2025 March - 56 articles
This article investigates the adaptive output regulation problem of a permanent magnet synchronous motor (PMSM) speed servo system with unknown time-varying exosystems and aims to achieve multiple objectives including speed tracking, disturbance reje...
Manipulators have a wide range of applications in industrial automation. However, their nonlinear characteristics, time-varying properties, and external disturbances present significant challenges in accurately tracking their trajectories. This paper...
In various fields, planar 2R underactuated robots have garnered significant attention due to their numerous applications. To guarantee the stable control of these robots, a simple control strategy is presented in this paper, and we utilize the intell...
To address the challenges of acquiring precise dynamic models for electromechanical servo systems and the susceptibility of system state information to noise, a backstepping command filter controller based on reinforcement learning is proposed. This...
Based on the characteristics of small agricultural machinery in terms of flexibility and high efficiency when operating in small plots of hilly and mountainous areas, as well as the demand for improving the automation and intelligence levels of agric...
McKibben’s muscle (MKM) is the most adopted among the different types of pneumatic artificial muscles (PAMs) due to its mechanical performance and versatility. Several geometric parameters, including the diameter, thickness, and length of the i...
Traditional fault diagnosis methods often require extracting features from raw vibration signals based on prior knowledge, which are then input into intelligent classifiers for pattern recognition. This process is prone to information loss and can be...
Force-projecting bilateral control is an effective method for enhancing the positioning rigidity and stability of teleoperation systems equipped with compliant pneumatically driven followers. However, friction in the pneumatic actuation mechanism has...
This paper presents a comparative study on active suspension controllers for ride comfort. Two types of active suspension controllers are designed and compared in terms of ride comfort: static output feedback (SOF) and parameter adaptive ones, which...
Owing to their high performance and high-efficiency controllability, surface-mounted permanent magnet synchronous motors (SPMSMs) have been widely considered for various robotic systems. The conventional three-vector-based model predictive torque con...
Yaw stability control is crucial for ensuring the driving safety of intelligent vehicles. This paper proposes a state-constrained command-filtered control (CFC) approach for vehicle yaw stability. The proposed method employs a barrier Lyapunov functi...
As the demand for energy continues to grow and global climate change intensifies, prompting countries to reduce carbon emissions, wave energy generation has shown significant potential. This paper introduces a novel wave energy device incorporating a...
With advancements in inertial navigation measurement units (IMUs), the focus of inertial navigation accuracy has shifted from hardware limitations to algorithm performance. To effectively test algorithms using high-precision IMUs, trajectory generato...
To increase the jet momentum and improve the environmental adaptability, a combustion-driven SparkJet actuator with a Laval-configured outlet is proposed to improve the performance of the actuator. Numerical simulation results show that, compared to...
The accurate identification of kinematic parameters is crucial for improving the positioning accuracy of industrial robots, particularly in advanced manufacturing and automation. However, limited measurement space in practical applications often lead...
The elastic valve plate and guide flow disc are key components that influence parameters such as opening and pressure difference of pilot-relief valve, which are also the core components enabling continuous damping adjustment in valve-controlled cont...
Due to the difficulty in ensuring launch safety under unfavorable launch site conditions, restrictions regarding the selection of launch sites significantly weaken the maneuverability of the unsupported random vertical launch (URVL) mode. In this pap...
Electrosprays have garnered significant interest across various fields, from automotive painting to aerospace propulsion, due to their versatility and precision. This study aims to explore the formation and behavior of the Taylor cone in electrospray...
Inspired by the characteristics of living organisms with soft bodies and flexibility, continuum robots, which bend their robotic bodies and adapt to different shapes, have been widely introduced. Such robots can be used as manipulators to handle obje...
To improve the accuracy and completeness of three-dimensional sculpture reconstruction, this study proposes a global–local two-step scanning method for industrial robot-based scanning. First, a global model is generated through stepped rotary s...
Rotors have been utilized for aircraft propulsion since the dawn of aviation, but their performance can degrade significantly if not properly designed. This study focuses on developing an accurate design tool and model validation for shrouded rotors....
This study investigates the effect of active control on a quarter-vehicle suspension system. The car suspension system was modeled using the Lagrange–Euler method. The linear quadratic Gaussian (LQG) and fuzzy linear quadratic Gaussian (FLQG) c...
Trajectory prediction plays a crucial role in level autonomous driving systems, as real-time and accurate trajectory predictions can significantly enhance the safety of autonomous vehicles and the robustness of the autonomous driving system. We propo...
As the field of robotics advances swiftly, industrial automation has become prevalent in the realms of manufacturing and precision measurement. In robot measurement applications, the original path often originates from the discrete output of CAD mode...
In this paper, we propose a model predictive control (MPC)-based approach for the speed tracking control of subway trains, specifically designed to handle the complexities of constrained optimization in real-world applications. The control strategy a...
This review article explores the transformative impact of next-generation technologies on patient care and rehabilitation. The advent of next-generation tools has revolutionized the fields of patient care and rehabilitation, providing modern solution...
