2023 April - 45 articles
There are several compelling reasons for exploring the ocean, for instance, the potential for accessing valuable resources, such as energy and minerals; establishing sovereignty; and addressing environmental issues. As a result, the scientific commun...
Robots are expected to execute various operation tasks like a human by learning human working skills, especially for complex contact tasks. Increasing demands for human–robot interaction during task execution makes robot motion planning and con...
This journal review article focuses on the use of assistive and rehabilitative exoskeletons as a new opportunity for individuals with diminished mobility. The article aims to identify gaps and inconsistencies in state-of-the-art assistive and rehabil...
Piezoelectric materials are a class of materials that can generate an electric charge when subjected to mechanical stress, or vice versa. These materials have a wide range of applications, from sensors and actuators to energy-harvesting devices and m...
In order to improve the state monitoring and adaptive control capability of inertial stabilization platforms (ISPs) with unknown loads, it is necessary to estimate the dynamic parameters comprehensively online. However, most current online estimation...
After the catastrophic destruction of the October 2005 Kashmir earthquake, the first building code of Pakistan was developed in 2007. The sole purpose of the building code of Pakistan (BCP) was to incorporate advancements in earthquake-resistant desi...
To facilitate torsion testing in special environments, a noncontact torsion testing device, where a noncontact torque can be transmitted to a specimen, was developed using magnetic levitation technology. A permanent magnetic gear is used to produce n...
A complex surface measurement is important for quality control and manufacturing processes. Articulated arm coordinate measuring machines (AACMMs) are widely used in measuring the complex surface. However, the AACMMs that are currently used always re...
Soft Pneumatic-Network (Pneu-Net) Actuators (SPAs) have been used extensively in making soft grippers, due to their simple driving forms and large bending deformation. However, the capabilities of the regular SPAs in complex soft gripping application...
This paper presents the design of two predefined-time active fault-tolerant controllers for the trajectory tracking of autonomous underwater vehicles (AUVs) which can address actuator faults without causing actuator saturation. The first controller o...
In this paper, we propose a novel method for planning grinding trajectories on curved surfaces to improve the grinding efficiency of large aluminum alloy surfaces with welds and defect areas. Our method consists of three parts. Firstly, we introduce...
This paper proposes a double-layer model predictive control (MPC) algorithm for the integrated path planning and trajectory tracking of autonomous vehicles on roads. The upper module is responsible for generating collision-free lane trajectories, whi...
This paper deals with the analysis of the dynamic performance of a generator with a doubly salient exterior rotor excited by permanent magnets inserted in the stator yoke. The electrical generator works at low speed and is devoted to a wind energy co...
Modern spacecraft usually have larger and more flexible appendages whose vibration becomes more and more prominent, and it has a great influence on the precision of spacecraft attitude. Therefore, the cooperative control of attitude maneuvering and s...
A real-time path planning algorithm based on the Markov decision process (MDP) is proposed in this paper. This algorithm can be used in dynamic environments to guide the wheeled mobile robot to the goal. Two phases (the utility update phase and the p...
A collision avoidance method that is specifically tailored for UAVs (unmanned aerial vehicles) operating in converging airspace is proposed. The method is based on ADS-B messages and it aims to detect and resolve conflicts between UAVs. The proposed...
Aero-engine control systems generally adopt centralized or distributed control schemes, in which all or most of the tasks of the control system are mapped to a specific processor for processing. The performance and reliability of this processor have...
Having benefited from technological developments, such as surface micromachining, high-aspect-ratio silicon micromachining and ongoing miniaturization in complementary metal–oxide–semiconductor (CMOS) technology, some electrostatic actuat...
There are numerous prospects for automated unmanned forklifts in the fields of intelligent logistics and intelligent factories. However, existing unmanned forklifts often operate according to offline path planning first followed by path tracking to m...
In recent years, active periodic structures with in-time modulated parameters have drawn ever-increasing attention due to their peculiar (and sometimes exotic) wave propagation properties. Although many experimental works have shown the efficacy of t...
In recent years, there has been an increase in the development of medical robots to enhance interventional MRI-guided therapies and operations. Magnetic resonance imaging (MRI) surgical robots are particularly attractive due to their ability to provi...
Shape memory alloys (SMAs) are smart materials that change their crystalline structures when subjected to heat or tension, resulting in a macroscopic deformation. When applied to actuators, SMAs present a remarkable load–weight ratio and flexib...
