2025 February - 61 articles
This work results from a numerical investigation of the thermochemical non-equilibrium effects on the surface properties of a hypersonic body. Non-equilibrium within an air mixture composed of 11 chemical species was considered when solving the Navie...
The dual sweeping jet (DSJ)-producing fluidic oscillator is a novel device developed by sharing a feedback channel between two standard fluidic oscillators. This device produces a pair of sweeping jets in the outer domain and has the potential to be...
Most trunk-like robots are designed with distributed actuators to mimic the envelope-grasping behavior of elephant trunks in nature, leading to a complex actuation system. In this paper, a modular underactuated elephant trunk-imitating robot based on...
When printing overhanging parts with traditional additive manufacturing (AM) equipment, it is necessary to add support structures under the overhanging structure. The process of printing support structures not only wastes materials, but also increase...
The electro-hydraulic servo valve is a critical component that transforms electrical signals into hydraulic signals, thereby controlling the hydraulic system. It finds extensive application in precision control systems. The stability of the electro-h...
The well-regarded feedforward control strategy known as Input Shaping is aimed at improving the dynamic response of flexible mechanical systems by reducing overshoot and residual vibration amplitude. Its validity has been confirmed by numerous studie...
The phase-change-material (PCM) actuator, a non-pyrotechnic technology in aerospace, offers enhanced safety and convenience. This paper presents a novel PCM actuator featuring an all-metal construction to improve reliability and sealing. Characterize...
The transfer of patients, especially elderly or long-term bedridden individuals, has emerged as an important problem due to the growing aging population. The advancement of transfer nursing robots provides an intelligent solution to this problem. Thi...
Inspired by earthworm peristalsis, a novel modular robot suitable for narrow spaces is proposed, capable of elongation, contraction, deflection and crawling. Unlike motor-driven robots, the earthworm-inspired robot achieves extension and deflection i...
In this study, a novel cantilever piezoelectric energy harvester is constructed by using a quasi-zero stiffness (QZS) structure. The QZS structure consists of a classic piezoelectric cantilever beam combined with some accessories that include two pre...
Patient transfer devices allow for passive movement of patients in hospitals and care centers. Instead of hoisting the patient, it would be beneficial in some cases to assist their movement, enabling them to move by themselves and reducing hospitaliz...
Cable suspension transport is a crucial method for quadrotors to transport goods and materials. During transportation, the quadrotor transport system (QTS) faces external disturbances and system uncertainties. Particularly, the underactuated nature o...
Overhead cranes are widely used for transportation in factories. They move slowly by manual operation to prevent the payload from swinging sharply or colliding with sudden obstacles. To address these issues and enhance work efficiency, this paper pro...
In this paper, an advanced vehicle way-point tracking control method, including kinematic control, dynamic control and an obstacle avoidance strategy, is introduced. In the kinematic part, a vehicle kinematic model is established, along with the coor...
This paper presents a passivity-based twisting sliding mode control (PBSMC) approach for series elastic actuators (SEAs). To address the time-varying position trajectory tracking control problem in SEAs, a fourth-order dynamic model is developed to a...
In this article, a novel prediction index is constructed, a hybrid filtering is proposed, and a remaining useful life (RUL) prediction framework is developed. In the proposed framework, different models are built for different operation states of rol...
The low stiffness of robots significantly limits their applicability within the aerospace assembly and manufacturing sectors. The majority of existing research focuses on optimizing robot posture; however, the efficacy of these approaches is constrai...
Multi-robot systems (MRSs) are widely applied in the fields of joint search and rescue, exploration, and carrying. To achieve cooperative tasks and guarantee physical safety, the robots should avoid inter-robot collisions as well as robot–obsta...
This paper focused on the implementation method and results of modifying a Raspberry Pi 4 for real-time control of brushless direct-current motors, with application in a semi-active two-axis ankle prosthesis. CANopen over EtherCAT was implemented dir...
DC-link voltage control needs to be achieved for flywheel energy storage systems (FESSs) during discharge. However, load disturbances and model nonlinearity affect the voltage control performance. Therefore, this paper proposes a load-current-compens...
In the process of energy harvesting, vibration energy harvesting still has several disadvantages, including a high-threshold excitation and a narrow working bandwidth. Therefore, a 2-degrees-of-freedom piezoelectric energy harvester is proposed. By i...
Permanent Magnet Linear Oscillating Motors (PMLOMs) are popular in micro-positioning systems, biomedical devices, and refrigeration compressors due to their simple structure, high efficiency, rapid response, and quiet operation. This paper proposes a...
This paper presents the modeling and control of a flexible single-boom crane manipulator using a high-fidelity real-time simulation model. The model incorporates both electro-hydraulic actuation and flexible-body dynamics, with the flexible boom repr...
This paper presents an adaptive sliding mode control (ASMC) scheme based on strain gauge position feedback for compensating for motion errors in a piezoelectric nanopositioning stages and ensures precise and reliable motion tracking control. The inno...
Micro-scale kinetic energy harvesters are in large demand to function as sustainable power sources for wireless sensor networks and the Internet of Things. However, one of the challenges associated with them is their inability to easily tune the freq...
