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This paper presents a thorough robust Class-AB power amplifier design and its application in pressure-mode sensor-on-chip nonlinearity correction. Considering its use in piezoresistive sensing applications, a gain-boosting-aided folded cascode structure is utilized to increase the amplifier's gain by a large amount as well as enhancing the power rejection ability, and a push–pull structure with miller compensation, a floating gate technique, and an adaptive output driving limiting structures are adopted to achieve high-efficiency current driving capability, high stability, and electronic environmental compatibility. This amplifier is applied in a real sensor nonlinearity correction on-chip system. With the help of a self-designed 7-bit + sign DAC and a self-designed two-stage operational amplifier, this system is compatible with nonlinear correction at different signal conditioning output values. It can also drive resistive sensors as small as 300 ohms and as high as tens of thousands of ohms. The designed two-stage operational amplifier utilizes the TSMC 0.18 um process, resulting in a final circuit power consumption of 0.183 mW. The amplifier exhibits a gain greater than 140 dB, a phase margin of 68°, and a unit gain bandwidth exceeding 199.76 kHz. The output voltage range spans from 0 to 4.6 V. The final simulation results indicate that the nonlinear correction system designed in this paper can correct piezoresistive sensors with a nonlinearity of up to ±2.5% under various PVT (Process–Voltage–Temperature) conditions. After calibration by this system, the maximum error in the output voltage is 4 mV, effectively reducing the nonlinearity to 4% of its original value in the worst-case scenario. [ABSTRACT FROM AUTHOR]

Three different hovering modes, namely, the caudal fin, pectoral fins, and multi fins, were utilized to achieve the standing-and-hovering behavior in robotic dolphins. A three-dimensional dolphin model, consisting of body, caudal fin, and symmetric pectoral fins, was used as the virtual swimmer to implement three hovering modes. A novel paddling motion was proposed, and a symmetric shape was designed of the pectoral fins. The hovering mechanisms of different modes were revealed, and the mapping relationships between different motion and performance parameters such as hovering height, efficiency, stability, and rapidity were established. The respective advantages of the three hovering modes were compared. The results showed that the caudal fin mode had the best hovering stability, while the pectoral fins mode had the best hovering rapidity. Moreover, it is worth noting that the multi fins mode had both the good hovering stability and rapidity. Therefore, the optimal hovering mode and motion parameters can be selected based on different expected objectives to achieve the best results. This study provides a new approach to break through the spatial barriers to movement of underwater robots and provides a solid hydrodynamic theoretical basis for the development of cross-medium robots with multiple hovering modes. [ABSTRACT FROM AUTHOR]