ABSTRACT
Bioinspired micropillar adhesives have shown broad application prospects in space capture and docking, due to their strong adhesion, good environmental adaptability, and reusability. However, when performing space missions, unavoidable contact collision with target objects may cause large deformation of the micropillars, resulting in the loss of adhesion ability. This study reports a novel micropillar adhesive through the in-plane combination of micropillars (IPCM) with different aspect ratios, consisting of small pillars for retaining strong adhesion and large ones for resisting overload-induced adhesion failure. It is demonstrated that the IPCM array can still maintain 85% of the adhesion peak after static large deformation compared to a general micropillar array composed of the same pillars. The impact of element size and layout of the IPCM, as well as detachment velocity on adhesion performance under high preload is discussed. Furthermore, finite element contact analysis qualitatively reproduces the experimentally observed micropillar deformations and attributes the overload-induced adhesion failure to the redistribution of surface normal stress. Finally, the potential application of the IPCM in dynamic capture is demonstrated on different objects. The proposed IPCM opens up new design concepts for practical applications of bioinspired adhesives in space capture and docking.
ABSTRACT
Two novel electrochromic aromatic polyimides (named as TPA-BIA-PI and TPA-BIB-PI, respectively) with pendent benzimidazole group were synthesized from 1,2-Diphenyl-N,N'-di-4-aminophenyl-5-amino-benzimidazole and 4-Amino-4'-aminophenyl-4â³-1-phenyl-benzimidazolyl-phenyl-aniline with 4,4'-(hexafluoroisopropane) phthalic anhydride (6FDA) via two-step polymerization process, respectively. Then, polyimide films were prepared on ITO-conductive glass by electrostatic spraying, and their electrochromic properties were studied. The results showed that due to the π-π* transitions, the maximum UV-Vis absorption bands of TPA-BIA-PI and TPA-BIB-PI films were located at about 314 nm and 346 nm, respectively. A pair of reversible redox peaks of TPA-BIA-PI and TPA-BIB-PI films that were associated with noticeable color changed from original yellow to dark blue and green were observed in the cyclic voltammetry (CV) test. With increasing voltage, new absorption peaks of TPA-BIA-PI and TPA-BIB-PI films emerged at 755 nm and 762 nm, respectively. The switching/bleaching times of TPA-BIA-PI and TPA-BIB-PI films were 13 s/16 s and 13.9 s/9.5 s, respectively, showing that these polyimides can be used as novel electrochromic materials.
ABSTRACT
We report an adaptive output feedback dynamic surface control (DSC), maintaining the prescribed performance, for a class of uncertain nonlinear systems with multiinput and multioutput. Designing neural network observers and modifying the DSC method achieves several control objectives. First, to achieve output feedback control, the finite-time echo state networks (ESN) observer with fast convergence is designed to obtain the online system states. Thus, the immeasurable states in traditional state feedback control are estimated and the unknown functions are approximated by ESN. Then, a modified DSC approach is developed by introducing a high-order sliding mode differentiator to replace the first-order filter in each step. Thus, the effect of filter performance on closed-loop stability is reduced. Furthermore, the input to state stability guarantees that all signals of the whole closed-loop system are semiglobally uniformly ultimately bounded. Specifically, the performance functions make the tracking errors converge to a compact set around equilibrium. Two numerical examples illustrated the proposed control scheme with satisfactory results.
