2022 October - 35 articles
A navigation algorithm providing motion planning for two-wheeled mobile robots is proposed in this paper. The motion planning integrates path planning, velocity planning and controller design. Bidirectional rapidly-exploring random trees algorithms (...
This article describes the challenges of integrating smart sensing, actuation, and control concepts into an over-sensed and over-actuated technology integrator. This technology integrator has more control inputs than the expected responses or outputs...
In this paper, a claw-pole magnetic levitation torque motor (CPMLTM) utilizing cogging torque is proposed as an electromechanical converter (EMC) for two-dimensional valves (2D valve). Compared to the existing torque motor, CPMLTM utilizes the coggin...
Synthetic jet technology is widely adopted in active flow control. An actuator with an oscillating diaphragm is a commonly used excitation device for synthetic jet generation. However, it has a disadvantage wherein the volume at the cross-section of...
As an important equipment for deep well hoisting, the safe and stable operation of the Blair mine hoist is vital for the development and utilization of deep mineral resources. However, it is always a challenging task to keep consistent wire rope tens...
Quantification and minimisation of energy consumption in resonant MEMS micromirrors is a key aspect for a proper structural design. In this setting, the quality factor Q of the drive mode of the device needs to be estimated and, eventually, improved....
Neither the separate skyhook damping nor the skyhook inertance control strategy can adapt to the variations of both road and load conditions simultaneously. To address this issue, this work proposed a novel ideal multi-hook system by combining the sk...
Plasma actuators (PA) can be utilized as fluid control devices without moving parts, but further improvement in drive efficiency is necessary. Herein, string-type PAs with up to 12 insulated conductive wires were evaluated to replace sheet-type PAs h...
High-temperature superconducting (HTS) magnetic levitation (maglev) trains for designed high speed need a non-contact braking method that can produce stable and sufficient braking forces to ensure the safety of the train during emergency braking. In...
In this paper, a novel optimal 3-DoF micro-conveyor based on electromagnetic digital actuators array is proposed. The micro-conveyor consists of four electromagnetic digital actuators. Two specific control strategies have been built to realize the 3-...
A novel nonlinear dynamic modeling approach is proposed for the T-shaped beam structures widely used in the field of aerospace. All of the geometrical nonlinearities including the terms in the deformation of the beams, the terms at the connections, a...
Wind speed uncertainty and measurement noise affect the control effect in hydraulic wind turbine systems. This paper proposes a model predictive control (MPC) method with a dynamic Kalman filter (KF) based on a linear parameter-varying (LPV) model to...
When an active magnetic bearing (AMB) rotor drops, it impacts the touchdown bearing (TDB) and produces friction on its surface. The vertical AMB rotor has no stable support in the radial direction, and the rotor exhibits a violent whirl motion in the...
Cable-Driven Parallel Robots (CDPRs) use cables arranged in a parallel fashion to manipulate an end-effector (EE). They are functionally similar to several cranes that automatically collaborate in handling a shared payload. Thus, CDPRs share several...
This work presents a method to find the optimal configuration of a leg-based stair-climbing wheelchair. This optimization begins with the definition of a high-level control architecture, in which the kinematics restrictions related to the specific ob...
Pneumatic artificial muscles (PAMs) are soft and flexible linear pneumatic actuators which produce human muscle like actuation. Due to these properties, the muscle actuators have an adaptable compliance for various robotic platforms as well as medica...
Standing tree pruning in fast-growing forests is an essential part of the targeted nurturing of quality fast-growing forests. Because of the high risk and low efficiency of traditional pruning methods, a climbing and pruning robot was developed, its...
This study proposes a soft pneumatic actuator with adhesion (SPAA) consisting of a top fluidic-driven elastic actuator and four bottom adhesive pads for adhering to large cylinders. Finite element models were developed to investigate the bending prop...
In recent years, the lower limb exoskeleton has been more and more widely used in military, medical and other fields. In this paper, the muscle–bone model of the lower limb during the human walking process is analyzed, and a lower limb exoskele...
The contact force between the polishing tool and the workpiece is crucial in determining the surface quality in robotic polishing. Different from rigid end-effectors, this paper presents a novel compliant end-effector (CEE) for robotic polishing usin...
Electroadhesion is a suitable technology for developing grippers for applications where fragile, compliant or variable shape objects need to be grabbed and where a retention action is typically preferred to a compression force. This article presents...
In order to adapt to complex and changeable mechanical conditions and make the deformable mechanisms perform well statically and dynamically, variable stiffness joints have been studied extensively. The variable stiffness actuator is the key driving...
The hydrostatic actuation system based on linear actuators improves the complex piston force and long transmission path of the traditional electro-hydrostatic actuator (EHA). However, new nonlinear factors in the linear actuator and direct-driven pis...
A hybrid damper concept is presented here using a combination of a Magnetorheological (MR) Fluid (MRF) and Shape Memory Alloy (SMA)-based energy dissipation. A demonstration is performed utilizing the shear operating mode of the MRF and the one-way e...
To improve the accuracy, rapidity, and versatility of pneumatic control valves, mechanism modeling, and optimization analysis on pneumatic actuators were carried out, and then a new positioning strategy based on parameter tuning and optimal control t...
The consistency of the two-phase mode responses is essential to ensure the mechanical performance and stability of traveling-wave ultrasonic motors. Due to the asymmetry of the stator, inevitable manufacturing errors, or imbalance of the excitation v...
Plastic micro-drive systems are used in an increasing number of applications in manufacturing industries. The operational status of the plastic micro-drive system directly affects the performance of the host system. However, the fault diagnosis of th...
Taking advantage of the concurrent stretching and bending property of corrugated flexure hinges, a sinusoidal corrugated flexure linkage was proposed and applied for the construction of a corrugated dual-axial mechanism with structural symmetry and d...
With outstanding deep feature learning and nonlinear classification abilities, Convolutional Neural Networks (CNN) have been gradually applied to deal with various fault diagnosis tasks. Affected by variable working conditions and strong noises, the...
Localization of suspicious moving objects in dynamic environments requires high accuracy mapping. A deep learning model is proposed to track crossing moving objects in the opposite direction. Moving objects locus measurements are computed from the sp...
In this paper, considering the simultaneous influence of multi-source disturbances, system modeling uncertainties and input–output constraints, an adaptive robust attitude tracking control scheme is proposed for near space vehicles (NSVs) which...
The detection of obstacles of intelligent driving vehicles becomes a primary condition to ensure safe driving. LiDAR and camera are the main sensors for intelligent vehicles to obtain information about their surroundings, and they each have their own...
A translational oscillator with a rotational actuator (TORA) is an underactuated nonlinear mechanical system with two degrees of freedom (DOF). This paper concerns the robust stabilization control problem for the system with multiple external disturb...
A model-free adaptive predictive control algorithm based on an improved extended state observer (IESO) is proposed to solve the problem that the primary permanent magnet linear motor is susceptible to time-varying parameters and unknown disturbances....
Magnetic continuum millirobots have presented outstanding potential in ultrahigh-precision engineering including minimally invasive surgery, due to their flexible mechanical structures and dexterous manipulation. Traditional continuum millirobots exh...