Terrain adaptation research can significantly improve the motion performance of hexapod robots. In this paper, we propose a method that combines reinforcement learning with a central pattern generator (CPG) to enhance the terrain adaptation of hexapo...
A multi-head-attention-network-based method is proposed for effective information extraction from multidimensional data to accurately predict the remaining useful life (RUL) of gradually degrading equipment. The multidimensional features of the desir...
In this paper, the design of novel slotless permanent magnet synchronous motor (PMSM) for a collaborative robot was studied considering the manufacture process of winding. The winding manufacture process of novel slotless PMSM was proposed in three s...
The application of control systems in precision irrigation is critical to ensure the accurate distribution of water in crops under various uncertainties. Shifts in the loading of the water supply on the control valve can be a significant uncertainty....
Fault diagnosis plays an important role in improving the safety and reliability of complex equipment. Convolutional neural networks (CNN) have been widely used to diagnose faults due to their powerful feature extraction and learning capabilities. In...
This paper presents a comparative study on the effects of the input configurations of linear quadratic (LQ) controllers on path tracking performance under low friction conditions. For the last decade, the path tracking controller has adopted several...
The vibration performance is critical to the suspension control and the torque precision of the magnetically suspended momentum flywheel (MSMW). The translational and torsional vibration of the MSMW are investigated in this article, and the damping r...
In the present article, a 1-DOF modular robotic hand inspired by a human two-arm cooperative handling strategy was presented to achieve flexible applications in robotic object grasping. The presented modular robotic hand was characterized as 1-DOF, m...
In this paper, we present different microelectromechanical systems based on electrostatic actuators, and demonstrate their capacity to achieve large and stepwise displacements using a cooperative function of the actuators themselves. To explore this,...
As the key component of a servo motor, the torque and temperature rise of the brake at the operating temperature affect the production quality of injection molding machines and other equipment. To achieve application of the brake and evaluate its per...
Concepts, such as power and condition monitoring or smart systems, are becoming increasingly important but require extensive insight into the process or machine, which is mostly gained by additional sensors. However, this development is contrasted by...
The series elastic actuator (SEA) is generally used as the torque source of the exoskeleton robot for human–robot interaction (HRI). In this paper, an impedance control method for lower limb exoskeleton robots driven by SEA is presented. First,...
To address the issues of the high cost of marine turbocharger fault simulation testing and the difficulties in obtaining fault sample data, a multi-body dynamics model of a marine turbocharger was developed. The simulation approach was used to acquir...
To solve the problem that it is difficult to accurately identify the rotor eccentric fault, demagnetization fault and hybrid fault of a permanent magnet synchronous motor (PMSM) with a slot pole ratio of 3/2 and several times of it, this paper propos...
Visual servoing is widely used in the peg-in-hole assembly due to the uncertainty of pose. Humans can easily align the peg with the hole according to key visual points/edges. By imitating human behavior, we propose P2HNet, a learning-based neural net...
In the study, we propose a novel adaptive visual servoing control scheme for robotic manipulators with kinematic and dynamic uncertainties, where the camera used is uncalibrated, which implies that its intrinsic and extrinsic parameters are unavailab...
In order to meet the increasing demand for high-performance and high-efficiency vehicles, this paper proposes a novel electromagnetic linear energy-reclaiming suspension technology based on the McPherson independent suspension, and analyzes its core...
This paper presents results of the first phase of “Dielectric Elastomer Cooperative Microactuator Systems” (DECMAS), a project within the German Research Foundation Priority Program 2206, “Cooperative Multistable Multistage Microact...
In this paper, a new nonlinear robust fault-tolerant tracking control method is proposed for a tri-rotor unmanned aerial vehicle (UAV) under unknown abnormal actuator behaviors together with unknown external disturbances. The actuator anomalies are m...
Motion control of truck-mounted concrete pump booms is an important part of concrete construction work. The quality of the boom movement will affect the efficiency and safety of construction operations. To make the boom move quickly and steadily, its...
This paper investigates the problem of modeling and controlling a space manipulator system with flexible joints and links. The dynamic model of the flexible manipulator system is derived by using the Lagrange equation and the floating frame of refere...
In submarine oil and gas pipelines, the movement of a differential pressure multisection pipeline robot mainly relies on the front and rear driving pressure difference of the fluid and the friction between the cup and the pipe wall. The passability o...
Nanopositioners with embedded piezoelectric motors are used in a variety of industries, from microscopy to laser processing or measurement systems. A concrete example would be fine-tuning of multiple mirror or lens units in a system. After fine adjus...
