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To realize fish-like robot swimming behaviors poses tremendous challenges, especially for the realization of fish body. This paper highlights the system design and experimental research of a free-swimming biomimetic robot fish. By propulsive theories, a design scheme concerning with both physical realization and control methods is presented, where multiple(More)
BACKGROUND Ultrasonic motors (USM) are based on the concept of driving the rotor by a mechanical vibration excited on the stator via piezoelectric effect. USM exhibit merits such as simple structure, quick response, quiet operation, self-locking when power off, nonelectromagnetic radiation and higher position accuracy. PRINCIPAL FINDINGS A cylindrical(More)
To make full use of the vibrational energy of a longitudinal transducer, a rectangle-type linear ultrasonic motor with four driving feet is proposed in this paper. This new motor consists of four longitudinal vibration transducers which are arranged in a rectangle and form an enclosed construction. Lead zirconate titanate ceramics are embedded into the(More)
A U-shaped linear ultrasonic motor using longitudinal vibration transducers with double feet was proposed in this paper. The proposed motor contains a horizontal transducer and two vertical transducers. The horizontal transducer includes two exponential shape horns located at the leading ends, and each vertical transducer contains one exponential shape(More)
An I-shaped ultrasonic motor using longitudinal vibrations is proposed, designed, and analyzed. The operating principle is discussed. The resonance frequencies of the three transducers are tuned to be close by modal analysis. Then, the vibration trajectories of the four tip ends of the two horizontal transducers are investigated by transient analysis.(More)
We report a novel rotary piezoelectric motor using bending transducers in this work. Three transducers are used to drive a disk-shaped rotor together by the elliptical movements of their driving tips; these motions are produced by the hybrid of two first bending vibration modes. The proposed piezoelectric transducer has a simple structure as it only(More)
A time-multiplexed double strobe scheme for unambiguous tracking of time-multiplexed binary offset carrier (TMBOC) modulated signal in GPS is presented. In the code tracking loop, two kinds of time-multiplexed strobe pulses are generated to track the BOC(1,1) and BOC(6,1) components, respectively. The strobe based on BOC(1,1) subcarrier eliminates the false(More)
A modified large thrust ultrasonic linear motor using a T-shape configuration composed of two orthogonal sandwich-type transducers has been proposed in this paper. It is an improved version of a previous T-shape motor. The vertical transducer is used to generate the normal force between the driving foot and slider, while the other push-pull–type horizontal(More)