LiDAR loop closure detection is a key technology to mitigate localization drift in LiDAR SLAM, but it remains challenging in structurally similar environments and memory-constrained platforms. This paper proposes VS-SLAM, a novel and robust SLAM syst...
In emergency scenarios, we focus on studying how to manipulate legged robot dogs equipped with robotic arms to move and operate in a small space, known as legged emergency manipulation. Although the legs of the robotic dog are mainly used for movemen...
This paper discusses the course tracking control of unmanned surface vehicles with actuator input quantization and an event-triggered mechanism. The system control laws are designed based on the backstepping method, combining dynamic surface control...
This paper addresses the features and limits of the principles and means that provide and support the design of motion control for industrial stationary articulated robots and their involvement in cyber-physical factories as part of the Industry 4.0...
The growing interest in soft robotics arises from their unique ability to perform tasks beyond the capabilities of rigid robots, with soft actuators playing a central role in this innovation. Among these, electromagnetic soft actuators (ESAs) stand o...
Ice accretion is a significant drawback in an aircraft’s and wind turbine’s aerodynamic performance in cold climate weather. Plasma actuators are an attractive technology for ice removal; however, dielectric barriers are typically restric...
In our previous research work, we investigated different methods to mitigate the vortex rope that appears in the draft tube of a Francis turbine when it operates at off-design operating points. The most promising results were obtained for a method in...
To address the inherent nonlinearity and strong coupling among rotor displacement, speed, and flux linkage in the composite cage rotor bearingless induction motor (CCR-BIM), an inverse system decoupling control strategy based on a support vector mach...
Flexible grippers based on magnetically sensitive rubber have garnered significant research attention due to their high gripping adaptability and ease of control. However, current research designs often separate the excitation device from the flexibl...
This paper proposes a passive fault-tolerant control strategy for a multi-caliper disc elevator brake system subject to unknown external disturbances and multiple actuator faults. Initially, a detailed analysis of the dynamic equations of the actuato...
Magnetorheological fluids (MRFs) are functional fluids that exhibit rapid and reproducible rheological responses to external magnetic fields. MRFs have been used to develop haptic devices with fine haptic information for teleoperated surgical systems...
This paper presents a targeted study on the dynamic stress concentration (DSC) in piezoelectric materials induced by SH waves, focusing on the impact of elliptical openings. By using the elliptic cylindrical coordinate system and Mathieu functions, t...
A human gait recognition method based on the PSO-ELM algorithm is proposed in order to achieve coordinated movement between humans and lower limb exoskeletons. Ground reaction force (GRF) from the foot, and motion capture data (MCD) from two joints w...
Fish in nature have evolved more efficient swimming capabilities compared to that of propeller-driven autonomous underwater vehicles. Motivated by such knowledge, we discuss a bionic (bio-memetic) autonomous underwater vehicle—a fish robot&mdas...
This research introduces the first design concept for a ducted coaxial-rotor amphibious spherical robot (BYQ-A1), utilizing the principle of variable mass control. It investigates whether the BYQ-A1’s variable-mass slider has a certain regulari...
This study aimed to develop a real-time localization system for an AMR (autonomous mobile robot), which utilizes the Robot Operating System (ROS) Noetic version in the Ubuntu 20.04 operating system. RTAB-MAP (Real-Time Appearance-Based Mapping) is em...
Maintaining precise interaction force in uncertain environments characterized by unknown and varying stiffness or location is significantly challenging for robotic manipulators. Existing approaches widely employ a two-level control structure in which...
To address the nonlinearity and control problems of the Maglev system caused by external disturbances and internal factors of the system, this study first established a kinematic model of a single-point levitation system. Secondly, based on the nonli...
Carrier-based aircraft (CBA) landing involves complex system engineering characterized by strong non-linearity, significant coupling and susceptibility to environmental disturbances. To address uncertainties in parameters, carrier air-wake disturbanc...
Motor fault detection plays a vital role in industrial maintenance. Timely detection of faults in their early stages can prevent catastrophic consequences and reduce maintenance costs. Traditional methods face challenges in motor broken rotor bar (BR...
The majority of electromagnetic force calculation models employed in maglev vehicle system dynamics focus exclusively on vertical and lateral movement while neglecting the nonlinear magnetization properties of ferromagnetic materials. This oversight...
As a new type of rail transit vehicle, maglev trains have extremely high requirements for safety and reliability. With the gradual commercial operation of maglev trains, how to scientifically and effectively assess the safety and analyze the risks of...
Soft robots with compliant bodies offer safe human–robot interaction as well as adaptability to unstructured dynamic environments. However, the nonlinear dynamics of a soft robot with infinite motion freedom pose various challenges to operation...
A sweeping jet is commonly preferred over a steady jet owing to its ability to better cool the region away from the strong core of an impinging jet. For industrial applications, it is important to study the thermal fields of oscillating jets in a mul...
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