2024 February - 36 articles
In-wheel motor vehicles are gaining attention as a new type of electric vehicle due to their efficient power units located inside each wheel hub. However, they are more susceptible to wheel resonance due to the increase in unsprung mass caused by the...
To address the challenges of sinking, imbalance, and complex control systems faced by hexapod robots walking on lunar soil, this study develops an umbrella-shaped foot lunar exploration hexapod robot. The overall structure of the robot is designed to...
This study used real-time image processing to realize obstacle avoidance and indoor navigation with an omnidirectional wheeled mobile robot (WMR). The distance between an obstacle and the WMR was obtained using a depth camera. Real-time images were u...
In order to achieve multi-objective chassis coordination control for 4WID-4WIS (four-wheel independent drive–four-wheel independent steering) electric vehicles, this paper proposes a coordinated control strategy based on the extension dynamic s...
As a crucial component of rotor systems, tension and torsion (TT) straps, recognized for their compact structure, have been adopted in advanced helicopters such as the SB > 1, EC145, and Mi-26. This paper presents an analytical investigation and e...
Aiming to address problems such as low sampling success rate and long computation time in the motion planning of a dual-arm cooperative system with multiple constraints, this paper proposes an Informed-Bi-Quick RRT* algorithm based on offline samplin...
Since the traditional transformer fault diagnosis method based on dissolved gas analysis (DGA) is challenging to meet today’s engineering needs, this paper proposes a multi-model fusion transformer fault diagnosis method based on TimesNet and I...
Repetitive control (RC) has been widely used in many fields due to its excellent ability to suppress periodic disturbances. However, when the permanent magnet synchronous motor (PMSM) operates at variable speeds, the speed loop sampling frequency is...
Because of their low cost, large workspace, and high flexibility, industrial robots have recently received significant attention in large-scale part machining. However, due to the stiffness limitations in robot joints and links, industrial robots are...
This paper proposes a sampled-data fuzzy controller design technique for an autonomous underwater vehicle (AUV) depth system represented by an interval type-2 (IT-2) fuzzy model, considering input saturation. In the Takagi–Sugeno (T–S) fu...
This paper modeled the tension fluctuation during automated fiber placement (AFP), which depicted the tension variations under different operating conditions. The stability and validity of the model were demonstrated using Bode plots and experiments,...
Since robotic arms operating close to people are becoming increasingly common, there is a need to better understand how they can be made safe when unintended contact occurs, while still providing the required performance. Several actuators and method...
This work addresses the issue of multi-agent system (MAS) formation control under external disturbances and a directed communication topology. Firstly, a new disturbance observer is proposed to effectively reconstruct and compensate for external dist...
The reset control is a simple nonlinear control approach where the states of the controller are conducted to zero when a particular condition is satisfied. The PI+CI is a controller that mixes the simplicity of PI controllers with the benefits of a r...
The compressibility of air, the uncertainty of dynamic models, and the existence of friction make pneumatic servo systems exhibit strong nonlinearity. Furthermore, the confluence of pneumatic-system nonlinearity and interference from the position sys...
This paper proposes a new topology optimization formulation for obtaining shape memory alloy actuators which are designed with prescribed two-way transforming shapes. The actuation behaviors of shape memory alloy structures are governed by austenite-...
Laminar jamming (LJ) is a method to achieve variable stiffness in robotics that has attracted notable attention because of its simple working principle and potential high stiffness variation. This article reviews the lock/unlock mechanisms of LJ stru...
Volumetric hydraulic drive systems are quite widespread in many industrial sectors. To determine the degree of reliability of hydraulic machines, it is necessary to conduct resource tests. The main requirement for such tests is the compliance of the...
Robotic ultrasound scanning has excellent potential to reduce physician workload, obtain higher-quality imaging, and reduce costs. However, the traditional admittance control strategy for robotics cannot meet the high-precision force control requirem...
In addressing the design challenges for constant-stress accelerated life testing in non-rectangular experimental domains, we aim to optimize the precision in estimating parameters for the product reliability statistical model. Following the principle...
Active flow control is a promising technology for reducing noise, emissions, and power consumption in various applications. To better understand the performance of synthetic jet actuators, a computational model that couples structural mechanics with...
Needle manipulation with the guidance of magnetic resonance imaging (MRI) plays a key role in minimally invasive procedures such as biopsy and ablation. However, the confined bore and strong magnetic field of the MR environment pose great challenges...
Large wind turbines have typically poorly damped structures. Hence, the absence of damping leads to aeroelastic oscillations, and the operational rotor speed can approach the critical rotor speed. By using damping injection, the control system can ac...
An efficient and inexpensive post-process method to waterproof an electrically actuated microtransducer has been studied. The electrical signals of microtransducers operating in electrically conductive fluids must be effectively isolated from the sur...
This paper proposes the application of force-projecting bilateral control to a master-follower teleoperation system with pneumatic drive on the follower side and evaluates its effectiveness. The proposed method directly projects the operating force o...
To improve the output displacement of piezoelectric actuators, a linear piezoelectric actuator based on a multistage amplifying mechanism with a small volume, large thrust, high resolution, high precision, and fast response speed is proposed. However...
Exoskeleton robots hold promising prospects for rehabilitation training in individuals with weakened muscular conditions. However, achieving improved human–machine interaction and delivering customized assistance remains a challenging task. Thi...
The benchmarking of force control algorithms has been significantly investigated in recent years. High-fidelity experimental benchmarking outcomes may require high-end electronics and mechanical systems not to compromise the algorithm’s evaluat...
Rigid robots have found wide-ranging applications in manufacturing automation, owing to their high loading capacity, high speed, and high precision. Nevertheless, these robots typically feature joint-based drive mechanisms, possessing limited degrees...
This paper presents a novel approach to address the challenges associated with the trajectory tracking control of wheeled mobile robots (WMRs). The proposed control approach is based on an indirect adaptive control PID using a neural network and disc...
With respect to alternative devices like traditional wheelchairs, handbikes can offer advantages from biomechanical and physiological perspectives, to several kinds of users. Assuring high mechanical efficiency and homogeneous force distributions alo...
With the passage of time during pipeline operation, a substantial number of impurities accumulate and adhere to the inner wall of the pipeline. This deposition hinders the pipeline’s ability to function correctly, thereby posing significant hid...
The steer-by-wire system severs the mechanical link between the steering wheel and the steering gear. This configuration enhances the angular transmission characteristics. Entering the nonlinear region of the tires could result in a reduction in the...
The wheel slide protection control system for rail vehicles plays a crucial role in ensuring a consistent braking performance in all operating environments, making it a vital factor in the safety and efficiency of rail transportation. In this paper,...
Accurate trajectory tracking is a paramount objective when a mobile robot must perform complicated tasks. In high-speed movements, hardware-induced delays may produce overshoots and even instability when controlling the system. In this case, Smith pr...
In the realm of virtual and augmented reality (VR/AR) and teleoperation applications, haptic feedback plays a role in enhancing task performance. One of the main goals of this study is to simplify haptic device hardware while improving its capacity t...