The paper points out the growing interest in the use of composite materials for load-bearing parts, including hydraulic components. The non-negligible benefits of using composite materials in mechanical engineering are pointed out. However, applicati...
This paper addresses the autonomous rendezvous and docking between a chaser spacecraft and a target spacecraft. An optimal control method is employed to plan the rendezvous and docking maneuver, considering various constraints, including force, veloc...
Featured with optimal power consumption, active magnetic bearings (AMBs) have been extensively integrated into turbomachinery applications. For turbomachinery components, including the rotor and impeller, their connection is generally based on bolted...
The determination of maximum singularity-free space is critical to structural design and motion control strategy in the Stewart platform. Nevertheless, in practical applications, there exist several limitations such as computational efficiency, calcu...
A novel magnetorheological semi-active hydro-pneumatic suspension system was proposed to overcome the shortcoming of the traditional hydro-pneumatic suspension without adaptive vibration damping function. It is based on the magnetorheological semi-ac...
The high prevalence of conditions leading to foot drop highlights the need for devices that restore functionality, enabling patients to regain a natural gait pattern. There is a demand for a portable, lightweight, low-cost, and efficient active ankle...
This paper presents the design and control of a lightweight three degrees of freedom robotic arm based on a load-adaptive hoisting mechanism. The proposed design integrates a spring-loaded rope and a variable radius reel into the gripper, enabling ef...
Faults in valves that regulate fluid flow and pressure in industrial systems can significantly degrade system performance. In systems where multiple valves are used simultaneously, a single valve fault can reduce overall efficiency. Existing fault di...
High-speed operation is a crucial approach for achieving high power density of drive motors for new energy vehicles. However, mechanical strength of the rotor has become the primary bottleneck in the development of high-speed drive motors. Adopting a...
This paper presents an improved intelligent optimizing algorithm based on parameter identification and drift compensation for the rate-integrating resonator gyroscope (RIRG). Besides damping and frequency imperfections, the RIRG measurement accuracy...
Impairment of upper limb function is common after a stroke and is closely linked to decreased functional independence in activities of daily living. Robot-assisted training has been used in clinical settings to improve hand function in stroke patient...
Aerial robots equipped with operational robotic arms are a powerful means of achieving aerial contact operations, and their core competitiveness lies in target tracking control at the end of the airborne robotic arm (ARA). In order to improve the lea...
In manufacturing, the position tracking accuracy and stability of Permanent Magnet Synchronous Motors are often challenged by uncertainties, especially in complex environments. Existing control methods struggle to balance fast response with high-prec...
A new coupling solution for transmitting the rotation motion between two shafts with crossed axes is proposed. Based on structural considerations, a planar (P) pair is introduced into the structure of the mechanism, presenting the advantage of reduce...
This study introduces a mechanical spectrum analyzer (MSA) inspired by the tonotopic organization of the basilar membrane (BM), designed to achieve two critical features. First, it replicates the traveling-wave behavior of the BM, characterized by en...
This research utilized a hybrid trajectory on a wing incorporating a dual flap with the goal of enhancing performance. The hybrid profiles initiate with a non-sinusoidal pattern during the interval 0.0 ≤ t/T ≤ 0.25, evolving toward a sinusoidal...
It is generally recommended that bed-resting patients be mobilised early to promote recovery. The aim of this work was to develop and evaluate the usability of a prototype in-bed lower-limb therapy device that offers various training patterns for the...
In this study, an accurate suspension force modeling method for the magnetic bearings of flywheel batteries considering degree-of-freedom (DOF) interactions and their control system is proposed to solve the problem that the traditional flywheel batte...
Due to the uncertainty and complexity of the assembly process, the trajectory planning of a robot needs to consider the real-time obstacle avoidance problem when it completes the assembly in the unstructured workspace. To realize the safe assembly of...
The accuracy of a space manipulator’s end trajectory and stability is significantly affected by joint clearance. Aiming to improve the prediction accuracy of vibration caused by clearance, a dynamic clearance modeling method is developed based...
This study addresses the completely distributed consensus control problem for the heterogeneous nonlinear multi-agent system (MAS) with disturbances under switching topology. First, a global sliding mode manifold (GSMM) is designed for the overall MA...
This paper introduces an almost disturbance decoupling approach to address the disturbance problem for a class of underactuated nonlinear systems. First, a residual system is constructed using a virtual controller and partial differential equations....
Today’s ultrasonic transducers find broad application in diverse technology branches and most often cannot be replaced by other actuators. They are typically based on lead-containing piezoelectric ceramics. These should be replaced for environm...
Hydraulic linear drive systems with conventional proportional valves result in poor energy efficiency due to resistance control. In systems with multiple actuators connected to one common pressure supply, a load-sensing strategy is often used to redu...
Pb(Mg1/3Nb2/3)O3-PbTiO3 single crystals (PMN-PT SCs) are widely utilized in high-performance piezoelectric devices due to their exceptional piezoelectric properties. Among the various post-processing techniques for domain engineering in PMN-PT SCs, a...
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