robotic prototypes,including a bionic bicep and a bionic neck,are constructed to illustrate their multifunctionality.Our study opens up new possibilities for the design of soft actuators and has promising potential in a variety of applications,ranging from human-robot interaction,soft orthotics,to wearable robotics.
基金the financial support from National Natural Science Foundation of China (No. 22102141)the Priority Academic Program Development of Jiangsu Higher Education Institutions (PAPD)+2 种基金Nature Science Foundation of Jiangsu Province No.BK20190905Project for Science and Technology of Yangzhou(No. YZ2020067)the open funds of the Ministry of Education Key Lab for Avian Preventive Medicine (No. YF202020)。
文摘In this article, we used the self-excitation and self-inductance characteristics of polyvinylidene fluoride(PVDF) piezoelectric materials, combined with the powerful signal processing and calculation analysis capabilities of integrated circuits, for the first time to explore a set of microcantilever sensor "readout system" without additional driver(self-driving) and can realize self-sensing external signal(self-sensing).It was successfully applied to the unlabeled detection of avian influenza virus(AIV) H9N_(2). The specific force of the antigen-antibody complexes on the surface of the microcantilever leads to the change of the stress of the cantilever, which drives the constructed detection device, and does not require an additional excitation source to drive it, that is, the self-driving part. At the same time, due to the movement of piezoelectric charges in the film caused by the positive piezoelectric effect of the PVDF film, self-inductive charges are generated on the surface of the sensor dielectric. The charge signal is converted into a voltage signal, and the sensing part is completed, that is, self-sensing. The immunosensor has a linear range of100-1000 ng/m L with a detection limit of 2.9 ng/m L. The method will also open up a new avenue for the detection of other analytes based on antigen-antibody responses.
基金Project (No. LZ13E070001) supported by the Natural Science Foundation of Zhejiang Province, China
文摘In a self-sensing active magnetic bearing (AMB) system driven by pulse width modulation (PWM) switching power amplifiers, the rotor position information can be extracted from coil current and voltage signals by a specific signal demodulation process. In this study, to reduce the complexity of hardware, the coil voltage signal was not filtered but measured in the form of a duty cycle by the eCAP port of DSP (TMS320F28335). A mathematical model was established to provide the relationship between rotor position, current ripple, and duty cycle. Theoretical analysis of the amplitude-frequency characteristic of the coil current at the switching frequency was presented using Fourier series, Jacobi-Anger identity, and Bessel function. Experimental results showed that the time-varying duty cycle causes infinite side frequencies around the switching frequency. The side frequency interval depends on the varying frequency of the duty cycle. Rotor position can be calculated by measuring the duty cycle and demodulating the coil current ripple. With this self-sensing strategy, the rotor system supported by AMBs can steadily rotate at a speed of 3000 r/min.
文摘The frequency-dependent electrical properties and strain self-sensing behaviour of ultra-high performance concrete(UHPC)as cement-based stress/strain self-sensing(CBSS)smart materials were investigated in the frequency range from 100 Hz to 300 kHz.By using the electrical parameters of the equivalent electric circuit model,the quantitative relations of capacitance and conductance of CBSS with the measurement frequency were derived.The capacitance and the conductance exhibit power-law type dependence on the measurement frequency.The calculated capacitance values at frequencies beyond 2 kHz and conductance values are consistent with the experimental results.The sweep-frequency test and the fixed-frequency test were performed to examine effects of the excitation frequencies on strain self-sensing properties of CBSS.The fractional change in capacitance(FCC)and resistance(FCR)of CBSS are frequency-dependent in the frequency range from 100 Hz to the f_(B),but frequency-independent in the frequency range from the f_(B)to 300 kHz.The f_(A)and the f_(B)are 1.7-4.0 kHz and 11-78 kHz depending on the fiber dosages,respectively.FCC and FCR reach their maximum at the f_(A)and 100 Hz,respectively.The responses of capacitance and resistance of CBSS to strain show good repeatability during cyclic loading.As the fiber dosage increases,capacitance-based sensitivity to strain increases initially and then decreases at the f_(A),and resistance-based sensitivity to strain of CBSS increases with increasing fiber contents.
基金financial support from the Abu Dhabi National Oil Company (ADNOC), United Arab Emirates under Award No: EX2016-000010。
文摘This study presents the multifunctional characteristics of multi-walled carbon nanotube(MWCNT)/polypropylene random copolymer(PPR) composites enabled via fused filament fabrication(FFF) under monotonic and quasi-static cyclic compression. Utilizing in-house MWCNT-engineered PPR filament feedstocks, both bulk and cellular composites were realized. The morphological features of nanocomposites were examined via scanning electron microscopy, which reveals that MWCNTs are uniformly dispersed. The uniformly dispersed MWCNTs forms an electrically conductive network within the PPR matrix, and the resulting nanocomposite shows good electrical conductivity(~10^(-1)S/cm), improved mechanical performance(modulus increases by 125% and compressive strength increases by 25% for 8 wt% MWCNT loading) and pronounced piezoresistive response(gauge factor of 27.9-8.5 for bulk samples)under compression. The influence of strain rate on the piezoresistive response of bulk samples(4 wt% of MWCNT) under compression was also measured. Under repeated cyclic compression(2% constant strain amplitude), the nanocomposite exhibited stable piezoresistive performance up to 100 cycles. The piezoresistive response under repeated cyclic loading with increasing strain amplitude of was also assessed.The gauge factor of BCC and FCC cellular composites(4 wt% of MWCNT) with a relative density of 30%was observed to be 46.4 and 30.2 respectively, under compression. The higher sensitivity of the BCC plate-lattice could be attributed to its higher degree of stretching-dominated deformation behavior than the FCC plate-lattice, which exhibits bending-dominated behavior. The 3D printed cellular PPR/MWCNT composites structures were found to show excellent piezoresistive self-sensing characteristics and open new avenues for in situ structural health monitoring in various applications.
基金This work was supported by the Natural Science Foundation of Jiangxi Province of China(Grant No.20232BAB214050)the National Natural Science Foundation of China(Grant No.52165004).
文摘Soft pneumatic actuators are one of the most promising actuation for soft robots,and great achievements have been obtained.But it remains challenging to endow sensing capabilities to pneumatic actuators,especially for the sensing ability originating directly from the actuator architecture.Herein,a self-sensing pneumatic torsional actuator(SPTA)is designed based on the electromagnetic induction effect and magnetically responsive materials.The SPTA can generate feedback voltage and current with the deformation,in which the sensing function comes from its inherent structure.To investigate the mechanical and electrical characteristics,an experimental platform and a finite element model are established,respectively.We find that the torsion angle and output torque increase in nonlinear with the actuating pressure.The maximum torsion angle is 66.35°,which is 84.34%of that for the actuator fabricated by pure rubber.The maximum output torque(24.9 N mm)improves by 23.19%compared with the actuator made by pure rubber.As regards the electrical characteristics,the maximum feedback voltage and current are 2.90μV and 29.50 nA when the SPTA is actuated by a pressure of−40 kPa.We also demonstrate that the relationship between the torsion angle and the magnetic flux change is approximately linear.Finally,the number of turns of wires,magnetic powders contents,and magnetic direction on the feedback voltage and current are studied.Results show that the feedback voltage and current can be enhanced by increasing the number of turns and magnetic powders contents.We envision that the SPTA would be promising for soft robots to realize their accuracy control and intelligentization.
基金supported by the National Natural Science Foundation of China(Grant No.52068014)Key Research&Development Projects in the Guangxi Autonomous Region(Grant No.GUIKE AA20302006)Major Construction Program of the Science and Technological Innovation Base in the Guangxi Autonomous Region(Grant No.2018-242-G02).
文摘The strain-temperature cross-sensitivity problem easily occurs in the engineering strain monitoring of the self-sensing embedded with fiber Bragg grating(FBG)sensors.In this work,a theoretical investigation of the strain-temperature cross-sensitivity has been performed using the temperature reference grating method.To experimentally observe and theoretically verify the problem,the substrate materials,the preloading technique,and the FBG initial central wavelength were taken as main parameters.And a series of sensitivity coefficients calibration tests and temperature compensation tests have been designed and carried out.It was found that when the FBG sensors were embedded on different substrates,their coefficients of the temperature sensitivity were significantly changed.Besides,the larger the coefficients of thermal expansion(CTE)of substrates were,the higher the temperature sensitivity coefficients would be.On the other hand,the effect of the preloading technique and FBG initial wavelength was negligible on both the strain monitoring and temperature compensation.In the case of similar substrates,we did not observe any difference between temperature sensitivity coefficients of the temperature compensation FBG with one free end or two free ends.The curves of the force along with temperature were almost overlapped with minor differences(less than 1%)gained by FBG sensors and pressure sensors,which verified the accuracy of the temperature compensation method.We suggest that this work can provide efficient solutions to the strain-temperature cross-sensitivity for engineering strain monitoring with the self-sensing element embedded with FBG sensors.
